2/20/2026 5:00 PM - Making the schematics (wiring diagram before kicad)

I have changed the original schematics to my liking. And also adjusted that so it would work with wifi. Time to move onto kicad schematics. Im not really going to be organzing everything around.

2/20/2026 5:32 PM - Schematics p1

Have successfully completed the schematics for 8 A4988 drivers , and the connectors as well. Even though I said it wont be organized I kind of organized it ig. I cant see a messy schematics.

2/20/2026 5:49 PM - Schematics p2

I have finished wiring the half of PDIG1 , Screw terminals , and AUX12V.

I made sure to add a fuse to the power screw. i also forgot to change the netlabel values in the a4988 drivers which i duplicated.

2/22/2026 - Schematics p3 | Completed the MCU wiring and Labelling

Before I did not label the signal output pins to the MCU , Now i have labelled them and put them to according to pin in the MCU as well. I also fully completed the PIN out for the MCU.

2/23/2026 12:01 AM - Schematics Over

I have added some indicator LED's for the USB , Cooling fans and 12v. This would make debugging way easier if something goes wrong. Added the Servo headers as well. Also added a 5V Aux. Pretty much the whole schematics is now over. Next thing is to move on to the PCB!.

2/23/2026 12:16 AM - Schematics Organizing & Sanity Check

Before moving onto the PCB , I organized everything into proper categories so It would be easy for another person to understand. I also did a sanity check on the wiring so I dont fk up the PCB.

2/23/2026 8 AM - PCB Time :D | Organizing Components

Well It's time to start the PCB, before routing everything I have a habit of organizing everything. I have made the PCB just like how a normal CNC shield looks. Next thing is to route them correctly.

This is what I came up with for now. It looks like a normal CNC shield. I will be adding more stuff to this later on.

2/23/2026 10:03 AM - PCB Completed

I speed ran the PCB cause time is ticking and If I spend time making it I wont be able to build it. So I a made sure to make then lines which carry the Higher Amps a little thicker than others. Its almost look like a normal CNC sheild. Next thing is doing is silkscreen art. I deleted all silkscreens lol. including the footprint ones

2/23/2026 10:23 AM - PCB | Silk Screen Art

I did some silkscreen art adding my name and other footprint indicators. Like for the LEDs. Also i accidentally deleted the screw terminal footprints. But now its back. It look something like this. I will maybe add some stuff later if I had to.

2/23/2026 5 PM - 3D Designing Time

[Hour 01]

Im planning on going w/ the orignal Thor design but im going to be recreating it with my own modification just copying it. I have made this base design on Tinker Cad cause its kind of hard on Blender.

[Next]
I added the holes for the port of USB and Barrel jack of the Mega Wifi Board.

[Next]
I made the holes for where the DC fans will sit as well.

[Hour 02]

Now Im going to making the designs for the Gripper System, like the servo part , the grabbing part , etc.
I made this design for the servo housing where there would be a disk connected to the active arm. I made sure to have multiple screw locations with opening to put nuts. (i got that gear mesh from fusion lol)

[Hour 03]

Now its the next part of the gripper body. This design was tricky to get it right.

[Hour 03.5]

I have made the gripper fingers, which im mostly planning on remodeling later on. But now I dont really have a lot of time. There are estimated 50+ parts.

2/24/2026 - 3D Designing Time | p2

[30 Minutes]

Now Im going to be build a body part of the robot. So I decided to follow the cylinder shape from thor arm. Thanks to https://angellm.github.io/ThorAssembly/ I could recreate any 3D models.

[1 Hour]

Making the gear for inside body (so it can yaw). the gears is from the gripper as well just modified lol.

[30 Minutes]

Making the part that spins when the servos are spinning.

2/25/2026 12 PM - Making the Servo Motor Holders

I found a 3d model on a website of the nema 17 servo bracket. So I downloaded and modified it into a flat version so it would fit inside. Also made a mounting system so it will slide in.

2/25/2026 1 PM - 3D Designing | Fan Brackets

[30 Minutes]

Found some brackets for DC Fans online. Downloaded it and modified so It could sit flat on the round surface. Added holes for screws and did some measurements as well.

[1 Hour]
Made the bottom parts as well that spins/

2/26/2026 - 3D Designing | Next Body

I kind of copied this body as its kind of hard to replicate. its the (Art3Body) and (Art3Pulley). Which I have used the body from Thor's Arm.

Others are mostly made by me. The nema motor gear and and motor top cover is made by me. (i used a the bracket same as before but changed the size and screw placement).