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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!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!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! 🙂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 LMRevisando cosas que tenía pendientes, he visto que el archivo fuente de la pieza Art23Optodisk se subió en 2017 jajajaja
Por si aún lo necesitas y no lo has encontrado, está aquí.
¡Un saludo!Hi D.B Ko!
Thanks for sharing with us photos of your Thor! It looks impressive! 🙂
Regarding your questions:
– Art3&Art4 Union: There are a piece called Art4BearingRing and other one called Art4TransmissionColumn. You will need to insert 30 small balls (Diameter 6mm) between this pieces trough the small hole placed in one side of the Art4BearingRing piece. I have used 6mm airsoft balls and it works very well. I know that is not the same version (is the one that is not already tested) but I did an animation of the assembly that you can check here. As almost all pieces are very similar I think it would help you in the assembly.
– PCB Power supply: 12V/3A will not be enough to bring power to the 7 steppers of the robot. I’m currently using a power supply of 12V/7A and it seems to be enough.Hope it helps!
Hello Matthieu!
First of all, thanks for your words about this project! 🙂
Answering your question: Yes, the upper part is only connected with the bottom one using the 3D printed bearing. To be honest, when I designed it I was a little bit worried about the maximum load this 3d printed bearing can hold, but as I did not find a cheap commercial solution I tried and it worked. To be honest, I did not make a proper study about the forces acting on the bearing or a simulation to see the limits of this configuration.
Hope it helps!Hi John!
The Developer branch is the safest one, it has the tested design and it works!The other branch, “Design Update” was created by me time ago and contains an updated design that I didn’t test yet. If someday I’m able to test it and it works, I’ll merge it to the Developer branch.
So, you are in the right way!
The extra motor you noticed is used in the 2nd articulation, that uses the force of 2 geared motors to move.
Hope to see photos of your Thor soon! 🙂Hi Tim!
First of all sorry for the late reply, I didn’t receive the notification of this group…
Your project sounds cool and I think that it could be achievable, but be careful about times! Building a Thor takes time: gather all the components, build it and test it can take months… If it is not a problem for you, go ahead!
Thor uses GCodes sended by serial to move, so technically your bluetooth implementation is possible. I think that the only extra thing that you’ll need is a bluetooth adaptor for the Arduino Mega or another board with bluetooth connection that can send the commands via serial usb to the Arduino Mega (Something like an Arduino Uno with a bluetooth adaptor connected by serial to the Arduino Mega).
The comunication for the movement is something between real time and sequence. In the moment you send a movement command the robot will start moving to the target position, but if the robot is moving when you send a movement command it won’t execute that command until it finishes the previous one.
Hope it helps!Angel LM ;Hola Shelmak!
Antes de nada, perdón por la tardanza en contestar, no me han llegado las notificaciones de este grupo…
Voy contestando tus preguntas por partes!
Lo de los cables, yo he conseguido pasarlos a través del eje sin problema… Seguramente estén liados y con cada vuelta que da se lian más, peor no encontré una buena opción para esto. Lo de las interferencias la verdad es que no lo tuve en cuenta y me preocupó al principio, pero después de probarlo y ver que todo iba bien supuse que no era un tema tan crítico.
No sabía que la fuente de la pieza Art23Optodisk no estaba subida al github! La subo en cuanto pueda!
Por último, el eje 6 es el único que no hace homming, no se orienta. Traté de pensar muchas maneras para controlar la posición y lograr establecer un inicio, pero no encontré ninguna solución. ¡Cualquier idea es bienvenida!
Por lo que veo tenéis un proyecto muy interesante entre manos! A ver si nos dejais echarle un ojo a una fotillo o video pronto 😉
Un saludo,
Angel LMHola Leonardo, los archivos del firmware puedes encontrarlos en https://github.com/angellm/grbl
Y las instrucciones para compilarlo y flashearlo en https://github.com/AngelLM/Thor/wiki/GRBL-&-GCode-ControlHi Leonardo, you can find the firmware files here: https://github.com/angellm/grbl
And here you will find the instructions to compile and flash it: https://github.com/AngelLM/Thor/wiki/GRBL-&-GCode-ControlHope it helps!
Angel L.M.Hello Rhett!
Welcome to Thor’s community!
In this right moment there is not a detailed tutorial to follow. There is a video that shows how to assembly it, but it’s not too detailed. You can also see the Assembly animation step by step and being able to rotate and zoom using FreeCAD (I wrote the instructions to do it here: https://hackaday.io/project/12989/instructions)
Hope it helps!Hi Jorge!
You bought the right stepper 🙂
As you say, its shaft has a diameter of 6mm. That shaft also acts as the rotation axis of the 2nd articulation.
So, the GT2 pulley that is is inserted in the shaft of that stepper motor has to be modified a little bit. You will have to expand the half of the hole of the pulley from 5mm to 6mm of diameter, in order to insert the shaft of the stepper in one side and a 5mm smooth rod in the other side of the pulley.
Here you have an image that shows what I have explained: https://cdn.hackaday.io/images/7974781470243277203.png
Also, you can check the Assembly FreeCAD file to see it more clear.
Hope it helps!
Angel LM
I created this wiki page inside the Thor’s wiki to collect the grippers!
Feel free to add your creations or findings!
Best regards,
Angel LM
