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Hello Emilio!
Great job, you have built an awesome Thor, congratulations! Keep us posted on your progress, we want to see how it moves!
Your robot has been registered in the Worldwide Section as the number #27! Welcome to Thor family 🙂
Hi kboyd!
Yeah, you can see more detailed in this post on Hackaday 😉
Hi Irem!
You are right, I completely forgot about the servo, thanks for noticing!
The servomotor I used in the gripper was the model MG995, like this one.
Only 1 is needed 😉Hope it helps!
Hi Claudio & Davide!
Welcome to the Thor community:)
Your Thor is really amazing! I’m impressed that you say you had no previous experience in 3D printing, very good job!I’m happy to announce that, as you were saying, your Thor is the 26th in the world and the first in Italy, congratulations!
It is already registered in the Worldwide section.Best regards!
Hi Stefan,
After watching the video and hearing the steppers I think that either the rotation speed or the acceleration has been set too high.
Have you configured the $$ parameters as is described in the Firmware: Installation & Configuration page?If you did, please try to test the motors using the examples in the Testing Firmware section of the same page, and let me know if the result is different 😉
Hi Sebas!
There is no conversion between 12V and 5V. There are 2 completely separate power rails. The 12V one is powered by the 12V power supply and the 5V circuit is powered by the Arduino board, which is powered by the USB port.
Best regards!
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No hay conversión entre 12 voltios y 5 voltios. Hay 2 circuitos de alimentación completamente separadas. El de 12V es alimentado por la fuente de alimentación de 12V y el circuito de 5V es alimentado por el arduino, que a su vez es alimentado por el puerto USB.
Saludos!
Yeah, I agree with that. And, in fact, I’m going to change the documentation to recommend using PETG instead of PLA for the printed parts of Thor.
The offer Diego made was in 2017, and at that time PETG was not as common to see.
Hi sebas!
In this video different types of movements can be seen:
– If motors turn the same degrees and making the belts rotate in the same direction, the articulation 5 moves and the articulation 6 remains static.
– If motors turn the same degrees and making the belts rotate in opposite directions, the articulation 6 moves and the articulation 5 remains static.
– If motors don’t turn the same amount of degrees, it will produce a coupled movement of articulations 5 and 6, that will be equal to the sum of each movement separately.Hope it helps!
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Hola sebas!
En este video se puede ver como hay varios tipos de movimiento:
– Si los motores giran los mismos grados y hacen que las correas giren en el mismo sentido, la articulación 5 se mueve dejando estática la articulación 6.
– Si los motores giran los mismos grados y hacen que las correas giren en sentidos contrarios, la articulación 6 se mueve dejando estática la articulación 5.
– Si los motores no giran exactamente los mismos grados, se producirá un movimiento acoplado de las articulaciones 5 y 6, que sería igual a la suma de ambos movimientos por separado.¡Espero que te sea de ayuda!
Hi sebasshare!
I’m sorry to tell you that I have tested it empirically. I just hung weight on the wrist of Thor and added weight until the robot could not lift the load.
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Hola sebasshare!
Siento decirte que lo comprobé empiricamente. Simplemente colgué peso de la muñeca de Thor y fuí añadiendo peso hasta que el robot no pudo levantar la carga.
Hi!
Yes, as the lengths of the shafts are not something standard, you are supposed to but a larger shaft and cut it in pieces (or find someone that can cut it for you).
You can use several tools: A simple and cheap metal saw, A dremel or similar tool with an abrasive cutting disk, a grinder machine…
I guess that there are many tutorials on youtube, but here you have one explaining how to cut metal with a saw.
About safety, I would recommend you to use globes and safety glasses 😉
Hi Melika!
Maybe the wires are getting in the way of the rod preventing it from entering into the bearing bore?
In this video of Sr. Ferrete you can see how it should be assembled. It is in spanish but if you enable the translated subtitles you can guess what he is saying.Hope it helps!
Hi! I may not be able to give a very concise and accurate answer on this, as I did it many years ago and don’t remember it very well. I will try to do the best I can-
The home cycle is a function of GRBL that I just tuned to work with Thor. In the firmware file
config.h(lines 75 to 79) I added the homming sequence. The firmware filemotion_control.ccalls a function calledlimits_go_homethat appears to be in charge of the homming process. And sadly that’s all I can remember :SAbout the second comment, I may be wrong but I guess that when I was tunning the configuration file, I wrote the BIT and the digital pin of each sensor associated with its motor. As the motor C uses the same homming sensor as the motor B (as they both power the articulation 2) I copied the configuration of the B motor on the C one and I left the previous comment just in case I would need to locate the sensor’s pins. Same goes for the G motor.
Hope it helps! 😉
