This is a true labor of love. I've worked on a similar project for about a year, though I'm focused much more on the software side. I'd love to combine my software with your design when the software is ready. It's designed mostly for robots that are focused more on speed and strength than precision, but it is very adaptable to the machine. What I mean is, your robot is great - and it also inspires and informs other robots that have different goals. I'll send you more information as soon as it's ready. I think you'll like the result.
I am the Math, Science and STEM coordinator for a school district. We will base a course based purely off of your build and open source resources. Thank You!!!!
Awesome im glad you like it. I have quite a number of schools using the robot for their curriculum. Let me know if you have any questions. info@anninrobotics.com
Chris, always great to see a notification from you. It's fantastic that you have documented all the progress you have made over the past couple of years. More power to you!
Hey Chris, After working on my first big robot I now have even more respect for your work. Furthermore, looking at your code, its beautifully set out for others to read and understand. Thank you for sharing your work.
This is awesome... I'm really going to have to take a detailed look at this. It would be incredible of I could get this to work with my PUMA 560 series robot arm... and replace the failing 40-ish year old controller. Although... this robot would certainly be much easier to haul around for demonstrations and such. Thanks for a great job!
Thanks for sharing. Already downloaded your code and docs from Github. Thank you for an incredible amount of knowledge and work. I especially liked the parts list you put in the PDF, wow, nicely documented!!!
Glad to see this project mature! I started looking about how to teach myself more in-depth robotics freshman year of college, after a year and some experience I'm gonna start working on this project as a 2nd Year, it's nice to have a sort of guided learning experience because it's hard to know where to start when you barley know anything haha. Thank you for this!
I can't wait to build mine. It's nice you have these awesome kit's ready to be put together. My last arm took almost a year to source all of the parts. Bearings especially.
Dude, I'm so happy you uploaded this. I emailed you a looong time ago outta the blue just to say your shit was amazing, I was so impressed then, and I'm even more impressed now.
@Chris Annin Watching this project develop over the last year and change has been awesome. I've been interested in the analytical side of things for a while, and your kinematics series was very helpful in understanding that. Do you have any plans to create a similar series for the path planning analysis of a 6 axis robotic arm (Jacobian, joint space to Cartesian space, velocities and accelerations, etc.)? Do you have a list of resources you used to develop this part of your software/theoretical model?
Thank you, I do have plans to remake the kinematic video series and add more information. I haven't thought about videos on the path planning but that is certainly something I could do in the future. Most of my resources have been through a wide variety of forums and reading many different published papers online as well as watching videos on youtube - in particular I have found Angela Sodemann's channel extremely helpfull as she does a much better job of explaining things than many others: ru-vid.com
This is great, I was thinking of getting the iGus robot (9000US$). But now I can build my own.. Thanks so very much for sharing your information to the rest of the world!
If I wanted the arm to be able to lift not 4 pounds but 400, and I didn’t want to go with massive gear boxes that would really reduce the speed, could simply getting much larger motors do the trick? I guess I could also thicken the robotic arms so that it could hold motors that are 100 times heavier.
Im working on the next updates to the AR2. Im still here and putting a ton of time into the project. Should post something new here in a month or so. :)
@@anninrobotics Can you please clarify some details about the update?)) I really like the project, I just chose it from many, in my opinion this is the best! Thank you for your work, I will gladly buy a full kit, especially after the update!
Chris , is it possible to mount a spindle on the arm to make it a cnc machine? Planning to make a 1.5kW cnc machine and I think this might do the job. Great work sir! Thanks in advance
Amazing work. Can you scale this down so that as many people can afford to have one? This should also be inexpensive and one of your goal but cheaper than cheaper would be much more accessible.
Excellent work, thank you very much for sharing. Questions: the robot sort of vibrates occasionally. What is the reason and how can this be overcome? Do you have values for the accuracy and the repeatability at this stage of development?
Great presentation Chris, in terms of the architecture for your next iteration, have you looked into the Mesa FPGA cards that are used a lot with linuxCNC? Thinking that maybe a lot of the groundwork would be there in terms of source code and interfacing with closed loop servos.
What a cool project! I was wondering; What is the lifting capacity when the parts are 3D printed? What is the weakest link in the chain? (Steppers, mechanical parts, belts,.. ? ) Also, do you have an approximation to the total cost of all the components?
This is amazing. I think this work great for a personal project of mine, but I need to know a couple things. How loud is it? How smoothly does it move at low speeds? If it had a spoon with an egg on it, would the egg stay on? That's how smooth I need it to move.
Jason L. Bogle Hello, with the digital drivers it is very quiet if you review my other video on the aluminum version you will be able to hear how much noise it makes. It’s pretty smooth I don’t think it would have any problem moving an egg around and a spoon without tipping it out.
Very amazing work, really appreciate your hard work here. i do have one question though, can this be done without a relay ? why is it necessary? another question, can solid state relay be used in place of this relay ?
the 8 channel relay is only for controlling external devises that you want to control from the robot program - for example im using one of the relays to control the gripper open and close, or you can use the relays to control actuators or whatever you need the robot to control.
That's an incredible piece of kit. What's the holding force like? Have you tried to use this as a machine tool with a router head? This would be great with a auto quick change head.
Marco Souza Moers One of my future goals is to build in functionality to read G code to make that a possibility. I’m not sure if the plastic version of the robot would have the rigidity needed for 3-D printing but I think the aluminum one could probably do some basic printing. Another one of my goals is to make a next generation robot that is a little bit larger and has encoder feedback with even more rigidity, so maybe at that point and after I get the G code functionality built it might be a real possibility.
@@anninrobotics Congratulations on this work. Really the pictures are awesome. If it is possible to use a gcode file on it, I imagine that many interesting possibilities are feasible: welding, painting, sculpture and so on.
Damn, had a look at the kits... I want one lol. Does it have a teach function where you guide the arm by hand and then it records and repeats? I see the SW files are available, are these the proper files with all the features still editable or have they been reduced to dumb bodies like the step files? What year and SP of SW are you using? I would love to develop this for doing some machining work or even better a diy Moley Robotic Kitchen for those Sunday morning still hung over fry ups lol.. I used to design robotic arms and tooling for subsea ROVs in Aberdeen, Scotland for the oil & gas industry. Have you heard of the TITAN 3 and 4 ROV arm and manipulators. Great pieces of kit. Always wanted to have go at an arm 6 or 7 axis based CNC machine with tool change and material feed system.
Hi Chris ! Im printing the ar2 right now , but im wondering if theres a possibiliti to run 2 or more ar2 robots together so the can work together ? Thank you
Cool project. I don't know much about robatic. But I am an animator it could be cool if you could control robot with invers kinematics (just animate one point and all the calculations is done under hood) maybe in some visual way (maybe build a rig in blender and it can output data to the robot)
(Been watching Angela's videos. Terminology upgrade!) I thought I had it but cannot find it - Chris can you please advise what the end-effector shown at 1:17 is called? Pneumatic gripper does not yield any that look like that as far as I can see. Thanks!
Aaron DC mediA It’s SMC I believe MHF2-8d. I just looked it up online from memory I’m on my phone and don’t have the manual in front of me but I think that’s the right number
I designed the end-effector you are referring too! This is my AR2 variant that you are seeing! I did use the SMC pneumatic actuator along with 3D printed extensions and a linear bearing. I have to say the design works really well and could be adapted to many different sizes and shapes of fingers. I will try to post more info on the www.anninrobotics.com/ site!
It looks awesome, @@wernerberry7800 , well done. I have not joined the forum yet but will look to do so in the coming weeks. Thanks for your response and if you do post some info I would love to learn how you did it, much appreciated.
