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Hi Hotam,
You are right, the current design of Thor only uses 7 steppers, so 7 drivers are enough.
I designed the new board capable to control up to 8 steppers in order to be able to add another degree of freedom. (I was thinking to add rails on the base)Hope it helps!
Awesome! I really like that hammer! 🙂
Be sure to make a picture of your Thor (when assembled) grabing it! hahaha
Nice to know! I’ll be finishing it tomorrow, I guess. And probably I’ll test it too. I hope I designed it well… hahahaha
Hi Jamie,
I have used airsoft pellets for that bearing. Them are made of plastic and have 6mm of diameter. I have not tried with metal balls, but this ones work perfectly and are too cheap.
Hope it helps!
Yay! That board seems cool!
Have you tried it? It works? Hahaha It’s weird for me to ask this questions…but I haven’t finished welding mine yet :/Congrats to Lars! He’s officially the youngest Thor builder!
Hi Adam!
It sounds awesome! There is already a smaller design of Thor but not a larger one! Keep us informed 🙂
Best regards,
ÁngelHi guys, I’m welding the components of the PCB in this right moment and I have seen at least one fail in the board 🙁
The pads of the power pins are in the front side instead of beeing in the back side… That makes difficult to solder the terminal block connector. My solution was to inject solder paste through the PCB hole and heat it with the solder. Other solution could be to place the terminal block in the back side.
I’ll fix the board files asap.
Sorry for the inconveniences,Ángel LMHi Jamie,If you don’t mind the shipping time I would recommend you to buy it from Aliexpress (3,5€+Shipping)You can also find them in some 3D Printing local stores.
Hope it helps 😉Hi Amirul,
First of all, welcome to the Thor community 😉
I still have to generate the control documentation, which would include the GRBL mods and how to use the custom GCode. It is on my to-do-list haha.
Answering your question quickly, the way I control Thor via GCode is using forward kinematics. It means that I send to the control board the values of the angles for the 7 motors.
For example:G01 A10 B20 C20 D30 X40 Y50 Z60
This Gcode will move the 1st articulation (A) 10 degrees clockwise, the second (B & C as there are 2 steppers in this articulation) 20º CW, the third (D) 30º CW, 4th (X) 40º CW , 5th (Y) 50º CW and 6th (Z) 60º CW
The Inverse kinematic calculations are already done but it’s hard to implement into an Arduino, due to the calculations per second that the microprocessor has to do.
Hope it helps 😉
