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Oh my god, checking forum errors I found this post pending approval since 2 years ago…. I’m so sorry TK_DESIGN!
I guess you won’t read this post anymore, but if you can send me a picture where you can see the engine, I’ll add you on the map! (anyway I’ll see if I can find any post of yours on the internet!)
I looked at the specs on the page you posted and can’t find the motor dimensions. It confirms that it is 34mm high.
It looks like it has a torque holding of 30N.cm which is higher (and better) than what is listed on the BOM.
What makes me doubt is the voltage and current value: 5V 1A. I imagine that it will be able to move with 12V and that its current consumption will decrease proportionally. I understand that before you had them mounted on a 3D printer, you fed it at 12V?If so, I think they should work for joints 4, 5 and 6!
Hi Santosh!
First of all, welcome to the Thor community! 🙂
Danny made this awesome design of Thor usinng feedback sensors, maybe you want to check it out!
Keep us informed of your progress! 😉
What a great job! Well done guys! 3 months is really a short time if we take into account printing, assembly and programming times! I am impressed!
As I said in the other post, it would be great to see some video or something of your work! If the work you have done is published on the university website, send me a link to share it in the Worldwide section!
Hi!
Such a nice Thor! 🙂 If you can upload a video showing the robot and some of the image processing you mentioned, that would be great! 😀
Your Thor is the number 29 and has been registered at Worldwide section!
Welcome to the family!Hi Carlos!
First of all, sorry for the delay in answering!
Secondly, I think you are the first person to print Thor in resin! You must have a huge resin printer! HahahahaAs you say, usually a resin printed piece is heavier than a plastic one (especially if the resin one is completely solid). This can be a problem, since the motors are sized for the weights of the plastic printed parts and it can happen what you say, that the motors do not give enough power to move the arm.
There is a user who had a similar problem to the one you mention about the second articulation and he designed some supports for the lower part that I think solved his problem. I link the post here in case it helps you.
Regarding Asgard’s doubts. In principle the Art2 slider should move the two motors with printed gears that are located at the bottom. The Art3 slider should move the motor of the pulley that has the open belt.
Both movements are independent, so it must have been a coincidence what you say.As the “stable” Asgard version has no direct kinematics implemented all the movements you make of the joints are independent. The only exception are Art5 and Art6, which as you say are related, since each of the sliders moves a motor that is connected to the semidifferential.
I hope this clears up your doubts and let us know if you have managed to solve the problem with the second articulation!
Sorry for the late reply, I just realized I hadn’t read your message.
You have done a great job!
I have already included your Thor in the Worldwide section! It’s number 28 🙂
Hello!
I am so happy that you are interested in this project!
Of course you can use all the resources available on Thor! You can certainly use screenshots from the interactive manual 🙂The great thing about Open Source projects is precisely that we can develop a project together, supporting each other and sharing the progress!
That said, if when you create that assembly guide you can share it with this community, I’m sure it will be useful to someone 😀Don’t hesitate to ask if you have any questions!
Best regards,
ÁngelHi Sebastian!
How nice! I loved the implementation you guys have done, great work 🙂
If you don’t mind, I’ll wait for you to post it somewhere public to link it, as the links to Google Drive may not be entirely safe.
Best regards!
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Hola Sebastián!
¡Que bueno! Me ha encantado la aplicación que habéis desarrollado, un gran trabajo 🙂
Si no te importa, esperaré a que lo publiquéis en algún sitio público para enlazarlo, ya que los enlaces a Google Drive pueden no ser del todo seguros.
¡Un saludo!
Wow!!!
Yeah, the ROS thing has been always in the To-Do-List in this project 😅
I look forward to hearing how you have integrated it!Hi Selexin
Sorry for the late reply. I’ve just seen your shorts on YouTube and it’s amazing that you already have all the 3D printed pieces. And they look amazing!
Can’t wait to see it assembled and moving! 🙂
Hi SerialBuilder!
Sorry for the late reply, I was on my vacations hehe
When I started to build it, I had issues with the Art4 which was moving a lot due to slack but I found this and it fixed it perfectly. I would recommend to add it to the mod folder to be easier to find 😉
Yeah, I forgot to add them to the mod folder. I’ll try to add it ASAP. Thanks for the reminder!
Regarding my issue, I have randoms homing failure. Is there any way to know more about the failure?
I’m not very sure what is happening. To discard some common issues, please check that your $$ settings match with the ones listed in the Firmware Documentation.
Don’t you think it’s weird to have only 3A drawn?
Do your motors skip steps or not move at all when they should? In my experience when the robot is holding the maximum load it can handle, the current drawn is something between 7A and 8A.
Hi Billy!
The Art1OptoFix piece is no longer needed if you printed de latest version of the BaseBot piece (which I think you have printed) and you are going to use the commercial Optical Endstops listed in the BOM.
I’ll note it to remove the piece from the repository ASAP.The Art4BearingPlug piece is used to prevent the bearing balls to escape the ring. In the assembly animation it should be inserted in the same hole used to insert the bearing balls after inserting them. This video of Sr Ferrete shows how he inserted the balls and the Art4BearingPlug piece.
The Art56Interface is only needed if you want to use other tool than the Thor Gripper. This piece provides 3 screw anchor points, and can be used as a base to design your own tool holder.
In this image you can see a Thor using this piece to attatch a different gripper.Hope it helps!
