Thor

<h1 align="center"> <a href="http://thor.angel-lm.com"> <picture> <source height="80" media="(prefers-color-scheme: dark)" srcset="doc/logo_dark.svg"> <img height="80" alt="Fiber" src="doc/logo_light.svg"> </picture> </a> <br> <a href="http://thor.angel-lm.com/"> <img src="https://img.shields.io/badge/website-thor.angel--lm.com-red?logo=htmx"> </a> <a href="http://thor.angel-lm.com/worldwide/"> <img src="https://img.shields.io/endpoint?url=https://angel-lm.com/thor/thor-counter.php"> </a> <a href="http://thor.angel-lm.com/forums/"> <img src="https://img.shields.io/endpoint?url=https://angel-lm.com/thor/forum-counter.php&color=orange"> </a> <a href="https://discord.com/invite/a5dSVqSUK5"> <img src="https://img.shields.io/discord/1189278202514907166?label=discord&logo=discord"> </a> <a href="https://creativecommons.org/licenses/by-sa/4.0/legalcode"> <img src="https://img.shields.io/github/license/angellm/Thor"> </a> </h1> <p align="center"> <em><b>Thor</b> 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.</em> </p> <p align="center"> <img src="doc/banner.png" width="800"> </p>

✨ 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

1. Read the Documentation: Comprehensive guides on printing, assembly, electronics, and firmware are available at thor.angel-lm.com/documentation.
2. Print the Parts: Use the STL files in this repository.
3. Get the Hardware: Take a look to the Bill of Materials.
4. Assemble the Robot: See here for assembly videos and interactive instructions.
5. Assemble & Setup the Electronics: The Wiring & Setup guide will help you prepare your electronic board and make the hardware connections.
6. 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.
7. 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.
• Software: FreeCAD, KiCAD, GRBL, RRF, ROS2.

📚 Additional Resources

• 🌐 Official Website: thor.angel-lm.com
• ❓ Frequently Asked Questions: FAQ
• 💬 Thor Community Forums: Thor Forums
• 💬 Thor Discord Server: Thor Robot Community

🤝 Contributing

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.

📜 License

Thor is licensed under the Creative Commons Attribution-ShareAlike 4.0 International License. You’re free to use, modify, and distribute this project under its terms.

🎥 Videos