Thor - The Open Source Robotic Arm
HTML-код
- Опубликовано: 8 сен 2024
- Thor is an Open Source and printable robotic arm with six degrees of freedom.
More about this project: hackaday.io/pr...
If you are interested in this project, please consider joining our mail list: groups.google....
Github Repo: github.com/Ang...
Music: Melt by BrokeForFree ( / broke-for-free )
Such a brilliant idea to have an open source robot were you can test your control , path planning, force control and inverse kinematics algorithms. good job.
Thank you very much!
So you've designed all of the mechanical parts in FreeCAD? That alone deserves respect!
Thank you very much!
FreeCAD is powerful and easy to use... and OpenSource! :)
So what type of 3D printer did you use?
I printed it in a Witbox and Prusa i3 modified ;)
i love your job!
I congratulate you excellent work , thanks for sharing , and get on with your excellent work . greetings from Chile
Thank you Moises!
Amazing! Congrats for the awesome work and thanks a lot for sharing it, been looking for a robotic arm solution for a long time and this model is perfect :D
Thank you very much! I'll be glad to know more about your project!
Great work! Hope you are still developing things.
excelent work, incredible, congratulations.
Thanks! :)
Wonderful!
Thank you! =)
gran trabajo amigo, felicitaciones!!
Gracias!
SIN DUDA UNO DE LOS DISEÑOS MAS INCREIBLES !! FELICITACIONES
¡Gracias Freddy!
Pues he visto muchos brazos, pero este me ha gustado mucho mucho, no me va a quedar más remedio que hacer uno XD
Sr Ferrete ¡Bienvenido a la familia! No dudes en pasarte por la comunidad y abrir un hilo para documentar tu aventura ;)
groups.google.com/forum/m/?#!forum/thor-opensource-3d-printable-robotic-arm
İm looking a robo arm for long time and its very good. İ hope you are still developing.
1x Nema 17; L=40mm; Holding torque: 39.22 N.cm: 17HS16-2004S: 20 USD each
3x Nema 17; L=34mm; 5.18:1 mechanical reduction; Holding torque: 121.2 N.cm: if you need the eccentric.gear type , the price is: 68 USD each, free shipping. if you need the planetary gear motor: the price is 105 USD each, free shipping.
3x Nema 17 L=34mm; Holding torque: 21.57 N.cm: 17HS13-1334S : 19USD each
Is this right?
Hi Avitas, for the steppers I bought them from "stepperonline" and "wantai-motors" websites. The shipping will take more time, but the price is much lower.
The Nema with the planetary gearbox ID is: 17HS13-0404S-PG5
Right now I don't have the rest of steppers' ID, I'll write you as soon as I get them!
Regards!
So :
1x :17HS16-2004S (aliexpress)
3x : 17HS13-0404S-PG5(stepperonline)
3x : 17HS13-1334S (aliexpress)
seems good
i want to control it with arduino,do you think it`s more expensive?
Hi, I'm controlling it with an Arduino Mega 2560 & DIY PCB for the Stepper Drivers!
Regards!
Is the video of it's movement sped up?
To be honest, I can't remember if I sped up the stacking Rubik cubes sequence when editing the video. But I'm sure in this one the video is not accelerated: ruclips.net/video/Aas1Xh42xMA/видео.html
Hope it helps!
@ Hey! Thanks for taking the time to answer this! Many of these robotic arm videos are sneakily sped up and it makes it hard to determine what the end performance will look like..
Thanks!
Increible!!!!
Yo ya he empezado a hacer el mio!!!
Quisiera saber que motor es la que utiliza para la articulación 2
¡Hola Marian!
En esta página de la wiki de Thor podrás encontrar las referencias y links de compra de todos los componentes (incluyendo los motores) utilizados en la construcción de este robot: github.com/AngelLM/Thor/wiki/Component-list
Espero que te sea de ayuda ;)
Tha's a nice project, thanks for sharing !
I'm asking if there is a way to improve the moves speed ?
Hello, i do not know what to say great job but i ask you a favor you could tell me how it is called the program with which it programmed "thor" that program that was alongside autocad / freecad
Excelente trabajo felicidades tendras los planos con las respectivas dimensiones te agradeceria mucho la informacion, saludos y gracias.
Hola Ulises, puedes encontrar más información en el post de hackaday (hackaday.io/project/12989-thor) y los archivos en el repositorio de github del proyecto (github.com/AngelLM/Thor)
Un saludo!
does it support ROS robot operating system ?
which type of software we can use to code for ECE side???????????????????
how is the precision for repeated movements?
where can i get the 3d print details to build this robot ?
Cual es el peso maximo que levanta el robot? saludos
excelente trabajo amigo! pero me intriga que tipo de motores estas usando?
Son motores paso a paso Nema 17. Tienes más información sobre los materiales que he utilizado en la pestaña "Components" hackaday.io/project/12989-thor
un gran proyecto angel!¡ una pregunta , estaba a punto de pedir las piezas para el bcn3d moveo, similar el proyecto a este.. pero viendo tu brazo no se cual de los dos seria mas funcional , que software se podria utilizar para dejarle grabados los movimientos ? el moveo utiliza marlin con el arduino mega.. gracias angel por tu gran aporte a la comunidad !¡
Hola Dani!
Ahora mismo, Thor utiliza GRBL gracias a una Arduino Mega, se controla mediante GCodes y no es muy intuitivo que digamos. Pero hay un usuario de la comunidad que ha empezado a hacer una interfaz grafica muy chula desde la que dice que se podrá controlar en vivo, asi como programar trayectorias y movimientos. Te recomiendo que le eches un vistazo a la última parte de este otro video que subí para que te hagas una idea de como será. ruclips.net/video/PepYW-3PMGw/видео.htmlm48s
¡Un saludo!
Ángel L.M. acabo de encontrar un software diseñado por un chico frances que quizás te interese... aun no he empezado a imprimir ni el bcn3dmoveo ni el thor ya que tengo serias dudas sobre cual de ellos se adaptaria mejor a lo que necesito , te dejo el link del software : www.thingiverse.com/thing:792903
mis necesidades son , que cuando un sensor conectado a un input del arduino mega se active , reproduzca una trayectoria grabada previamente,
bueno sabiendo como programar el codigo dependiendo del pin que se me active en el arduino, ya podria jugar , mi meta seria que me empaquetase pequeñas bandejitas , de unos 250 gramos en una caja de carton, cada una en una posicion diferente (teniendo en cuenta que cada bandejita tiene una posicion diferente en una caja de carton)
y que cuando acabe estos movimientos , active un output , para que otra arduino mega lo reciba como input , y active una cinta transportadora,
quiero mas que nada que me sirva para una aplicacion en el mundo real.
crees que pueda ser posible conseguirlo?
gracias angel de nuevo por tus aportes a la comunidad , tu y los demas makers haceis que cobren sentido las ideas y avancemos todos juntos.
saludos !¡
¡Hola cyranoidy!
Le he echado un vistazo al software que has linkeado y tiene buena pinta. La verdad es que yo no tengo mucha idea de hacer interfaces gráficas (aunque todo es ponerse) y estoy dejando esa tarea a otro usuario de Hackaday (hackaday.io/project/16665-thor-robot-with-addons-and-gui)
En cuanto a la aplicación que me comentas: Thor está en una fase de prototipo y sigue teniendo algunos fallos que hay que solucionar. Sin ir más lejos ahora mismo estoy tratando de solucionar un problema de recalentamiento de los motores que no le permiten funcionar más de 10 minutos de manera continua. Una vez solucionado este fallo, no debería haber problemas para que puedas adaptarlo a tus necesidades (porque supongo que lo querrás tener activo más de 10 minutos seguidos jejeje).
Thor puede levantar hasta 750g de peso (aproximadamente), quizá el factor limitante en la tarea que quieres programar sea la precisión. Por último, no creo que sea muy complicado programar un botón en Arduino que ejecute una serie de instrucciones.
¡Un saludo!
Ángel L.M. jaja gracias crack , seguire investigando antes de decidirme por thor , la potencia de los drivers puede ser el factor limitante del recalentamiento ?? me paso con la impresora 3d , tengo una sigma , y fue ajustarle los drivers y me bajo unos 20 grados , me perdia pasos los steppers, si quieres aqui tienes mi correo y vamos compartiendo, intentare hacer el proyecto con toda la info recopilada , danimobaspain@gmail.com
¡Genial!
Que tendria que modificarle a la prusa i3 para imprimir thor?
Perdón por tardar en contestar!
Yo a mi prusa i3 le cambié la cama para poder imprimir piezas de hasta 300mm de largo. No obstante, hay modificaciones de Thor para poder ser impresas en camas de 200x200mm! ;)
Hi there .Angel L.M
?I was wondering which manipulator (by that i mean the actual thing that catches the objects) should I use and where can I buy it from?
Thanks in advance!
Hi Mold Yoana!
I designed Thor to be able to use the manipulator/gripper/tool of your choice. The only thing that you need to do to adapt any manipulator is to modify the Art56Interface part to suit your manipulator requirements, or design a new piece that fix by one side with the Art56Interface piece and with your manipulator on the other side.
In my case, I adapted two diferent grippers available on Thingiverse:
1. www.thingiverse.com/thing:1611164
2. www.thingiverse.com/thing:2511264
You can print and assembly them! :)
Hope it helps!
Ángel L.M.
Indian love for u
Perfect.How can I do it ?
Hi Mega!
You can download the files to print at the Github Repo and see the documentation at the Hackaday Project Page (both links in the description)
Hope it helps!
Ty for help
Do you ant to shar the files from the grip ?
trop bien
Hi Asngel L.M, what is the firmware for the robot, since I download the grbl firmware but there are no kinematics in it, can you just tell me? Thank you so much.
Hi Nhan!
Sorry for the late reply!
You can find more info about the firmware and how to use in the Thor's wiki: github.com/AngelLM/Thor/wiki/GRBL-&-GCode-Control
Also, if you want to ask something else I would recommend you to join us at Thor's community :) groups.google.com/forum/#!forum/thor-opensource-3d-printable-robotic-arm
Best regards!
Ángel L.M. Thank you.
I'm interested in buying, how much will you make me pay?
thank you
Hi Fabiano!
I really appreciate your interest in buying my robot, but unfortunately mine is not for sale...
But you can build yourself a Thor! In the video description you can find a link to the Hackaday page where I posted all the steps/materials/etc to build one from scratch :)ñ
where the program bro?
how much filament it took for the project
It took me around 4 spools of 1kg (included some failed pieces) 😅
Can the arm be machined out of aluminum or will the added weight effect its function
I'm not 100% sure, but as you say, the extra weight could cause the motors to malfunction 😕
@ thanks for the reply and this awesome project!, are the weights for each printed parts listed as I could shell the parts to match the weight
@@willacademic Sadly I have not a list with the weight of the printed parts, but maybe you can get an idea by laminating the pieces in a 3D printing slicer and using the estimated filament spent
Hope it helps!
Okay thanks!
@@willacademic You are welcome! Please keep us informed if you finally try to build it in aluminum, it sounds very cool! :)
semplicemente stupendo dove posso trovare i file assieme. stl assembly
Hi, for the assembly I used FreeCAD. You can fin it in the Github repo (ThorAssembly.fcstd)
Regards!
how can I make this
how much does it costs the complete assamble?
Enrique Alonso If you have a 3D printer to make the printed pieces and buy the components from low-cost pages like Aliexpress the total cost will be under 500€ I guess. I built it for around 350€.
Hope it helps! ;)
how much would it cost to make something like this in USD
Ali Master I built it for 350€, I guess that the change rate EUR-USD is close to 1:1 so... around 350USD.
I got that total cost printing the pieces by myself and buying the components at low-cost pages (ebay, Aliexpress...)
Hope it helps!
Thanks @Angel - if you or someone you know is selling a kit, I'd be interested and promote it among my friends
Hi Arun,
If you are interested on buy a kit of the printed pieces, the owner of bitfab (info@bitfab.io) can print it!
In this right moment I don't know anyone selling the printed pieces + electronics, I'll tell you if someone does it in the future ;)
Best regards!
bastante tosco en los movimientos , una lastima porque esta muy bien hecho
Антон не умеет писать код!
That monstrosity seems to have 0 reach. Who needs a robot that can't even stack cubes vertically because it's reach is too limited to reach the right position and orientation at the same time?
Hi Marcus,
I guess you haven't read the Hackaday post (hackaday.io/project/12989-thor). This is an early prototype and low cost robot arm. Its capabilities are, of course, limited to the budget. Currently some users and I are working on improving its precision and hopefully it will get better!
And answering your question, due to its OpenSource design, low cost and small size Thor is ideal for teching.
Best regards!
Adding reach increases the mechanical stresses... if you want a lot of reach you'll need metal parts, since it is 3d printed this at least gets you as far as building something real you can debug software control against. -cb88 over at Hackaday
Chase Rayfield
Who says that rods and simple metal profiles can't be used and everything MUST be 3D printed even in places where plastic is not a sensible (in terms of strength and cost) choice of material?
Print just the complex parts and you end up with a much lighter, more slender construction that can be scaled at will.
The usage of timing belts to keep the motors in the base is good but the choice to make the simple tubes and shafts in-between the joints printed just makes things bulky and limited to the sizes the printer of whoever builds it can handle. That limitation can be removed.
(No, I'm not going to do that. I'm bulting a gantry setup instead of an arm.)
*****
I certainly didn't so chill dude. I said metal parts are needed.. which is true. Now you can also 3d print metal parts with sintering but that is probably outside the budget of most. Another alternative would be Lost PLA and or lost foam casting of metal parts which is doable!
Chase Rayfield printing or casting parts you get for cheap in every home improvement store is not sensible.
For all it's size and implied sophistication with accompanying "wowwee check this baby out!!" music, all it can do is pick up and put down a goddamned rubix cube, a toy from the 1970s? Is that all? The justification of the hype does little to diminish my scowling disappointment. Another bum dumbbot vid.