Implementation and Validation of Thor 3D Printed Open Source Robotic Arm

摘要

This paper aims to present the implementation and validation of a 3D printed Open Source Robotic Arm with 6degrees of freedom and an industrial shape. Unlike the original Open Source Thor design, printed with PLA material, ABSprinted parts were used for their higher mechanical strength. Changes were implemented in the electronic system through the use of two Arduino Mega systems with the Ramps interface cards for controlling all actuators, besides the use of Marlin firmware and Pronterface control software for 3D printers. The torque on the first joint on the base was increased by the addiction of one more stepper motor and the open source project validation wasdone by moving the robot through its working area.