Skip to content
RobothecaBeta
Log in

Thor

Thor is an open source, 3D printed, 6 degrees of freedom robotic arm designed to be affordable and accessible for education and makers.

  • Robot arm
  • Open source
  • ROS 2
  • 3D printable

Suggested by Robotheca, created by @AngelLM (opens in a new tab), from github.com/AngelLM/Thor (opens in a new tab). Pinned to commit 286b081 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
CC-BY-SA-4.0 (opens in a new tab)
Software license
CC-BY-SA-4.0 (opens in a new tab)
Commercial use
Allowed

Photo and 3D model

Thor, photo from its repository
Photo:@AngelLM (opens in a new tab)CC-BY-SA-4.0source file (opens in a new tab)

3D preview converted from github.com/AngelLM/Thor at 286b081, under CC-BY-SA-4.0. View the original files from GitHub (32.8 MB) (opens in a new tab)

Height
625 mm
Payload
750 g

What it can do

Written by Robotheca from the project's documents.

  • Six degrees of freedom 3D-printed robotic arm with a yaw-roll-roll-yaw-roll-yaw configuration.
  • Stretched height of 625mm without end effector and a payload capacity of up to 750g including end effector.
  • Moves using G-code, the same language used by 3D printers and CNC machines.
  • Optional ROS2 integration, with Moveit2 configuration files in a related repository.
  • Motion is controlled with Asgard, a control software with a simple interface for the robot's motors.

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Print the parts
  2. 2Get the hardware
  3. 3Assemble the robot
  4. 4Assemble and set up the electronics
  5. 5Install the firmware
  6. 6Control the robot

The guide appears here as you scroll.

Guide by @AngelLM (README.md), under CC-BY-SA-4.0.

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • Stepper motors drive the joints.
  • Arduino Mega shield, designed in a related repository, controls the robot.
  • Firmware based on GRBL, with RRF also mentioned among the software used.
  • Printed gears, GT2 pulleys and belts form the transmission, which is not an electronic part.

Connections

  • The documents describe the wiring and connections only as covered in the external online electronics guide, so no details are given here.