AngelLM Thor

Q: How much does Thor cost?

Thor is listed at DIY, < $390 (€350) parts. Project's own estimate of hardware cost. No official kit.

Q: Can Thor be bought today?

Yes, it is on sale. No commercial kit. Parts are printed and sourced from the project's bill of materials.

Q: Who makes Thor?

Thor is made by AngelLM (open source, Spain). It came out in 2015.

Q: Can Thor be programmed?

Open source (hardware + software). G-code over serial, Asgard control GUI, ROS 2 + MoveIt 2 packages.

Q: Does Thor have AI chat or LLM support?

Possible via SDK. G-code over serial and ROS 2 packages, no built-in LLM.

DIY, < $390 (€350) parts

AvailableVia SSH / web / bridge3D printedCC BY-SA 4.0G-codeROS 2

Weeks+Shipping: DIY build.

Remote control: Streams G-code over USB serial (any Python serial script works) or runs through the Thor-ROS ROS 2 / MoveIt 2 packages.

LEARN MORE (Project site) ↗

Overview

One of the longest-running open-source 3D-printed 6-DOF arms, started in 2015 as a university final-year project and developed publicly since (the GitHub repository dates from 2015). It uses an industrial wrist layout and is driven by G-code like a 3D printer, which keeps electronics cheap but limits it to open-loop steppers.

Type: Robot arm · Desktop & hobby arms
Maker: AngelLM (open source, Spain)
Released: 2015
Price: DIY, < $390 (€350) parts
Status: Available
Best for: Ages 16+
Programming: Open source (hardware + software)

Price and shipping

Project's own estimate of hardware cost. No official kit.

Shipping: DIY build. No commercial kit. Parts are printed and sourced from the project's bill of materials.

Specifications

Category	Robot arms · Desktop & hobby arms
Released	2015
Country	Spain
Availability	Available
DIY build plans	Thor arm · parts $390 (estimate) · difficulty 4/5
Programmability	Open source (hardware + software)
Built-in autonomy	None / scripted · Moves only when controlled, or plays preset motions
LLM support	Possible via SDK · G-code over serial and ROS 2 packages, no built-in LLM.
MuJoCo simulation	Maker URDF only · Maker's Thor-ROS includes a URDF package, nothing for MuJoCo. Thor-ROS ↗
NVIDIA Isaac simulation	Maker URDF only · Maker's Thor-ROS includes a URDF package, nothing for Isaac. Thor-ROS ↗
Gazebo simulation	Official model · Maker's thor_urdf ROS 2 package includes a Gazebo launch file. Thor-ROS ↗
Best for	Ages 16+ (estimated)
Vision sensors	No vision sensors
Actuators	Stepper motors
Audio	No audio
Compute type	Arduino / ESP32 / microcontroller
Remote control	Via SSH / web / bridge
DOF	6 (yaw-roll-roll-yaw-roll-yaw)
Reach	Not published (625 mm tall stretched)
Payload	750 g max (incl. end effector)
Repeatability	Not published
Weight	Not published
Controller	Arduino Mega + custom shield (ThorControlPCB) or commercial 3D-printer boards running GRBL or RepRapFirmware
Sensors	Endstops for homing (BOM lists four optical endstops and one micro endstop)
SDK	G-code over serial, Asgard control GUI, ROS 2 + MoveIt 2 packages