Build the Thor Robotic Arm – Complete DIY Guide

🔧 Introduction

• Brief overview of robotic arms and their real-world applications.
• Why Thor? Mention its open-source nature, 6 DOF, and accessibility.
• What the reader/viewer will gain: hands-on experience with mechanics, electronics, and code.

🧩 Part 1: What You’ll Need

🖨️ 3D Printed Parts

• List of STL files (link to GitHub repo)
• Recommended filament (PLA or PETG)
• Print settings (infill %, supports, layer height)

⚙️ Hardware & Mechanical Components

• Bearings, pulleys, shafts
• Screws, bolts, nuts (M3, M4, etc.)
• Optional: Cable management, heat inserts

⚡ Electronics

• Arduino Mega + RAMPS 1.4
• Stepper motors (usually NEMA 17)
• A4988 or DRV8825 stepper drivers
• Power supply (12V or 24V, depending on motor specs)
• Endstops/sensors (if used)
• Jumper wires, connectors

💻 Software & Firmware

• Arduino IDE
• Marlin firmware (or Thor-customized firmware)
• Host software (Pronterface, Repetier Host, etc.)

🛠️ Part 2: 3D Printing & Preparation

• Tips for printing complex parts (orientations, supports)
• Cleaning and test-fitting parts
• Labeling or sorting parts before assembly

🔩 Part 3: Mechanical Assembly

• Step-by-step build with diagrams/photos
• Start with base → shoulder → elbow → wrist → end-effector
• Important calibration notes (alignment of gears, smooth motion)
• Use threadlocker if needed

🧠 Part 4: Electronics & Wiring

• Wiring diagram
• Connecting stepper motors to RAMPS
• Installing drivers (set current limits)
• Safety tips (avoid wiring with power on)

👨‍💻 Part 5: Firmware & Software

• Flashing firmware to Arduino
• Setting up motor directions, steps/mm
• Testing individual motors
• Basic motion control via G-code or scripts

🧪 Part 6: Testing & Calibration

• Homing and range of motion checks
• Adjusting stepper current, endstops (if used)
• Troubleshooting tips (jittery motors, misalignment, etc.)

🧠 Part 7: Advanced Ideas (Optional)

• Add gripper or suction cup end-effector
• Control via joystick or glove
• Add computer vision using Raspberry Pi + camera
• Wireless control (Bluetooth, Wi-Fi)

📦 Resources & Downloads

• GitHub repo: Thor by AngelLM
• STL files and BOM
• Firmware and Arduino config files
• Your wiring diagram or printable checklist (optional PDF for readers)

🎥 Optional: Video Companion

• You could walk through each section in a multi-part video series
• Highlight key tips, show motion demos, and feature viewer builds