How to build Thor
6-DoF desktop robot arm · Intermediate
Build Thor by AngelLM: a 625 mm tall, 750 g payload 3D-printed 6-DoF arm costing under €350, G-code controlled through GRBL or RRF, with ROS 2. CC-BY-SA 4.0.
Some soldering, calibration and Linux comfort needed.
Our estimate, part-time
Under €350 (designer)
CC-BY-SA-4.0
What is Thor?
Thor is a 3D-printed six-axis arm by Ángel L.M. (AngelLM), and one of the longest-running open arm projects. It stands 625 mm tall, lifts 750 g and uses the yaw-roll-roll-yaw-roll-yaw layout of industrial arms.
It was designed in FreeCAD and KiCAD and is driven with G-code through GRBL or RepRapFirmware, much like a 3D printer. The hardware costs under €350, the project is licensed CC-BY-SA-4.0, and ROS 2 is available through Docker.
Thor specifications
- DoF
- 6
- Height
- 625 mm
- Payload
- 750 g
- Layout
- Yaw-roll-roll-yaw-roll-yaw
- Control
- G-code (GRBL/RRF)
- License
- CC-BY-SA-4.0
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| Stepper motors | — | Per BOM |
| GRBL/RRF controller | — | |
| 3D-printed parts | — | |
| Bearings, belts, fasteners | — |
Where's the full bill of materials?
The full BOM, with exact quantities and vendors, lives in the project's own files. Prices change often, so treat €350 as a ballpark from the project. Start at the project repository.
Tools you'll need
- 3D printer
- Hex keys
- Soldering iron
Step-by-step build overview
Electronics & wiring overview
The G-code controller drives each stepper like a printer axis, with endstops for homing.
Software
The project ships its own firmware and control code. See the repository for setup.
Any G-code sender, plus Thor-ROS for ROS 2 in Docker.
Tips from the bench
- ☕ Look through the community build logs first.
Thor FAQ
What does Thor cost?
Under €350 in hardware.
How is it controlled?
With G-code through GRBL or RRF, plus optional ROS 2.
Sources
Written by Bots n' Beans from the project's own documentation. Check the sources for the latest revision before you buy parts.
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