# AngelLM/Thor

DIY 3D Printable Robotic Arm

Repository: https://github.com/AngelLM/Thor
Canonical: https://ross.abutalabs.com/products/angellm-thor
Homepage: http://thor.angel-lm.com
License: CC-BY-SA-4.0
License Family: other
Topics: opensource, freecad, robot-arm, 3d-printed, diy, maker, robotics
Last push: 2025-05-09T14:25:31+00:00

## Health v2 (maintenance only)
Score: 32/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 20, release rhythm 8, longevity 100
- inputs: {"age_days": 4150, "days_push": 481, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: none
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1574, forks 270 (observed 2026-08-28T04:05:05.765012+00:00)

## What it is
Thor is an open source, 3D-printable 6-degrees-of-freedom robotic arm designed to be affordable (under 350€) and accessible for education, makers, and robotics enthusiasts. The repository provides FreeCAD source models, STL/STEP files, a bill of materials, and documentation for printing, assembly, electronics, and GRBL-based firmware control.

## Use cases
- build a 3D printed robotic arm at home
- teach robotics in schools and universities
- learn industrial manipulator kinematics hands-on
- print and assemble a 6DOF robot arm from STL files
- control a robot arm with G-code like a 3D printer or CNC
- integrate a DIY robot arm with ROS2 and MoveIt2
- modify an open source robot arm design in FreeCAD

## When to choose
- you want an affordable, fully open source robotic arm you can print and build yourself
- you need an educational platform for robotics courses covering CAD, electronics, and firmware
- you want an industrial-style yaw-roll-roll-yaw manipulator with ROS2 integration
- you prefer hardware designed entirely with open source tools (FreeCAD, KiCAD, GRBL)

## When to avoid
- you need a ready-made robot that works out of the box - this is a multi-week build project
- you need to lift heavy payloads beyond 750 grams
- you require high-precision industrial automation
- you have no access to a 3D printer or willingness to solder and source electronics

## Facets
- artifact type: application
- maturity: active
- function: robotics, simulation, developer-tools
- domain: robotics, education, hardware
- platform: cross-platform, python, embedded
- tags: robotic-arm, 3d-printed, diy, maker, freecad, grbl, ros2, 6dof, open-source-hardware, automation

## Member repositories
- AngelLM/Thor (main) score 32

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:05:05.765012+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T03:57:37.424716+00:00, confidence not recorded.
  - readme: https://github.com/AngelLM/Thor (fetched 2026-08-28T04:05:05.765012+00:00, sha bac31daf8349)
  - homepage: http://thor.angel-lm.com (fetched 2026-08-29T11:28:33.335462+00:00, sha 6b7c8ff52fce)
  - site_page: http://thor.angel-lm.com/documentation (fetched 2026-08-29T11:28:33.344497+00:00, sha d5922fa8f825)
  - site_page: http://thor.angel-lm.com/documentation/get-started (fetched 2026-08-29T11:28:33.346231+00:00, sha 77533ccf2478)
  - site_page: http://thor.angel-lm.com/documentation/bom (fetched 2026-08-29T11:28:33.348146+00:00, sha 1c9e2ca178e3)
  - site_page: http://thor.angel-lm.com/documentation/3d-printing-guide (fetched 2026-08-29T11:28:33.349803+00:00, sha aafda547c6a2)
  - site_page: http://thor.angel-lm.com/documentation/assembly (fetched 2026-08-29T11:28:33.351578+00:00, sha 8a4cea0d1234)
  - site_page: http://thor.angel-lm.com/documentation/electronics (fetched 2026-08-29T11:28:33.353342+00:00, sha a9eeddff3942)
  - site_page: http://thor.angel-lm.com/documentation/firmware (fetched 2026-08-29T11:28:33.355152+00:00, sha 560aae26a0e5)
  - site_page: http://thor.angel-lm.com/documentation/control-software (fetched 2026-08-29T11:28:33.357965+00:00, sha d5ef32b4d5dd)
- Data as of 2026-08-30T08:39:29.467469+00:00.