Thor is an Open Source and printable robot arm with six degrees of freedom.
Its configuration (yaw-roll-roll-yaw-roll-yaw) is the same used by most of the manipulator robots on the market. In its extended position, Thor is about 625mm high and can lift loads up to 750 grams.

The project started in 2015 as a final degree project called “Design and impplementation of an Open Source, 3D printed 6DOF robotic arm”. Since then, this project has continued to develop little by little.

The main purpose of this project was to design a robot that could be used in universities and schools to teach robotics.With this in mind, the design had to be affordable and accessible. Releasing the source files and doing so under an open source licence was the best option: anyone could study any element of the robot in depth and, moreover, modify or adapt it to their needs.

Thor has been developed using only open source tools: FreeCAD for the 3D modeling, KiCAD for the PCB design and GBRL as firmware for the control electronics. In this way, access to knowledge can be guaranteed to anyone, anywhere, without any economic cost.

At Thor's Website will find more info about this project, manuals, list of materials, the community forum and much more. Visit us!

I hope you like this project as much as I do,
Ángel L.M.

UPDATE 09/08/2021: New design available: Thor v2.1. Every STL has been updated.

UPDATE 17/08/2017: I have redesigned the design of Thor to be compatible with this kind of commercial sensors. All the details in this Hackaday log. You can download the updated design at Thor GitHub Repository!

UPDATE 21/12/2016: Merry Chrismas Gift! I uploaded a ZIP with the last modifications. I really suggest you to go to Thor GitHub Repository and check if there are new modifications!

UPDATE 27/10/2016: DannyVandenHeuven has made some nice modifications and now some pieces are splitted to be printed easier :). Check it out!

[https://www.youtube.com/watch?v=F2CDeHrFr2k](https://www.youtube.com/watch?v=F2CDeHrFr2k)

Print Settings

• Printer brand:

RepRap

• Printer:

Prusa i3 modified

• Rafts:

Doesn't Matter

• Supports:

Yes

• Resolution:

0.2mm

• Infill:

20%

• Notes:

I have used a 3D printer with 300x220mm of printing area and 0.4mm nozzle.

I used ABS for gears and MotorFix pieces, in this way the steppers' heat dont melt the pieces.

Post-Printing

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