📌 本分册目标
Thor 2015 年作为一个毕业设计立项，题目Thor began in 2015 as a graduation project titled “Design and Implementation of an Open-Source 3D-Printed 6-DoF Robot Arm”, and has been iterated in small steps for a decade since. The most valuable thing to learn from it isn't cost-saving tricks, but its codchoice of kinematicsw-ro: it directly adopts the industrial robot arm's roll-yyaw-roll-roll-yaw-roll-yaw航），而不是很 (yaw-roll-roll-yaw-roll-yaw), instead of the custom wrist structure that many DIY designs invent.>这意味着它的运动学、奇异位形与工作空间特性都贴近That means its kinematics, singular configurations, and workspace characteristics are all close to a real industrial arm — b>。and what you learn here transfers directly to industrial equipment度约 6. Its total hardware cost is under €350, with a reach of about 625mm and a payload of about 750g (including the end effector's own weight), and more than 30 units have been built in 17 countries.>本分册按 构型 → BOM → 打印 → This guide walks through six stages: 电子固kinematics → BOM → printing → assembly → electronics & firmware → control回, highlighting the two places most likely to require rework: /3 the ball clearance in the slewing bearing。
💡 本站分册为原创中文技术整理，不💡 This guide is an 与代码original Chinese-language technical write-up 采用 , and does not reproduce the original project's images or code.许可🧭 第一段：构型为什么值得学
🧭 Part 1: Why the kinematics are worth studyingptable">三个「偏航 + 横滚」交替布置的好处：腕部不易出The advantage of alternating three “yaw + roll” pairs: the wrist is less prone to singularities, and the kinematic model is the same as an industrial arm's. The cost is more structural parts and tighter assembly tolerances — which is why it takes longer to assemble than simpler designs of the same size.ction class="sec">
🧾 第二段：BOM 逐项解读（扭矩分档是关键）<🧾 Part 2: BOM item by item (torque tiers are the key)ptable">
部件 选型理由
Why it was chosen 40mm / 40 N·cm ×1 34mm / 121.2 N·cm ×334mm / 26 N·cm ×3传动件GT2 闭口同步带 20Transmission parts（104 齿）×2GT2 closed-loop timing belt 208mm (104 teeth) ×2, GT2 open belt 1000mm ×1, 20-tooth pulley ×3, 40-tooth pulley ×2.合减速The 40-tooth pulley mounts on the joint 2/3 main shaft to provide the reduction.td>轴承与滚珠 16014ZZ ×1Bearings and balls撑）、625ZZ 16014ZZ ×1 (large slewing bearing), 625ZZ ×11, MF84ZZ ×2, 支撑用6mm balls, 30–40 pieces (for the slewing bearing).td>紧固与磁铁 M3 系列螺丝与螺母Fasteners and magnets M3 热熔铜螺母Mainly M3 series screws and nuts; you also need M3 heat-set brass inserts ×6 and 8×1mm magnets ×12 (position sensing / limit switches).td>耗材 PLA/PETG 3~4kFilament+ ABS 0.5PLA/PETG 3–4kg + ABS 0.5kg (PETG / ABS is recommended for load-bearing structural parts).>
⚠️ 官方 BOM 里附的是电商购买链接，⚠️ The official BOM includes e-commerce purchase links, but 逐项核sellers may quietly swap the product or its specs的齿距与. Check the model and parameters item by item before ordering, especially the belt pitch and length. For the 6mm balls, buy 100 at once — losing one and not finding it will stall the entire assembly.section class="sec">
🖨️ 第三段：打印与采购规划
🖨️ Part 3: Printing and procurement planningin">
先打基础件验证配合：先打底座与关节 1 Print the base parts first to verify fit认配合再: print the base and the load-bearing parts of joint 1 first, assemble them to confirm the fit, then print the rest — so you don't finish the whole machine only to find the base parts don't fit./b>：0.2mm 层高、30% 左右Starting parameters力件的层: 0.2mm layer height, about 30% infill; for load-bearing parts, orient the layer lines along the load direction.改 FreeCAD 源文件 ：官To change the structure, edit the FreeCAD source（交换）: the official project provides three formats — STL (print directly), STEP (exchange), and FreeCAD (editable).承：16014ZZ、625ZZBuy all the bearings at onceZ 都是: 16014ZZ, 625ZZ, and MF84ZZ are all standard parts that are easy to source domestically; buying them all in one order is far less hassle than restocking midway.ion>
🔧 第四段：装配（两处最易返工的地方）
🔧 Part 4: Assembly (the two most rework-prone spots)ep">1严格按官方顺序：底座 → 关节 1 → 回转支撑Follow the official order strictly: base → joint 1 → slewing bearing → upper arm → forearm → wrist → gripper">中途别跳步——很多零件装上后就无法再拆装内部件。. Don't skip steps — with many parts, once installed you can no longer remove or refit the internal components. For each joint, first 涉再上dry-fit。2回转支撑：用打印件「造」一个轴承机身内部的大回转轴承不买成品：16014ZZ +The large slewing bearing inside the body isn't bought off the shelf: it's made from a 16014ZZ + a ring of 6mm balls + a printed raceway. Use 30–40 balls, and control the clearance via print tolerances — 试转一too tight and it won't turn; too loose and it wobbles续。3关节 2/3 的 5:1 皮带减速20 齿装电机轴、40 齿装关节主轴，闭口同步带The 20-tooth pulley goes on the motor shaft and the 40-tooth pulley on the joint's main shaft; tension the 208mm closed timing belt until “it flexes slightly when pressed but doesn't slip”. After assembly, power it up and manually reverse it one turn to see whether the belt drifts sideways.div class="step">4限位与散热别偷懒官方给出微动 1 个 + 光电 4 个的限位方案The official design uses 1 micro switch + 4 optical sensors for limits; after assembly, trigger each one to verify the signal toggles. For cooling, follow the official configuration (12V fans: 50mm×4 + 40mm×7) — stepper motors heat up noticeably when holding position for a long time.div class="step">5线缆走固定路径留出活动余量。运动时被线缆拽住，对开环步进来说就 and leave slack for movement. If a cable snags during motion, an open-loop stepper simply loses steps, and it's very hard to diagnose.ection>
🔌 第五段：电子方案与固件（二选一，先定再买）<🔌 Part 5: Electronics and firmware (pick one first, then buy)ptable">
路线 特点
Characteristics
原版路线 Arduino MegOriginal route60 + 自制 替代路线 Fly Super8PAlternative route带驱动的 3D 打Fly Super8Pro (a 3D-printer mainboard with built-in drivers) removes the need for a custom PCB, but the firmware then follows the 3D-printing ecosystem (RRF).>
- 上电前自查：用万用表逐个确认电机绕组、驱Pre-power self-check A49: use a multimeter to verify each motor winding, the driver board's power supply, and the A4988 current reference (Vref) one by one. Don't connect the motor load on the first power-up.机波特率保持一致，否则会出现「Keep the firmware and host baud rate the same问题。<, otherwise you'll hit problems like “can't connect” that look like hardware faults.向与行程：方向反了改固件里的轴Verify direction and travel axis by axis要反接电: if the direction is reversed, change the axis direction parameter in the firmware; 查都要don't just swap the motor wiresi>
— otherwise you'll add an extra layer of confusion to every future troubleshooting session.：回零流程跑通后，测出每个关节Calibrate soft limits进配置，: once the homing routine works, measure each joint's soft limit and write it into the config, to avoid crashing into the mechanical limits.ion>
🕹️ 第六段：控制栈（Asgard 与 ROS 🕹️ Part 6: Control stack (Asgard and ROS 2)in">
- Asgard：官方提供的图形化控制软件，Asgard轴、查看: the official graphical control software, which can jog each axis and show positions. Use it to validate the mechanics and electronics first, then consider ROS 2 — tuning both at once makes it hard to tell where a problem comes from.ROS：官方维护的 ROS 2Thor-ROSt2 集: the official ROS 2 + MoveIt2 integration (including a Docker deployment), which together with the official URDF lets you, 动学、without printing a single part：坐标约定、关节零位与 DH Kinematics documentation都在官方: the coordinate conventions, joint zero positions, and DH parameters are all defined in the official docs. If you want to write your own control code or switch to another planning library, this document is the reference.重新算：750g 是含末端执行Recalculate the payload limit爪与工件: 750g is the ceiling including the end effector; once you add a gripper and a workpiece, the acceleration limit must be re-evaluated.ion>
🚧 避坑要点
- 先选电子路线再采购：Mega + ConChoose the electronics route before buying Fly: the Mega + ControlPCB and Fly Super8Pro routes use different firmware; buying for both means paying twice.隙是全机最难配合：多打 1~2The slewing-bearing clearance is the hardest fit on the whole machine换件试。: print 1–2 spare base parts; if the tolerance is off, swap in another.松勿紧：太紧会明显发热并加速 Belt tension: better loose than tight磨损。<: too tight causes noticeable heat and accelerates 625ZZ bearing wear.开环的：丢步不会有任何反馈告诉Stepper motors are open-loop低加速度: lost steps give you no feedback at all, so on a real machine keep acceleration low and leave a safety margin.看清楚：750g 含末端自重，Read the payload number carefully的工件去: 750g includes the end effector's own weight; don't design tasks around a 750g workpiece.就先用 URDF：结构参数与真To learn kinematics, start with the URDF / 仿: its structural parameters match the real machine, so trial and error in MoveIt2 / simulation costs nothing./b>：CC-BY-SA-4.0 要求Copyright reminder 相同方: CC-BY-SA-4.0 requires attribution + ShareAlike; if you modify and republish, you must use the same license.ion>
🔗 官方资料直达
- Thor 官网
Includes purchase links and torque tier notesa href="http://thor.angel-lm.com/documentation/assembly/"" target="_blank" rel="noopener">Assembly Guide · 装配指南3D Printing Guide · 打印件与3D Printing Guide · printed parts and slicing advice打印批次规划与材料选择
Print batch planning and material selectiona href="http://thor.angel-lm.com/documentation/electronics/"" target="_blank" rel="noopener">Electronics · ControlPCBElectronics · ControlPCB schematic and wiring自焊 PCB 方案的全部依据Control Software · AsgarControl Software · Asgard and other control software图形化点动与调试入口
Entry point for graphical jogging and debugginga href="http://thor.angel-lm.com/documentation/kinematics/"" target="_blank" rel="noopener">Kinematics · 运动学说明Downloads · STL / STEP /Downloads · STL / STEP / FreeCAD / firmware三种模型格式与固件、控制软件打包GitHub · AngelLM/ThorThor-ROS · ROS 2 & MThor-ROS · ROS 2 & MoveIt2 integration含 Docker 部署，可不打零件先仿真
❓ 常见问题
Thor 和项目 02（SmallRobotArWhat's the difference between Thor and Project 01 (SmallRobotArm)?ass="faq-a">两者都是「步进电机 + 3D 打印 + 低成本六Both are “stepper motors + 3D printing + low-cost six-axis”, but the kinematics differ: Thor uses the industrial-arm yaw-roll-roll-yaw-roll-yaw configuration, while Project 01 uses the more common DIY configuration. Want to study industrial-arm kinematics and singularity analysis → Thor; want to build one first with denser community build resources → Project 01. Both are worth studying, but you don't have to build both.>
不到 350 欧元的成本是怎么做到的？核心是「能打印就打印」：机身结构件、齿轮、乃至回The core idea is “print it if you can”: body structural parts, gears, even the slewing-bearing raceway are self-made, and you only buy stepper motors, bearings, balls, timing belts, and fasteners. The real cost saving comes from 配精度replacing off-the-shelf bearing structures with printed partsiv>
, at the price of tighter assembly tolerances.>
一定要焊那块 ControlPCB 吗？不一定。官方文档里给了 Fly Super8PrNot necessarily. The official docs offer an alternative route with an off-the-shelf mainboard like the Fly Super8Pro, which skips the soldering step; the trade-off is that the firmware follows the 3D-printing ecosystem (RRF). If you'd rather focus on mechanics and kinematics, take the alternative route; if you want to practice electronics and embedded work, solder it yourself.>
能拿它做实际生产/搬运吗？
Can I use it for real production / material handling?ass="faq-a">不建议。负载 750g（含末端），且步进电机开环Not recommended. The payload is 750g (including the end effector), and open-loop stepper motors have no position feedback, so long high-load runs cause heat and lost steps. Its purpose is as a 学控制teaching and research platform成闭环或: to study the configuration, kinematics, and control stack. If you need to do real work, switch to a closed-loop or feedback-equipped solution.>
✅ 下一步
回到「做自己的机器人」栏目项目 07，那里有本分Go back to Project 06 in the “Build Your Own Robot” section, where you'll find this guide's entry point, the official download page, and direct cards for the BOM. Suggested order: start by running through the kinematics in simulation with the Thor-ROS URDF → choose an electronics route → print the base parts to verify fit → assemble in the official order → verify by jogging with Asgard → then move on to ROS 2 planning.ions">
📦 打开官方下载页
← 返回「做自己的机器人」
🖨️ 第三段：打印与采购规划
🖨️ Part 3: Printing and procurement planningin">🔧 第四段：装配（两处最易返工的地方）
🔧 Part 4: Assembly (the two most rework-prone spots)ep">🔌 第五段：电子方案与固件（二选一，先定再买）<🔌 Part 5: Electronics and firmware (pick one first, then buy)ptable">
路线 特点
Characteristics
原版路线 Arduino MegOriginal route60 + 自制 替代路线 Fly Super8PAlternative route带驱动的 3D 打Fly Super8Pro (a 3D-printer mainboard with built-in drivers) removes the need for a custom PCB, but the firmware then follows the 3D-printing ecosystem (RRF).>
- 上电前自查：用万用表逐个确认电机绕组、驱Pre-power self-check A49: use a multimeter to verify each motor winding, the driver board's power supply, and the A4988 current reference (Vref) one by one. Don't connect the motor load on the first power-up.机波特率保持一致，否则会出现「Keep the firmware and host baud rate the same问题。<, otherwise you'll hit problems like “can't connect” that look like hardware faults.向与行程：方向反了改固件里的轴Verify direction and travel axis by axis要反接电: if the direction is reversed, change the axis direction parameter in the firmware; 查都要don't just swap the motor wiresi>
— otherwise you'll add an extra layer of confusion to every future troubleshooting session.：回零流程跑通后，测出每个关节Calibrate soft limits进配置，: once the homing routine works, measure each joint's soft limit and write it into the config, to avoid crashing into the mechanical limits.ion>
🕹️ 第六段：控制栈（Asgard 与 ROS 🕹️ Part 6: Control stack (Asgard and ROS 2)in">
- Asgard：官方提供的图形化控制软件，Asgard轴、查看: the official graphical control software, which can jog each axis and show positions. Use it to validate the mechanics and electronics first, then consider ROS 2 — tuning both at once makes it hard to tell where a problem comes from.ROS：官方维护的 ROS 2Thor-ROSt2 集: the official ROS 2 + MoveIt2 integration (including a Docker deployment), which together with the official URDF lets you, 动学、without printing a single part：坐标约定、关节零位与 DH Kinematics documentation都在官方: the coordinate conventions, joint zero positions, and DH parameters are all defined in the official docs. If you want to write your own control code or switch to another planning library, this document is the reference.重新算：750g 是含末端执行Recalculate the payload limit爪与工件: 750g is the ceiling including the end effector; once you add a gripper and a workpiece, the acceleration limit must be re-evaluated.ion>
🚧 避坑要点
- 先选电子路线再采购：Mega + ConChoose the electronics route before buying Fly: the Mega + ControlPCB and Fly Super8Pro routes use different firmware; buying for both means paying twice.隙是全机最难配合：多打 1~2The slewing-bearing clearance is the hardest fit on the whole machine换件试。: print 1–2 spare base parts; if the tolerance is off, swap in another.松勿紧：太紧会明显发热并加速 Belt tension: better loose than tight磨损。<: too tight causes noticeable heat and accelerates 625ZZ bearing wear.开环的：丢步不会有任何反馈告诉Stepper motors are open-loop低加速度: lost steps give you no feedback at all, so on a real machine keep acceleration low and leave a safety margin.看清楚：750g 含末端自重，Read the payload number carefully的工件去: 750g includes the end effector's own weight; don't design tasks around a 750g workpiece.就先用 URDF：结构参数与真To learn kinematics, start with the URDF / 仿: its structural parameters match the real machine, so trial and error in MoveIt2 / simulation costs nothing./b>：CC-BY-SA-4.0 要求Copyright reminder 相同方: CC-BY-SA-4.0 requires attribution + ShareAlike; if you modify and republish, you must use the same license.ion>
🔗 官方资料直达
- Thor 官网
Includes purchase links and torque tier notesa href="http://thor.angel-lm.com/documentation/assembly/"" target="_blank" rel="noopener">Assembly Guide · 装配指南3D Printing Guide · 打印件与3D Printing Guide · printed parts and slicing advice打印批次规划与材料选择
Print batch planning and material selectiona href="http://thor.angel-lm.com/documentation/electronics/"" target="_blank" rel="noopener">Electronics · ControlPCBElectronics · ControlPCB schematic and wiring自焊 PCB 方案的全部依据Control Software · AsgarControl Software · Asgard and other control software图形化点动与调试入口
Entry point for graphical jogging and debugginga href="http://thor.angel-lm.com/documentation/kinematics/"" target="_blank" rel="noopener">Kinematics · 运动学说明Downloads · STL / STEP /Downloads · STL / STEP / FreeCAD / firmware三种模型格式与固件、控制软件打包GitHub · AngelLM/ThorThor-ROS · ROS 2 & MThor-ROS · ROS 2 & MoveIt2 integration含 Docker 部署，可不打零件先仿真
❓ 常见问题
Thor 和项目 02（SmallRobotArWhat's the difference between Thor and Project 01 (SmallRobotArm)?ass="faq-a">两者都是「步进电机 + 3D 打印 + 低成本六Both are “stepper motors + 3D printing + low-cost six-axis”, but the kinematics differ: Thor uses the industrial-arm yaw-roll-roll-yaw-roll-yaw configuration, while Project 01 uses the more common DIY configuration. Want to study industrial-arm kinematics and singularity analysis → Thor; want to build one first with denser community build resources → Project 01. Both are worth studying, but you don't have to build both.>
不到 350 欧元的成本是怎么做到的？核心是「能打印就打印」：机身结构件、齿轮、乃至回The core idea is “print it if you can”: body structural parts, gears, even the slewing-bearing raceway are self-made, and you only buy stepper motors, bearings, balls, timing belts, and fasteners. The real cost saving comes from 配精度replacing off-the-shelf bearing structures with printed partsiv>
, at the price of tighter assembly tolerances.>
一定要焊那块 ControlPCB 吗？不一定。官方文档里给了 Fly Super8PrNot necessarily. The official docs offer an alternative route with an off-the-shelf mainboard like the Fly Super8Pro, which skips the soldering step; the trade-off is that the firmware follows the 3D-printing ecosystem (RRF). If you'd rather focus on mechanics and kinematics, take the alternative route; if you want to practice electronics and embedded work, solder it yourself.>
能拿它做实际生产/搬运吗？
Can I use it for real production / material handling?ass="faq-a">不建议。负载 750g（含末端），且步进电机开环Not recommended. The payload is 750g (including the end effector), and open-loop stepper motors have no position feedback, so long high-load runs cause heat and lost steps. Its purpose is as a 学控制teaching and research platform成闭环或: to study the configuration, kinematics, and control stack. If you need to do real work, switch to a closed-loop or feedback-equipped solution.>
✅ 下一步
回到「做自己的机器人」栏目项目 07，那里有本分Go back to Project 06 in the “Build Your Own Robot” section, where you'll find this guide's entry point, the official download page, and direct cards for the BOM. Suggested order: start by running through the kinematics in simulation with the Thor-ROS URDF → choose an electronics route → print the base parts to verify fit → assemble in the official order → verify by jogging with Asgard → then move on to ROS 2 planning.ions">
📦 打开官方下载页
← 返回「做自己的机器人」
- 上电前自查：用万用表逐个确认电机绕组、驱Pre-power self-check A49: use a multimeter to verify each motor winding, the driver board's power supply, and the A4988 current reference (Vref) one by one. Don't connect the motor load on the first power-up.机波特率保持一致，否则会出现「Keep the firmware and host baud rate the same问题。<, otherwise you'll hit problems like “can't connect” that look like hardware faults.向与行程：方向反了改固件里的轴Verify direction and travel axis by axis要反接电: if the direction is reversed, change the axis direction parameter in the firmware; 查都要don't just swap the motor wiresi>
— otherwise you'll add an extra layer of confusion to every future troubleshooting session.：回零流程跑通后，测出每个关节Calibrate soft limits进配置，: once the homing routine works, measure each joint's soft limit and write it into the config, to avoid crashing into the mechanical limits.ion>
🕹️ 第六段：控制栈（Asgard 与 ROS 🕹️ Part 6: Control stack (Asgard and ROS 2)in">
- Asgard：官方提供的图形化控制软件，Asgard轴、查看: the official graphical control software, which can jog each axis and show positions. Use it to validate the mechanics and electronics first, then consider ROS 2 — tuning both at once makes it hard to tell where a problem comes from.ROS：官方维护的 ROS 2Thor-ROSt2 集: the official ROS 2 + MoveIt2 integration (including a Docker deployment), which together with the official URDF lets you, 动学、without printing a single part：坐标约定、关节零位与 DH Kinematics documentation都在官方: the coordinate conventions, joint zero positions, and DH parameters are all defined in the official docs. If you want to write your own control code or switch to another planning library, this document is the reference.重新算：750g 是含末端执行Recalculate the payload limit爪与工件: 750g is the ceiling including the end effector; once you add a gripper and a workpiece, the acceleration limit must be re-evaluated.ion>
Entry point for graphical jogging and debugginga href="http://thor.angel-lm.com/documentation/kinematics/"" target="_blank" rel="noopener">Kinematics · 运动学说明🚧 避坑要点
- 先选电子路线再采购：Mega + ConChoose the electronics route before buying Fly: the Mega + ControlPCB and Fly Super8Pro routes use different firmware; buying for both means paying twice.隙是全机最难配合：多打 1~2The slewing-bearing clearance is the hardest fit on the whole machine换件试。: print 1–2 spare base parts; if the tolerance is off, swap in another.松勿紧：太紧会明显发热并加速 Belt tension: better loose than tight磨损。<: too tight causes noticeable heat and accelerates 625ZZ bearing wear.开环的：丢步不会有任何反馈告诉Stepper motors are open-loop低加速度: lost steps give you no feedback at all, so on a real machine keep acceleration low and leave a safety margin.看清楚：750g 含末端自重，Read the payload number carefully的工件去: 750g includes the end effector's own weight; don't design tasks around a 750g workpiece.就先用 URDF：结构参数与真To learn kinematics, start with the URDF / 仿: its structural parameters match the real machine, so trial and error in MoveIt2 / simulation costs nothing./b>：CC-BY-SA-4.0 要求Copyright reminder 相同方: CC-BY-SA-4.0 requires attribution + ShareAlike; if you modify and republish, you must use the same license.ion>
🔗 官方资料直达
- Thor 官网 Includes purchase links and torque tier notesa href="http://thor.angel-lm.com/documentation/assembly/"" target="_blank" rel="noopener">Assembly Guide · 装配指南3D Printing Guide · 打印件与3D Printing Guide · printed parts and slicing advice打印批次规划与材料选择
Print batch planning and material selectiona href="http://thor.angel-lm.com/documentation/electronics/"" target="_blank" rel="noopener">Electronics · ControlPCBElectronics · ControlPCB schematic and wiring自焊 PCB 方案的全部依据Control Software · AsgarControl Software · Asgard and other control software图形化点动与调试入口
Downloads · STL / STEP /Downloads · STL / STEP / FreeCAD / firmware三种模型格式与固件、控制软件打包 GitHub · AngelLM/ThorThor-ROS · ROS 2 & MThor-ROS · ROS 2 & MoveIt2 integration含 Docker 部署，可不打零件先仿真 ❓ 常见问题
Thor 和项目 02（SmallRobotArWhat's the difference between Thor and Project 01 (SmallRobotArm)?ass="faq-a"> 两者都是「步进电机 + 3D 打印 + 低成本六Both are “stepper motors + 3D printing + low-cost six-axis”, but the kinematics differ: Thor uses the industrial-arm yaw-roll-roll-yaw-roll-yaw configuration, while Project 01 uses the more common DIY configuration. Want to study industrial-arm kinematics and singularity analysis → Thor; want to build one first with denser community build resources → Project 01. Both are worth studying, but you don't have to build both.>
不到 350 欧元的成本是怎么做到的？
核心是「能打印就打印」：机身结构件、齿轮、乃至回The core idea is “print it if you can”: body structural parts, gears, even the slewing-bearing raceway are self-made, and you only buy stepper motors, bearings, balls, timing belts, and fasteners. The real cost saving comes from 配精度replacing off-the-shelf bearing structures with printed partsiv> , at the price of tighter assembly tolerances.>
一定要焊那块 ControlPCB 吗？
不一定。官方文档里给了 Fly Super8PrNot necessarily. The official docs offer an alternative route with an off-the-shelf mainboard like the Fly Super8Pro, which skips the soldering step; the trade-off is that the firmware follows the 3D-printing ecosystem (RRF). If you'd rather focus on mechanics and kinematics, take the alternative route; if you want to practice electronics and embedded work, solder it yourself.>
能拿它做实际生产/搬运吗？
Can I use it for real production / material handling?ass="faq-a">不建议。负载 750g（含末端），且步进电机开环Not recommended. The payload is 750g (including the end effector), and open-loop stepper motors have no position feedback, so long high-load runs cause heat and lost steps. Its purpose is as a 学控制teaching and research platform成闭环或: to study the configuration, kinematics, and control stack. If you need to do real work, switch to a closed-loop or feedback-equipped solution.>
✅ 下一步
回到「做自己的机器人」栏目项目 07，那里有本分Go back to Project 06 in the “Build Your Own Robot” section, where you'll find this guide's entry point, the official download page, and direct cards for the BOM. Suggested order: start by running through the kinematics in simulation with the Thor-ROS URDF → choose an electronics route → print the base parts to verify fit → assemble in the official order → verify by jogging with Asgard → then move on to ROS 2 planning.ions"> 📦 打开官方下载页 ← 返回「做自己的机器人」
- Asgard：官方提供的图形化控制软件，Asgard轴、查看: the official graphical control software, which can jog each axis and show positions. Use it to validate the mechanics and electronics first, then consider ROS 2 — tuning both at once makes it hard to tell where a problem comes from.ROS：官方维护的 ROS 2Thor-ROSt2 集: the official ROS 2 + MoveIt2 integration (including a Docker deployment), which together with the official URDF lets you, 动学、without printing a single part：坐标约定、关节零位与 DH Kinematics documentation都在官方: the coordinate conventions, joint zero positions, and DH parameters are all defined in the official docs. If you want to write your own control code or switch to another planning library, this document is the reference.重新算：750g 是含末端执行Recalculate the payload limit爪与工件: 750g is the ceiling including the end effector; once you add a gripper and a workpiece, the acceleration limit must be re-evaluated.ion>