AR4 6 Axis Robot Arm
ฝัง
- เผยแพร่เมื่อ 5 พ.ค. 2024
- This 6 axis robot arm uses an Arduino based controller and Python interface programming as well as RoboDK. The AR3 & AR4 have been used in hundreds of hobby, educational and STEM programs to teach mechatronics, machining, 3D printing as well as programming. This desktop robot arm has also been used for a wide variety of industrial tasks such as welding, sorting, stacking and machine tending and has also been used in many filming and videography applications.
You can download all the 3D print files, software, manuals and source code for free here: www.anninrobotics.com/downloads
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/ar4... - วิทยาศาสตร์และเทคโนโลยี
Chris, this is truly unprecedented! I have been admiring your work for a few years now. This new version is even more impressive. But the thing which I am so impressed with is your desire to give your countless hours of top quality work away for free. What a difference to the unrelenting money grabbing going on today. I wish you all the very best!
thank you very much
Manuel
@@anninrobotics Thx again.
Thanks for all the great work Chris! Looking forward to building an AR4 once my current CNC build is complete.
It's been a while since I've heard an update on the AR series! The offset calibration is a very cool feature to see and the Teensy is a fantastic platform.
Chris , nice update. I purchased the Ar3 kit and had my son an mechanical engineering student and a group from his school help build it. I was shocked how little hands on these students got in the program so it was a great project to get them some common sense real life skills. I built it to use for a particular process for my company however the processor wasn’t up to the task. I am happy to see the new board and look forward to updating my robot when time permits.
Been following the project since AR2 release and you still keep amazing me! Thanks for all the effort and hardwork you put in this project. 🙏
Hi Chris, I just stumbled across your channel and content. Immediately subscribed!! I too have 30 years experience with ABB, Fanuc, Kawasaki, Yaskawa Robots. Unfortunately I have been forced into Early retirement. Your work is truly amazing!!!! Absolutely love the 7th axis rail!! Cant wait to see more!!
Chris this is amazing work! Hoping to finish up some other projects by January to make space on the bench to begin my AR4 build come February. I'm going with the full aluminum kit. Cheers, Cletus
Thank you so much for sharing this extraordinary work and congratulations!
You're a LEGEND, Crhis! Thank you for sharing your work and expertise with the world for FREE!
thank you, im happy to share the project
I just placed the order for the AR4 stepper kit. I'm so grateful you are doing this and providing the aluminium and hardware parts for what I assume is very close to cost. Thank you Chris!
My pleasure. Thank you.
Thanks again for all of your hard work and your willingness to share this project with the world.
my pleasure and thank you
your work is amazing
Es un verdadero gusto haber llegado a este canal de youtube hace ya casi 4 años y haber encontrado a alguien muy profesional, con el corazón tan impregnado de ganas por hacer algo por la comunidad y con tanta pasión por compartir sus conocimientos, pues el conocimiento es universal. El gran Marco Aurelio dijo "Hemos nacido para colaborar, al igual que los pies, las manos, los párpados, las hileras de dientes, superiores e inferiores. Obrar, pues, como adversarios los unos de los otros es contrario a la naturaleza". Sigamos el ejemplo de Annin y continuemos en el camino de la naturaleza.
Exitos y muchas gracias por toda esa pasión y aporte a la comunidad, Me llena de emocion haber llegado a este canal.
I really appreciate your work! Will start building one after my CNC is finished.
you are incredible Chris. It is an unbelievable project and so generous to share it free with the world. This is fantastic for education with kids and teaching. Amazing what you have done. thanks so much for being so open
Thank you
Really excited about a world of sharing creations freely! This is beautiful 🤩.
AR1>AR2>AR3>AR4 and more to follow, this is awesome, Its like trying to beat your record, an desire to do better.
I am definitely going for this project one day. It gets kind of expensive project but it inspires me so much.
This is so cool. I've been wanting to build one of these for a while. Maybe it's time I stop procrastinating.
Hi Chris, this is actually a GREAT project! Congratulations for you skill an patience to write a comprehensive documentation (fundamental!). I'm planning to purchase a kit in a few months when I'm over with other chores!
Thank you very much.
This is excellent! Thank you for sharing your hard work.
Your work is incredible. Thanks for sharing this with us. This is the only way we could ever own a industrial style robot.
Thank you.
Amazing! I would love to start and try building something like this over the winter break!
Awesome as always! I need to build one of these at some point.
Looks awesome! One step closer to robots that build copies of themselves :)
Very cool. I am excited to learn more about this architecture. I have a robot that was saved from the scrap yard that I will do some experiments with using the software and wiring basics.
It looks completely stable, that is amazing work!! 🎉🎉
Thank you! here is the latest if you are interested th-cam.com/video/KJFtruAHXoU/w-d-xo.html
Seems daunting even for a skilled programmer. This takes money, time, and knowledge.
Cool project!. I think I will try this.
Wow, what an amazing gift to share, thanks!
Thanks!
Hi Chris, I've just recently found this and look forward to trying to build this with some spare time. Your documentation is amazing. Keep it up!
Thank you
This looks great. Thank you!
WOW, amazing job, thanks so much!
Thats amazing! Thanks for all the hard work.
WOW; what a great project. i think i have to build one - maybe as a video series ;)
Ive been wanting to get nto robotics for years, but without formal education or money, I thought it was just a pipe dream. Thanks to your project I feel confident enough to give it a go. your manual is so amazing. youll be getting an electronics order from me very soon thank you for all of your hard work Mr Annin
Thank you. Keep me posted if you have any questions.
You are incredible Chris, I look forward to building one of your designs and your software looks very user friendly in comparison to other industrial robots.
Thank you!
WOW ! i was in the process of printing the parts for the AR2 and i was getting issues not knowing if the position of hole where going to match the position of the servo. Now that you said there a link to get the full kit for the servo I think i will just get that going and continue on.
This is awesome! I fancy building my own robot so this is an awesome resource!
Thank you, such great work and documentaiton. Really appreciate all the effort.
Mind blowing effort and sharing parts. I'll make my own soon, and printing all parts by my self. ❤️ From Lake Toba
Great work! and Thank you for sharing your hard work, wonderful !!!
Chris, I admire you. You are an inspiration to many, including me. Thank you so much, you are doing humanity a great service :)
Thank you!
I need one of these so bad!!!! I'm literally saving up a hundred dollars at a time every two weeks!!!
This is truly amazing!
You are the MAN!
Great to see the addition of circular and arc moves. You mentioned splines, do you have plans to add this capability?
Any thoughts on how path accuracy and repeatability compare with move to position repeatability?
Stellar work Thx
Thanks chris. Hope time allows me to build one and contribute. awesome work. Can't thank you enough
Thank you
Amazing work!
thank you
brilliant …. thank you CA
thank you
I am trying to convince my management to go for this rather than the universal robots we already have. This seems so much nicer to use as an engineer/software developer. This is amazing.
thank you
One thing that they emphasize with the UR's is the relatively low impact if they happen to collide with a human. This tells me that they are running _true_ servo-motors in "Torque Mode" and they are limiting the torque to just what is required. I'm not a stepper expert but I suspect that this technology isn't capable of torque limiting(?)
AR4! Awesome! 🤙🏻
thank you
Great video thank you for sharing
I love your project! Thanks so much. I follow you since the mark 2 of your AR :)
Thank you very much.
@@anninrobotics Hi Chris, Stepperonline Link is dead somehow :(
@@SantaDragon Thanks for the heads up. I updated the link. I guess they changed something on the address.
Insane
Great job! Wow!!
Impressive work ! Great ingenuity !
thank you
Awesome project Annin!
I’m building this to attend the 3D printers in my studio, which I think would need visual processing solution attached to it. Would you please recommend resources in visual processing? 🙏🏻 and is there a possibility of adding an eighth axis for vertical motion along with 7th axis horizontal motion?
wow, I am so impressed. I will definitely buy a kit in the near future
thank you
So impresive
Thank you!
What an interesting development
Chris Annin your work is a treasure greets from colombia
Thank you
Wowwwww! You are a genius!!
Thank you :)
The gods have spoken .... again. THANK YOU
my pleasure and thank you
You’re a beast! New goal is to build one of these
Awesome
Awesome project sir....waiting other robot make tutorial too(DELIVERY ROBOT_AUTONOMOUS_USE LIDAR/GPS/COMPASS)
Good job, bro! I hope, one day, we will see the "AR-1000" with 1Ton payload capability. =D
really appreciate it
Well done!
thank you
Thank you so much 😃
my pleasure. thank you!
Awesome!
Wow Awesome man. I'll probably buy one just waiting for servos to get back into stock.
thank you
Super impressed. Wow.
thank you.
Hello Cris! I send you the Like N° 1000 in this video!!! Truly an amazing job! My congratulations, I don't know much about this but I'm going to try it because it was always my dream to have a robot and at 36 years old I think this is the opportunity! I wish you the best!
Awesome, thank you. Keep me posted if you have any questions.
great work . beautiful machine
Thank you
Nice work as usual. 😀
thank you
Thanks you,
Amazing work
thank you
Hey amazing project ^^ Great to see al your work come together in such a nice package.
Do the reducers have backlash? If so how many degrees?
im following you for some months already.. you are an amazing personallity!! what a great work to share your knowledge with us.. im from Brazil, found you on internet searching for a good diy 6 axis robot.. and i already emailed you, for my surprise, you replied!! ;-)
i will have my ar4 for sure and will contact you to learn how to place a tourn table instead of travel track on mine.. i have a initial idea, just need to learn perfectly how to integrate on your software as I did not start to deal with it yet!
thanks a lot
Thank you, I'm happy to help.
Thank you, I'm happy to help.
my god this is amazing!
thank you very much
I am here to thank you, and give you a new subscriber sir
Thank you.
Amazing!!!!!
Thank you
Hello,Chris.Thank you for sharing.
I want to know how you connect to RoboDK,and there is a "drive" option in "connect" interface, how to define this drive file?
Good job!
Thank you very much and for all your support.
@@anninrobotics How to run AR4 in robotDK ,thanks!
brilliant
thank you
I am very interested about robotics and stuff, but I injured in car accident end of the 90's, and got quadraplegia. My hands work ok'ish but my fingers dont, I'd be so interested to buy this and do all kind of stuff with it, maybe help myself to work better with my 3D printer. I have tons of ideas but cant do everything that I want. Very nice design and code. 5/5
Hi Chris, I'm using AR2 software with arduino mega as you said for me in another commentary is working very well thank you By the way, but i would like to know how can I save my files, and which file I can save my projects with the position and all work the robot have to do. Thank you again.
Hi Chris, looks great! Do you have a changelog of the AR4 from the AR3 with belt upgrade? Are the only changes the electronics, motors, and software? Thank you
Hello, I will be working on a document and teensy sketch to update the AR3 to use the AR4 software this week. The primary difference is that the AR3 uses the CUI encoders so I need to create a 4.1 sketch that has the correct encoder values. The pinout on the teensy 3.5 is nearly the same as the 4.1 so I don't expect there to be much in the way of wiring changes. When I have the sketch and document ready I will post it to the downloads page and make an announcement on the site's blog page.
@@anninrobotics I thought we couldn't use a Teensy 4.1 on AR3 as the encoders need 5v and the Teensy 4.1 only runs on 3.3v ?
@@nermaldotorg On the AR4 I added a 3.3v and 5v wire going to the base of the robot, the 5v powers the encoders and the encoder return voltage is low enough the 4.1 is fine and then the 3.3v signal is used on the limit switches. All that being said I have had several people use the 4.1 anyway and even with the limit switches being powered by 5v there seems to be enough voltage drop that no on has reported burning out any teensy 4.1 inputs. Regardless I am going to put together a upgrade document and explain this and still recommend people run a 3.3v to the base and switch the limit switches to 3.3. email me if you have any other questions on that and I will try to answer any questions you have.
@@anninrobotics Thanks for the reply - I might just put a diode in series on each of the limit switch inputs to the teensy to drop the voltage another 0.6v or so.
Would that work ?
@@nermaldotorg 74HC4050
Great job！Chris Annin
Thank you.
i tihnk this will be my Christmas present to myself. How are things looking on the component availability side? Like the motor kit for example would it be feasible to order and get all of that shipped in this lifetime?
Yes I have everything in stock and stepperonline hasn't had any issues that I know of shipping the motor kits. thank you.
Uhmmm. Someone knows a ton of shit and yet sounds so sincere...I have found a hidden Gem wow.Thanks Alot!!!
Reading ar4 manual at the moment. Heating bearings with a hair dryer.....Why haven't I thought of that years ago? My shop is getting new hair dryers now lol. Your work is astonishing. I can only imagine the time and effort put into this. This is literally the best treasure I have found on the net. I'm assembling all components in cad today to check the design out. Are ar4 stl files nominal sizes or should I go for ar3 nominal size spec folder?
Can this AR4 be programmed to run a file when when you press a button/switch it will run that program without having to run off the program? Also could you control the robot by a wireless controller? If so will it be able to record the motion to repeat it later on its own, as in making a program file to repeat? Thank you for your time.
professional. just that.
Thank you
is there an upgrade path from AR3 to AR4?
Oh I am so making this
how to calculate motor torque required for arm and payload ?
Wow Chris. I just stumbled on to this and this is Amazing. And for free? Wow. I want to build this for camera work (cinematography) and this will help me take it to the next level. Now I see the specs say payload is 4lbs. I’m wondering if I find a good way to put an arca Swiss mount and have a camera balanced with lens, it should be around 2.5 pounds. But I would have to see. Gonna try this out!
Thank you. Let me know if any questions come up.
Hey Chris (or Mr. Annin if preferred)
I'm an electrical engineering student from Cologne, Germany, and about to write my Bachelor Thesis ☺️
Since it's gonna be my project, I'm currently tinkering on my own radio controlled version of a KUKA IIWA or KUKA Quantec. For that, I'd like to buy the set of an AR3 or AR4 and want to set it onto a chassis with Mecanum wheels. Now, in order to create a smooth movement of all the various axes, I'd need to link the chassis control to the AR control. Since you're the Designer, I'd like to ask you: Is there any kind of machine-to-machine interface in the ARs code? :)
Sure, I could just run both of the controls on one and the same Controller, but then I'd have to re-engineer the whole code.
Also - over time and later in my Masters Thesis - I'd like to turn my knock off KUKA from a RC vehicle into an autonomous. Especially then it would be nice to *not* re-engineer the whole code😅
Thanks in advance☺️