AR4 MK2 6 DOF ROBOT ARM - DIY 6 axis robot kit / Arduino controller with Python program interface
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- เผยแพร่เมื่อ 19 พ.ย. 2023
- The AR4 6 axis robot arm uses an Arduino based controller and Python interface. This 6DOF arm is widely used in educational - STEM programs, industrial tasks, business startups, filming and videography applications as well as the hobby community and robot enthusiasts.
You can download all the 3D print files, software, manuals and source code for free here: www.anninrobotics.com/downloads
/ anninrobotics
/ chris_annin
You can email me with any questions about the project here: info@anninrobotics.com
The factory direct motors package is available from Stepperonline here: www.omc-stepperonline.com/upg...
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Chris you have done an incredible job. This is a life’s work to be proud of.
Thank you!
Its so inspiring that you dedicate so much time to give this for free so others can use, and still adding updates. Thanks so much.
My pleasure, thank you.
Yeah!!! Another AR4 video! Thank you Chris! It's nice to see you refining and simplifying the design so that it's easier to build.
This looks so strong. Love that you can get some serious motors into it without making it cost the earth
I understand what you’ve done here. It’s extraordinary. For one guy to finish this as a DIY kit goes approaches genius on several levels. What a wonderful learning experience for those who are fortunate enough to be involved in assembling and then experimenting with this.
Thank you.
This is fantastic Chris. Thanks for sharing your hobby.
Thanks again Chris for your contribution to the open source STEM community!
I'm happy to share the project. Thank you!
Will always remember this guy
I can remember when i was searching 5 years ago for this kind of robot arm... and the tolerances were not good enough or the prices too high... you did a really great job to give even private people the possibility to use it for their daily jobs or small companies.
This project is so amazing! It makes me so happy to see a talented engineer like you making such a big impact on students, kids, and even industry. Nice job!
Thank you very much. I really appreciate it.
Man this is the coolest thing I have seen. Thanks so much for sharing this with everyone. This project is actually very important. With AI getting better and better we will need open source robots for people to be able to start businesses so they can keep up and stay competitive.
Thank you!
Amazing! This is by far the best open source arm assembly I've ever seen. Your knowledge in the field clearly shows in how refined and solid this is. Can't wait to try and build one!
Thank you!
Just a few days ago I was wondering why there wasn't an easier way to get dishes from the sink to the dishwasher and viola! I'm glad someone is working on that problem. Thanks for sharing your work. If I ever build a robot arm this looks like a perfect fit for the types of things I would do.
Thank you.
I think this is my first robot project where I can start~ Thank you for your amazing project.
This is amazing! Excellent work. This is way better than the goofy arms people build using hobby servos.
Thank you!
Thank you for your hard work on this project.
This is mind blowingly cool - I'm building the Arctos arm right now, but this might be my next foray into arms at a later date.
Awesome to check in on this project every once in a while. Good work man!
Thank you very much!
This is one of the best projects I’ve seen in a very long time. Thank you so much for doing all the work to create this. You really make a difference in a lot of our lives. Bravo!
Thank you!
Thank you, Chris! Following it for a long time.
this is the coolest thing on the internet. planning on ordering an aluminium one for a welding project !
Building one right now. Thank you so much for making this open source
WOW - this is incredible- I like that j5 mechanism, going to seriously do some looking into this, great job!
Thank you!
I've started programming Fanuc robots for work and after seeing how fun they are, I had the thought that somewhere somebody has to be making 3D printed desktop versions of these things. I didn't expect to find someone taking it to this level though, nice job!
Thank you!
Just stumbled onto your channel and WOW!!!! Your robot arms are impressive to say the least. I have a project I am just starting that will be using an arm. Depending on how it goes I hope to build something like this robot arm. I am subscribed and will be watching for your future vids. Thanks so much for sharing this project.
Awesome, thank you. Let me know if you have any questions.
Great work! Thank you, Chris for sharing this!
my pleasure - thank you.
Wow. Absolutely incredible. I am just getting started with robotics and can't believe such a wonderful resource exists. Thank you sir!!!
Thank you and Im happy to share.
Good man - this is wonderful. Well done!
Wow! Thank you for sharing. I'm just starting out but I think building this for myself would help me immensely! Thank you again! Amazing!!!!!!!!
Thank you.
Endless thanks from Turkey. 🙏
Thank you
you are actually a hero, I think i will be attempting an automation project with this 🙏
Awesome, thank you. Let me know if you have any questions.
Chris, this is fantastic!
Thank you!
Крис! Ты крут! У тебя потрясающие роботы!
Your great Chris! Thanks for new update ... hope I will have the time to rebuild your great creation!
Thank you.
I'm glad I landed here. I'm looking for all the puzzle pieces to make a welding robot
I, as an engineer, really admire your work! I am also jealous because i used to work on kinematics and then i started to design a programming software but it was too difficult and i didn't have enough money to build a robot because of my unemployment. Now i have money and more knowledge but no time :D
But i am so happy for that someone actually does this.
Best wishes!
Thank you very much!
Will look into the kit. Nice job. You definitely show your skills and love of the profession. Have a good Thanksgiving.
Thank you very much.
appreciate your hard work. Im going to start robotics school in a couple days and im going to make this to help practice .
Awesome, thank you!
Awesome update!
thank you.
Awesome! I've been following the AR project for a long time, I'm glad you have continued improving it. It looks incredible. I'm designing my own robot arm, although I want to create a company with it
I'm taking a very different approach. While the servo gripper I made was inspired by yours, I'm going to make a new one soon.
Are you following the same kinematics as the AR4? The reason I ask, is I salvaged a very capable, and similar size robot from our local scrap yard, and have been working with the AR4 software on this non-AR4 robot arm.
@@whitneydesignlabs8738 no. I looked at the AR4 maths, but I didn't understand it, so I made my own from scratch
Hats off to you and everyone who understands the DH. I struggle with that level of mathematics. It stretches my brain to the max, but I am trying to learn it. :)@@ArgoRobots
Another Great Robot from Mr Annin.
thank you
Waw, amazing result! Great ingenuity!
Thanks!
This is a masterpiece for DIY's guys. Thansk for share your job!
Thank you!
first of all congrats to you for building this wonderful project. Your projects are very helpful to learn. and thanks a lot for sharing your knowledge and ideas for free.
Thank you 😊
Nice project Chris!
Thanks!
Very inspiring!!! Excellent work. Thank you for sharing.
Thank you!
Looks great Chris!
Thank you.
Legendary work. Thank you!
Thanks!
Man..your are freaking AWESOME!!!
What an oustanding job.....!!
Congratullations and thank you form sharing..very informative and inspiring...
Thank you very much!
So cool, this looks like an engaging build 😮 I've been practicing some languages including the Arduino ide and Python for robotics fun and a career change.
Absolutely awesome 👏. Well done mate, your robot arm is so cool. 💯 👍. Cheers Aaron
Thank you!
Congrats man!
Awesome project! Freakin' awesome!! Thank you!
Thanks!
Huge respect!
Thank you
awesome. I might build one my self one day
Amazing work, thank you for your contribution
Thanks!
Very, very cool, Chris! I am still experimenting with your software on my non-AR4 robot. My biggest stumbling block was the Denavit-Hartenberg convention that differs from my robot to the AR4. Can you recommend a way to adjust the DH convention parameters? At 7:30 in the video, you mention the kinematics. Maybe it can be done on this tab? I tried making these DH changes in the C++ file that runs on the Teensy, but didn't have any luck. (Introduce other errors, like out of range etc) I am super looking forward to taking another look at this latest version. Also, the gcode feature is super important. This could really bridge the gap of CNC & robotics concepts, which are not all that dissimilar. THANKS!! so much for all you do!!! I know what I will be doing this weekend.
🎉 Amazing project!
Thank you.
Thanks so much buddy! I dream of building something that complex :) GOOOD JOB! :)
Thanks!
Truly an amazing work
Thank you!
Holy shit! Very nice Chris!
Thank you
This is so awesome man. Thank you. New subscriber ✌🏻
appreciate it, thanks!
@@anninrobotics I’m going to build one, one day for sure!
Thanks.Chris
Very good project, well done bro
Thank you. I do have a complete manual for the robot at www.anninrobotics.com/downloads and there is also a tutorials page with a number of videos. Let me know if you have any questions.
Nice work, hope you are working on welding applications, like arc motion welding, zig zag welding motion, statching motion
super cool. a year ago i print everything out but never finist it. i hope that you make the smallest stepper a to a servo
woooo! I think your work is very meaningful! Thank you very much!
I appreciate that, thanks.
Great work like always
Thank you man thanks a lot
my pleasure, thank you.
This is awesome!!!! Thank you soo much!!!👍🏻👍🏻👍🏻👍🏻
my pleasure, thank you.
So cool!!! Must try
can you please share step or sw files? old also will be good. ca import stl and convert them, but will take a lot of time. thanks in advance
Hi
Thank you for the awesome project. I have some question
Is it possible to use this robot to etch PCB? Something similar to the drawing in the video but using spindle instead of the pen.
Is it possible to use it as a CNC machine?
Can use it for accurate tasks if I print the alloy parts using carbon fiber nylon or something even harder?
Thank you so much
how perfect job for students. buying complete robot is too expensive even small one and program too. From Korea
thank you
Thanks Chris, for your efforts. Hope to take your robot for other level such as increase size a little and increase payload at least 3 kg so can be used for a small industry application such welding
thank you. I will be looking into a larger robot in the future.
wow incredible iv been redirected to this vide via one of ur comments im just wondering if u wanna go the cnc/3d printer way where u would make a slicer/cnc gcode generator?
I know that is an extremely hard field, but i can see ur product surpassing even industial machines!!
Keep it up man :)
Amazing work Chris!
I have all the parts for the AR4 MK1 but I never got into building it as I got busy. Real soon i'll have more time on my hands so i'm wondering if you have a list of the different components used in the MK2 so I can get them individually to make the MK2 directly instead with the old Kits
Hello, The aluminum components and and hardware components are the same but the electrical kit changed slightly, it has most of the same parts but there are a few new parts. You will need some 20awg red/black wire, 90° USB keystone jack, Micro to C USB cable, 5.5mm DC socket, rocker switch, and a common 40mm fan. (see the MK2 manual BOM for details) These parts are all easily found on Amazon or If needed you can email me and I can put together an invoice for these parts. The AR4 MK1 motors will all work fine for the MK2, the biggest difference is the drivers. You will need to purchase (3) DM332T drivers and (3) DM320T drivers from Stepperonline as well as a 24vdc power brick. The drives as well as a 24vdc power brick can also be found on Amazon.
Hi Chris, sorry for many comments, please inform how will adjust the joints steps in V4 without "Jog Joints in Steps" option same as V2
Rad!…
Where it Goes….It Goes -Awsome- !
Inspiring 👏🎉
Really nice
Thank you.
Awesome work!
Does the Gcode only work in a 2-axis plane or will it work in 3D?
I'm glad the physical robot hasn't changed much or I'd have to build another one from scratch!
Thank you. I haven't done alot in 3D as I was mostly messing with 2d drawings but it should work in 2.5D but I didn't do anything yet for handling changes in orientation - just xyz. I have tried to keep the design consistent so no one gets left out. Thanks again.
I look forward to experimenting with this gcode function. When I first got my "some other brand" SOB robot arm, my approach was from a CNC perspective, attempting send it gcode using UGS. It sort of worked for simple 2 axes only. But things got squirrely quickly when all the DH parameters came into play. That is when I started experimenting with Chris's AR4 software@@anninrobotics
Chris, do you think it would be possible to place a small 3D printer hotend?
Hi Chris. I'm a farmer in Michigan using your robot for some machine vision tasks related to my conifer operation. Thank you for releasing this open-source project. I purchased the Hardware and Electrical kit back at the end of September but have not put things together yet. I see on the website the AR4 hardware and electrical kit are the same for the MK 2 version. Is the stepper motor package the same?
I also purchased the complete kit at the end of September and would be interested in knowing the differences between the mk 1 and mk 2.
Hello, the electrical kit has most of the same parts but there are a few new parts. You will need some 20awg red/black wire, USB keystone jack, Micro to C USB cable, 5.5mm DC socket, rocker switch, and 40mm fan. (see the MK2 manual BOM for details) These parts are all easily found on Amazon or If needed you can email me and I can put together an invoice for these parts. The AR4 MK1 motors will all work fine for the MK2, the biggest difference is the drivers. You will need to purchase (3) DM332T drivers and (3) DM320T drivers from Stepperonline. These drives can be found on Amazon as well. Thank you and let me know if you have any other questions.
This is awesome! I'm about to start a computer science degree and would love to build something like this. Are there any video guides/tutorials on how a total beginner can get started with this?
Hello, I have a complete manual and tutorials page at www.anninrobotics.com
Very cool man
Thank you.
You are awesome!
Thank you!
Hello!
You did a good job, congratulations for your effort. I would note that, I think it would be very useful to be able to add a real-time simulation part in that software.
Thank you very much!
Thank you. I've been thinking about doing that, just need to find the time. Too much work....
This is mind-blowing!! This is not just incredible, but is a legacy… that’s the best way to describe it. One question: in a modified form, is this accurate enough to replace a desktop CNC router?
Thank you. It may be capable of light milling but it's best for material handling operations. I still have some optimization to do on the gcode aspect as well.
@@anninrobotics Thank you so much for your response. I am looking at fairly light wood carving applications. I shall follow your progress. Best of luck!
@@OldSilkRoad thank you!
Wow! I am going to build at least one of these!
Cool, keep me posted if you have any questions.
@@anninrobotics Really appreciate all the work you've put into this, especially given that you're keeping it open source! 🎉
it is amazing
thank you!
Do you sell the linear rail as well? If not - could you link which parts would work?
My project requires the robot to be able to traverse around 1.5 meters linearly.
Once again, incredible job by a single person.
Thank you very much. I don't have a kit for the rail but the manual does have a bill of materials for it. The software is configurable so that you can make a rail any length you need. If you have any specific questions please shoot me an email at info@anninrobotics.com
So cool.
Thank you.
That's some remarkable $hit! Can't wait to build my robot army!
Thank you.
Wow, This is great!! I understand that the software can be downloaded and the stepper bought and some parts 3d printed but how would one get hands on all of the specific metal parts that are needed?
Thank you, you can find all the information including robot kits at www.anninribotics.com
I would love to have the time to buid one.. Continue the great work.
Thank you
I’ve followed this project for a while now and it is very impressive. I just have one question though. A common problem with robots are how they are controlled, potentially because the skills to program the robot itself are pretty different from the skills required to make GUIs, so what did you use to create the program to control the robot?
I have looked into a number of solutions myself, creating python GUI programs, making android apps, etc, but they all require pretty different programming skills than microcontroller programming so seem like they would take a long time to learn.
Hello, the AR4 software is programmed in Python and is similar to a robot teach pendant. The programming is fairly basic in that you jog and teach positions, there are also position offsets that can also be used. I do have a video on the tutorials page that goes over programming which might give you a better idea.
Chris this is an amazing project ! could you please share with me what is the accuracy or repeatability test results of the robot ? im designing my own arm and im considering to also work with planetary gear boxes , but im afraid it may make my robot inaccurate.
thank you for everything you have done !
Thank you very much. Given the testing I have done repeatability is around .2mm to .3mm. this was with no change in load returning to multiple positions. Harmonic drives would be ideal but given keeping the cost at a minimum these gear motors aren't too bad.
NICE
Thanks
So cool, I want one, even if I not have time to play with it
Thank you, let me know if you have any questions.
Hey Chris, I'd like to buy the CAD Model of the AR4 and mill it out of aluminum myself. Just a question about the 5lb Payload though: Is it limited by the servos or the structural stress of the metal? I'd use the robot for my Masters Thesis and would need to know this beforehand, since I would need a payload capacity of 5kg instead of 5lb☺️
The weight limitation is in the motors, J3 and J5 usually give up first when lifting. I have seen people modify the design to use a larger motor for J3.
@@anninrobotics cool, thanks☺️
Hi Chris, I want to build an AR4 MK2 and would like to start with the most basic parts. In your store, I will need the 'AR4 MK2 Robot Combo Kit', the 'Complete AR4 MK2 Stepper Motor, Driver & Power Supply Package - factory direct from StepperOnline' and the 3D prints you provide. Is that correct?
Yep that's correct, message me with any questions you have on the project and I'm happy to help.