[Angel LM]

Sure Jose,
Inside the folder “freecad-src” at Thor’s Github you can find the ThorAssembly.fcstd file it is in FreeCAD format, but is easy to export the parts you need to other format (stp, stl, etc…)
Hope it helps!Ángel

[Angel LM]

Hi Jose,
I have done the calculations for the Forward Kinematics using SymPy, but not for the Inverse.

Here is the code I used for the FK calculus, it may be helpful!
Best regards,Angel LM

[Angel LM]

Hi Hüseyín:

Here you have some links:

• Software: https://github.com/AngelLM/asgard
• Firmware: https://github.com/AngelLM/grbl
• Wiring Diagram: https://raw.githubusercontent.com/AngelLM/Thor/developer/electronics/ControlPCB/WireDiagram-v1_0.png

Please, for following posts, use a normal font size.
Best regards,Angel LM

[Angel LM]

Hi David!
I’m not sure about the total weight of Thor… I would have to check it.
About the optimization, it sounds great. Of course we would be able to increase the payload by reducing the arm weight. I designed Thor without caring too much about the printed pieces weight, so it could be a very nice improvement!
Best regards,Ángel LM

[Angel LM]

Hello Emre,
First of all, sorry for the late reply!
You can find the links to the Asgard Software and the Firmware that Thor uses in the Repository-Index.
Hope it helps!

[Angel LM]

Hi Quentin!
Sorry for the late reply! Of course I want to know more abour your Thor playing chess! It sounds amazing!
Best regards!Ángel LM

[Angel LM]

I see! That’s very clever! Thanks for sharing 😉

[Angel LM]

Hi Alex!
Thank you very much for your feedback!I’ll make note of this to have them in mind for the next redesign. It is possible to see the improvements you made on Art1-Art2? I’m trying to imagine it but I cannot see it hahahaThanks for sharing the models!
Best regards ;)Ángel LM

[Angel LM]

Hello David,
Sadly, it seems that the company that contacted me a year ago is not interested anymore on this project… So nowadays there is not a plan for launching a kickstarter or similar.I have thought a lot about launching it by myself or to set up an online shop to sell kits, but the investment and the legal paperwork is really beyong me haha
Sorry for the news!Ángel LM

[Angel LM]

Hi Gyojin!
The servo model I use is “Tower Pro MG995”
Hope it helps!

[Angel LM]

Hola Jose,

Como bien dices, si, hay una base para guardar la electrónica. En la primera versión no contemplé el integrar la electrónica en el diseño del robot e hice una caja aparte. Ahora mismo estoy preparando una nueva versión que espero tener lista en unos meses, con la electrónica integrada en el diseño.
Un saludo!

[Angel LM]

Hi Bassam!
The electronics used in the current model are Arduino Mega + Control PCB (a PCB designed by me to control up to 8 motors.
The firmware loaded in the Arduino Mega is a modification of GRBL and the commands sent to control the robot are GCodes.
Hope it helps!

[Angel LM]

Hi Amjad,
Could you post more info about that error? A screenshot may help
Best regards,Angel LM

[Angel LM]

Hi Bassam!
I thought about that when I was designing the robot, but to keep the whole project fully Open Source, even the tools to design and solve had to be Open Source too. That’s why I solved it “manually” hahaha
Anyway, if you get some results do not hesitate to share them with us! 🙂

[Angel LM]

Hi Brett,
First of all sorry for the late reply!
It sounds to me like that the current received by the steppers is not enough to move them and/or the acceleration of the steppers is too high. Try to give more current to the steppers (if you are using A4988 drivers there is a small potentiometer to tune the output current). If you have tunned the speed/acceleration parameters try to get them back to the default ones.Also check that the 12V power source has at least 5A-7A of current, otherwise the motors may not receive enough current to move the robot.
Hope it helps!Angel LM

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