Koch v1.1 vs Thor
Cost, parts and difficulty side by side.
| Koch v1.1 | Thor | |
|---|---|---|
| Cost | $477 to $560 | $300 to $450 |
| Difficulty | intermediate | advanced |
| Parts | 13 | 61 |
| 3D printing | yes | yes |
| Kits available | 1 | 0 |
| Made by | Jess Moss (after Alexander Koch's low-cost robot) | Ángel LM (AngelLM) |
| Full list | Koch v1.1 parts list | Thor parts list |
Koch v1.1
Dynamixel-based leader and follower arm pair, the first LeRobot reference arm; pricier than SO-101 but uses ROBOTIS servos.
Thor
Open source 3D printed six axis arm driven by NEMA 17 steppers and GT2 belts, controlled with G-code like a 3D printer.
The short answer
Thor costs less to start: about $300 against $477 in parts. Koch v1.1 has the shorter parts list (13 lines against 61).
Motors and servos
Koch v1.1
- 6 x Dynamixel XL330-M077-T
- 2 x Dynamixel XL430-W250-T
- 4 x Dynamixel XL330-M288-T
- 2 x ROBOTIS FPX330-H101 hinge frame and idler set (4 pcs)
Thor
- 1 x StepperOnline 17HS15-0404S NEMA 17 stepper
- 3 x StepperOnline 17HS13-0404S-PG5 NEMA 17 stepper with 5:1 planetary gearbox
- 3 x StepperOnline 17HS13-0404S1 NEMA 17 stepper
- 1 x MG995 hobby servo