[Angel LM]

Hi Erin!
I’m not 100% sure about the 1.1 Version, but there were some differences between grbl 0.9 and Thor’s grbl. The main one is the amount of steppers supported. If I recall correctly GRBL 0.9 supports up to 6 stepper motors and I had to tweak it to add 2 more.
Hope it helps!Angel LM

[Angel LM]

Wow Fer!
It looks very nice! Thanks for sharing! If you don’t mind I’m gonna add it to the Thor’s Readme so anyone can find it! 🙂
Angel LM

[Angel LM]

Hi Erin,
Sorry for the late reply! Each stepper driver has 3 legs named “MS1”, “MS2” and “MS3”. Each of those legs is conected to a pin in the ControlPCB. Jumpers connect “MS” legs to “HIGH” level signal (5V). So, having the 3 jumpers connected means to have a 1/16th configuration (this image ilustrates all the possible configurations). My recommendation is to connect all pins to get a 1/16th configuration, but if you want a different one you have to put the jumpers and modify grbl according to the new configuration.
Hope it helps!Angel LM

[Angel LM]

¡Hola!
Ha pasado ya algún tiempo desde esta pregunta, pero la contesto por si acaso no lo has solucionado todavía.Yo coloqué la seta de emergencia cortando los cables de alimentación de la PCB. Ten en cuenta que si le quitas la alimentación al robot por completo, los motores perderán su fuerza y el robot se desplomará al no tener ningún tipo de anclaje pasivo.
Un saludo,Angel LM

[Angel LM]

¡Hola!
Comparte por favor qué pasos has seguido hasta ahora para poder ayudarte mejor. ¿Instalaste python? ¿Te salta algún error al intentar ejecutarlo?
¡Un saludo!Angel LM

[Angel LM]

Hi Boluwarin,
I’m sorry but I don’t understand the question… Do you want to know what’s the minimum amps that you need to move all motors, how the PCB was designed or how the processor manage the motors?
Best regards!Ángel

[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

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