Thor 的社群作品

開源、可 3D 列印的 6 自由度機器手臂，採用步進馬達與 GT2 皮帶傳動

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• 23 Build Logs with Design Improvements Merged Upstream (Sepio): One of the most thoroughly documented open-source robot arm builds online — 23 detailed build logs with photos covering every step from first print to finished arm, including multiple redesigns that were good enough to be merged into the official Thor+ release. The Build Sepio built a complete Thor+ robot arm based on AngelLM's original Thor design with improvements from DannyvandenHeuvel's Thor+ variant. But this wasn't a simple "follow the instructions" build — Sepio identified problems, redesigned components, and contributed improvements back to the project. Key modifications and improvements: - Redesigned Art3 and Art4 sections with added bearings (6806 2RS and 6810 2RS) and cooling fans for motor heat management - Replaced potentiometers with rotary encoders (LPD3806-600BM) for continuous rotation and better precision - Recreated the entire robot in Fusion 360 — making the design accessible to a wider audience than the original FreeCAD files - Custom power supply enclosure with emergency stop button and voltage/current monitoring - Separated the Nextion touchscreen from the base into an external tablet-style housing for easier operation - Improved gripper assembly with better alignment and cable routing Documentation Quality The 23 build logs on Hackaday are exceptionally detailed: - Every log includes multiple photos showing assembly processes - Real-world problem-solving is documented: PETG vs PLA for heat zones, 24V slipring power strategy, encoder upgrades - Design iterations are shown — you can see why changes were made and how they improved the arm - Stats: 24,800 views, 153 followers, 112 skulls on Hackaday — exceptional engagement for a build log Impact The improvements were good enough to be merged into the official Thor+ V2.04 release. The Thor+ creator DannyvandenHeuvel said: > "The nice thing about Sepio, he has built and tested it already, gives a good feedback with a lot of documentation, that's where I have been failed :-)" The build has been referenced by other builders including Quentin Delfosse at TU Darmstadt, who built dual Thor arms for published research at IROS (a top robotics conference).