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Thor - Open Source, 3D printable Robotic Arm

Creation quality: 5.0/5 (1 vote)
Evaluation of members on the printability, utility, level of detail, etc.


3D model description

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 you will find more info about this project, manuals, list of materials, the community forum, the last available design and much more. Visit us!

I hope you like this project as much as I do,

Ángel L.M.

3D printing settings

Total printing time: >200 hours

Material: PLA, ABS (small pieces in contact with steppers)

Layer height: 0.2-0.28mm

Supports: Yes

Infill*: 20% **Infill*: 20%

3D printer file information

  • Design number: 491273
  • 3D design format: STL Folder details Close
    • Art1Body.stl
    • Art1Bot.stl
    • Art1FanHolder.stl
    • Art1GearMotor.stl
    • Art1OptoFix.stl
    • Art1Top.stl
    • Art23Optodisk.stl
    • Art2BodyA.stl
    • Art2BodyACover1.stl
    • Art2BodyACover2.stl
    • Art2BodyAWindow.stl
    • Art2BodyB.stl
    • Art2BodyBCover.stl
    • Art2BodyUnion.stl
    • Art2MotorGear.stl
    • Art2SideCover.stl
    • Art3Body.stl
    • Art3Pulley.stl
    • Art3TensionerBody.stl
    • Art3TensionerPulley.stl
    • Art4BearingFix.stl
    • Art4BearingPlug.stl
    • Art4BearingRing.stl
    • Art4Body.stl
    • Art4BodyBot.stl
    • Art4BodyFan.stl
    • Art4MotorFix.stl
    • Art4MotorGear.stl
    • Art4Optodisk.stl
    • Art4TransmissionColumn.stl
    • Art56GearPlate.stl
    • Art56Interface.stl
    • Art56MotorCoverRing.stl
    • Art56MotorHolderA.stl
    • Art56MotorHolderB.stl
    • Art56SmallGear.stl
    • BaseBearingFix.stl
    • BaseBot.stl
    • BaseBoxBody.stl
    • BaseBoxCover.stl
    • BaseTop.stl
    • CommonBearingFix.stl
    • CommonBearingFixThrough.stl
    • GripperActiveArm.stl
    • GripperArm.stl
    • GripperBot.stl
    • GripperFinger.stl
    • GripperPassiveArm.stl
    • GripperTop.stl

    Learn more about the formats

  • Last update: 2021-09-23 at 22:16
  • Publication date: 2021-08-09 at 20:05


CC BY-SA - Attribution - Share alike


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