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Hi Sebastian!
Thank you very much for sharing your work, I’ve been taking a look at it and it’s very interesting! 🙂
I have registered your Thor in the section Worldwide with the 35th record and the first one in Argentina! Also, I have included in the Academic presence section a link to your work, so that people can access it 😉
Congratulations for your work and thanks again for sharing it!—
Hola Sebastián!
Muchas gracias por compartir vuestro trabajo, le he estado echando un vistazo y es muy interesante! 🙂
He dado de alta vuestro Thor en el apartado Worldwide con el registro 35 y el primero de Argentina! Además, he incluido en el apartado Academic presence un link a vuestro trabajo, para que la gente pueda acceder a él 😉
Enhorabuena por vuestro trabajo y de nuevo gracias por compartirlo!Hi!
First of all, sorry for the delay in replying, I’ve been a bit disconnected for a few months and I haven’t seen the message until today.
What you are commenting about using larger motors in joints 2 and 3, may be a bit of a problem. The Art1Body part is designed for 34mm geared motors to fit tight. In fact, the walls are narrower than I would like to allow the motor to fit in that part.
If your geared motors are larger they may not fit in the space where the motors should go.
My recommendation, if you can’t/want to use the recommended motors, is to print the Art1Body part first and test to see if your motors will fit.
In the event that they don’t fit, you would have to redesign the part, enlarging it to make room for the motors. It’s not impossible, but it involves a considerable amount of work, as you would have to redesign some of the other robot parts accordingly.Regarding the firmware configuration, if the motors without the gearbox are 200steps/rev (which is usually standard) and the gearbox is 5:1 you would not have to make any changes to the firmware because the parameters would be the same as with the recommended motors.
Finally, regarding the power supply, I always recommend a 12V and no less than 8A, ideally 10A.
Hope it helps!
Hi!
Sorry for the delay in replying, I’ve been a bit disconnected for a few months.
I have just checked the BOM links and I can assure you that the motors to which these links redirect are the correct ones at this right moment.
It draws my attention the case of geared motors, that apparently the manufacturer has replaced the total torque value given by the set of gearbox and motor by the torque value of the motor without gearbox. However, the gearbox being a 5:1, multiplies approximately by 5 the 25Ncm of the motor without gearbox, obtaining approximately the old 121Ncm.
About what you say about the specification of the supply voltage. Stepper motors generate torque by controlling the current in their coils, not directly with the voltage. Drivers are responsible for regulating this current, using a supply voltage (within their range) to be able to “push” the desired current to the motor. Therefore, the supply voltage is more of a driver specification than an inherent limitation of the motor itself.
Hope it helps!
Hello,
First of all, welcome to the Thor community! Thank you for your interest in the project and for wanting to carry it out for your students 🙂Regarding the modification, I’m sorry I can’t help with this. I currently don’t have the free time to do any particular modifications.
I encourage you to do the modification on your own, after a few minutes you will see that using FreeCAD is quite simple and you will be able to do what you are looking for.
If you are not comfortable with FreeCAD, you can always use the STEP models, import them into Solidworks and modify them from there.Best regards!
For the assembly details you can check this post: http://thor.angel-lm.com/forums/topic/is-that-pcb-true/
About the MPNs, unfortunately I don’t know them, they would have to be the ones to look for them
Best regards!
I assume the links you are referring to are to the Thor repository wiki (currently deprecated).
The links you will find in the BOM of the project website are up to date and will take you to the correct model.Anyway, the links to the components are for convenience, if you prefer to buy from another store just check that the torque requirements are at least 26N.cm and the motor consumption is around 0.4A powered at 12V.
Best regards! 🙂
Hello!
As it can be read in the README of the Thor repository, the wiki is deprecated and for updated information the project website should be consulted.
As for the terms “screw” and “bolt” I have not found a unanimous definition that clarifies the difference between one and the other. In any case, I am referring to this type of elements: Image
Hope it helps!
Hello!
First of all, congratulations on your work! I hope Thor has been useful for the study you have done 🙂 I’m quite interested in the topic, so I hope to have time to read it soon!
Your robot has been registered on the Worldwide page with the number 34 and it’s the first one from Greece! As the map only allows me to add one link, I have added the thesis in English so that more people can read it. However, as they are also academic works, I have included both in the ‘Academic presence’ section (just below the map).Welcome to the Thor family and thank you very much for sharing your work with the community 🙂
Hello!
It looks good to me, I cannot see anything wrong from the photos. Why do you think is quite wrong?
The only think I miss is the yellow wire that I shared with you in the previous photos, maybe they will solder it at the end. Apart from that I think is ok.Hello AliSintax!
You are using the same stepper model for articulations 5&6, right? If so, you are experiencing the same issue with those steppers?
I can think in 3 possible issues:
1. Maybe the art4 driver is broken and is not working well. To check it just switch the driver with any other and try to move the motor.
2. The wires of the stepper are not well connected. Sometimes the manufacturer messes up with the position of the wires in the connector of the steppers. They should be placed in order: 1A1B2A2B. A quick way to check the wires is, with the motor disconnected, connect a wire between two of the motor connector pins. If you try to turn the motor shaft by hand and it generates a higher resistance than when the wire is not connected, it means that the pins you have connected correspond to the pins of one of the coils (1A1B) for example.
3. The max speed or acceleration value is set too high. Check that the $parameters match with the ones posted here.Hope it helps!
Hi Eduardo!
Welcome to the Thor community! Feel free to ask any question you have during the building process 😉
I have just found the last PCB that I am not going to use.
Let’s see if this week I can go to the post office to ask for the cheapest way to send it to you 😉Hello Evgeny!
I welcome you both to the Thor community! I am delighted that you have ventured into this project with your son! I think I would have loved to do something like this when I was a kid!
I’ll keep an eye out for new episodes! 🙂
Hi! There are a couple of things you should check with the manufacturer:
1. The PDIG1 2×18 male connector should be mounted on the other side of the PCB.
2. The female connectors should not have that gap between the PCB and the connector. They should be fully supported on the PCB. I think it’s because they are using hand-cut 8-pin strips. Instead, I recommend using 32-pin strips, cut only on one side.
3. One of the pins of the PDIG1 connector should be removed and a wire soldered in its place. The pin in question is as follows:
Apart from that, I’ve had a look at it and the rest seems to be fine.
Best regards!
