There are 37 different printable pieces in Thor. I used FreeCAD software in order to design the pieces of the robotic arm. Using optoisolators instead of mechanical stop allows it to rotate more than 360 degrees without colliding with the sensor.Īs you may have realized, all of the hardware I have chosen is commonly used on DIY 3D printers. I chose pololu A4988 as stepper drivers.įor the transmission of the third, fifth and sixth articulation I have used GT2 Pulleys and GT2 Belts.įinally, I chose optoisolators and a micro-endstop in order to establish a home position for the first five articulations. And I designed a 'shield' to make possible the control of 7 steppers. For the two last DOF I chose smaller steppers with the purpose of reducing their weight.įor the electronics I chose an Arduino Mega as main controlling board. I had to choose stepper motors with mechanical reduction for the second and third articulation in order to manage the torque generated in these articulations. In order to have a nice accuracy on the moves without raising the price too much, I chose stepper motors for the movement transmission. To develop this project, I have been involved in several areas of expertise: Hardware choice At Thor's Website will find updated info about this project, manuals, list of materials, the community forum and much more.

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