Thor is an open source, 3D printed, 6 degrees of freedom robotic arm. Designed to be affordable and accessible, Thor is ideal for educational settings, makers, and robotics enthusiasts. With a height of 625mm it has the capacity to lift up to 750g. Its yaw-roll-roll-yaw-roll-yaw configuration is common in industrial manipulators.
✨ Key Features
🧩 Born Open Source: Designed using open source software such as FreeCAD, KiCAD, GRBL, RRF and ROS.
🕊️ Released Open Source: All source files published under CC-BY-SA-4.0 license.
💰 Low Cost: Hardware cost below 350€.
📚 Suitable for education: Perfect for robotics courses in schools and universities, there are already success cases!
🧰 G-code Controlled: Uses the same language as 3d printers and CNCs to move.
🐳 ROS2 Integration: Available implementation using Docker for flexibility.
📦 Repository Structure
freecad-src – Source files of 3D models created with FreeCAD
mods – Modified models and improvements to standard models
stl – Printable STL files
step – STEP files
🔗 Related Repositories
Thor-ROS: ROS2 & Moveit2 configuration files and packages to work with Thor.
ThorControlPCB: Source & manufacture files of Arduino Mega shield designed to control Thor.
Asgard: Control software for thor motors with a simple interface.
🚀 Getting Started
Read the Documentation: Comprehensive guides on printing, assembly, electronics, and firmware are available at thor.angel-lm.com/documentation.
Print the Parts: Use the STL files in this repository.
Assemble the Robot: See here for assembly videos and interactive instructions.
Assemble & Setup the Electronics: The Wiring & Setup guide will help you prepare your electronic board and make the hardware connections.
Install the Firmware: Depending on which electronics you have chosen, you will have to perform a different firmware configuration. This page explains the steps to follow.
Control the Robot: Use Asgard to move the robot. Here is how to do it.
🧠 Technical Specifications
Degrees of Freedom: 6 (yaw-roll-roll-yaw-roll-yaw).
Height Stretched: 625mm (without end effector).
Payload Capacity: 750g max (including end effector weight).
Motors: Stepper motors.
Electronics: DIY PCB or commercial boards.
Transmission: 3D printed gears, GT2 pulleys and belts.
Contributions are welcome! If you'd like to improve Thor — whether it's design, documentation, or code — feel free to open an Issue or submit a Pull Request.
