AR4 6 Axis Robot Arm

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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...

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Опубликовано:

16 июл 2024

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Комментарии : 256

@mkase4697 2 года назад

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!

@anninrobotics 2 года назад

thank you very much

@manuellarrosa159 Год назад

Manuel

@aerospacefasteners1027 Год назад

@@anninrobotics Thx again.

@TheBoweeble 2 года назад

Thanks again for all of your hard work and your willingness to share this project with the world.

@anninrobotics 2 года назад

my pleasure and thank you

@artrock8175 2 года назад

You're a LEGEND, Crhis! Thank you for sharing your work and expertise with the world for FREE!

@anninrobotics 2 года назад

thank you, im happy to share the project

@TheshBuilds 2 года назад

Thanks for all the great work Chris! Looking forward to building an AR4 once my current CNC build is complete.

@hanzrudel6486 Год назад

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.

@stochasticsignal1951 2 года назад

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.

@turk.mehmetcan 2 года назад

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. 🙏

@mrbrent4 Год назад

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.

@olorf 2 года назад

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!

@anninrobotics 2 года назад

My pleasure. Thank you.

@kenniethgonzalez5747 Год назад

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

@anninrobotics Год назад

Thank you. Keep me posted if you have any questions.

@vikatverlekar4340 2 года назад

AR1>AR2>AR3>AR4 and more to follow, this is awesome, Its like trying to beat your record, an desire to do better.

@Thekingmaker 2 года назад

The gods have spoken .... again. THANK YOU

@anninrobotics 2 года назад

my pleasure and thank you

@cmptechnologiesllc3727 Год назад

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!!

@safetypak 2 года назад

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

@anninrobotics 2 года назад

Thank you

@benni199988 2 года назад

I really appreciate your work! Will start building one after my CNC is finished.

@enzopontone2227 2 года назад

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!

@anninrobotics 2 года назад

Thank you very much.

@jasoncreech4486 Год назад

Your work is incredible. Thanks for sharing this with us. This is the only way we could ever own a industrial style robot.

@anninrobotics Год назад

Thank you.

@ivprojects8143 2 года назад

This is excellent! Thank you for sharing your hard work.

@sardorbekumarov2389 2 года назад

Amazing work!

@anninrobotics 2 года назад

thank you

@boko3155 2 года назад

Really excited about a world of sharing creations freely! This is beautiful 🤩.

@zachgoodbody Год назад

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!

@anninrobotics Год назад

Thank you

@matthijsbakker7755 4 месяца назад

It looks completely stable, that is amazing work!! 🎉🎉

@anninrobotics 4 месяца назад

Thank you! here is the latest if you are interested ru-vid.com/video/%D0%B2%D0%B8%D0%B4%D0%B5%D0%BE-KJFtruAHXoU.html

@9z4clb 10 месяцев назад

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

@MakingStuff 2 года назад

This is so cool. I've been wanting to build one of these for a while. Maybe it's time I stop procrastinating.

@jasoncreech4486 2 года назад

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.

@anninrobotics 2 года назад

Thank you!

@jasonstatement3553 Год назад

Chris, I admire you. You are an inspiration to many, including me. Thank you so much, you are doing humanity a great service :)

@anninrobotics Год назад

Thank you!

@FilterYT Год назад

Wow, what an amazing gift to share, thanks!

@anninrobotics Год назад

Thanks!

@ectoplasma0001 2 года назад

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.

@anninrobotics 2 года назад

thank you

@AdaptivePhenix Год назад

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(?)

@jordipascualgranado7154 Год назад

Thank you so much for sharing this extraordinary work and congratulations!

@josegegas 2 года назад

This looks great. Thank you!

@Cretan-un6ul 2 года назад

I am definitely going for this project one day. It gets kind of expensive project but it inspires me so much.

@AlecMuller 2 года назад

Looks awesome! One step closer to robots that build copies of themselves :)

@marklee1209 Год назад

This is awesome! I fancy building my own robot so this is an awesome resource!

@jacobsvickers3945 Год назад

I need one of these so bad!!!! I'm literally saving up a hundred dollars at a time every two weeks!!!

@deroskar 2 года назад

Thats amazing! Thanks for all the hard work.

@XStance7 Год назад

Thank you, such great work and documentaiton. Really appreciate all the effort.

@natonion1154 Год назад

Amazing! I would love to start and try building something like this over the winter break!

@New_World_Disorder 2 года назад

Awesome as always! I need to build one of these at some point.

@fellpower Год назад

WOW; what a great project. i think i have to build one - maybe as a video series ;)

@jargomanihilda8743 Год назад

Seems daunting even for a skilled programmer. This takes money, time, and knowledge.

@SpeedingCanister Год назад

This is truly amazing!

@rondlh20 2 года назад

WOW, amazing job, thanks so much!

@khomsans 2 года назад

Great work! and Thank you for sharing your hard work, wonderful !!!

@gerhardgroenewald6560 Год назад

Uhmmm. Someone knows a ton of shit and yet sounds so sincere...I have found a hidden Gem wow.Thanks Alot!!!

@gerhardgroenewald6560 Год назад

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?

@Chrima 2 года назад

You’re a beast! New goal is to build one of these

@anninrobotics 2 года назад

Awesome

@PhG1961 2 года назад

Impressive work ! Great ingenuity !

@anninrobotics 2 года назад

thank you

@pablomosquerabarrero7981 2 года назад

Chris Annin your work is a treasure greets from colombia

@anninrobotics 2 года назад

Thank you

@peerajak Год назад

Cool project!. I think I will try this.

@jakemeyer8188 2 года назад

You are the MAN!

@cedricpod 2 года назад

brilliant …. thank you CA

@anninrobotics 2 года назад

thank you

@Yabbo06 10 месяцев назад

your work is amazing

@onkelmorfars 2 года назад

wow, I am so impressed. I will definitely buy a kit in the near future

@anninrobotics 2 года назад

thank you

@SantaDragon 2 года назад

I love your project! Thanks so much. I follow you since the mark 2 of your AR :)

@anninrobotics 2 года назад

Thank you very much.

@SantaDragon Год назад

@@anninrobotics Hi Chris, Stepperonline Link is dead somehow :(

@anninrobotics Год назад

@@SantaDragon Thanks for the heads up. I updated the link. I guess they changed something on the address.

@whitneydesignlabs8738 10 месяцев назад

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.

@hectorleandro9442 2 года назад

Wowwwww! You are a genius!!

@anninrobotics 2 года назад

Thank you :)

@Mister_Stork 2 года назад

AR4! Awesome! 🤙🏻

@anninrobotics 2 года назад

thank you

@harindugamlath 2 года назад

Thanks chris. Hope time allows me to build one and contribute. awesome work. Can't thank you enough

@anninrobotics 2 года назад

Thank you

@ratuadil3133 2 месяца назад

Amazing jobs chris

@anninrobotics 2 месяца назад

Thank you!

@telum2265 2 года назад

Stellar work Thx

@andreaskarlsson9384 Год назад

So impresive

@anninrobotics Год назад

Thank you!

@yekutielbenheshel354 2 года назад

Great job! Wow!!

@aronabrams1051 2 года назад

Well done!

@anninrobotics 2 года назад

thank you

@alexkart9239 2 года назад

Good job, bro! I hope, one day, we will see the "AR-1000" with 1Ton payload capability. =D

@cameronblackmon9540 2 года назад

What an interesting development

@sermadreda399 2 года назад

Great video thank you for sharing

@EvanMJones 2 года назад

Nice work as usual. 😀

@anninrobotics 2 года назад

thank you

@ScootLogix 2 года назад

Wow Awesome man. I'll probably buy one just waiting for servos to get back into stock.

@anninrobotics 2 года назад

thank you

@artigeniusStore 2 года назад

great work . beautiful machine

@anninrobotics 2 года назад

Thank you

@cnc-ua 2 года назад

Amazing work

@anninrobotics 2 года назад

thank you

@toddspeck9415 2 года назад

Super impressed. Wow.

@anninrobotics 2 года назад

thank you.

@marc-antoinethebeautiful7714 2 года назад

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.

@heetmalde6696 2 года назад

Thank you so much 😃

@anninrobotics 2 года назад

my pleasure. thank you!

@RajaKumar-jy2nb Год назад

really appreciate it

@ricardoortiz3727 2 года назад

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!

@anninrobotics 2 года назад

Awesome, thank you. Keep me posted if you have any questions.

@nutscrew9091 2 года назад

Awesome project sir....waiting other robot make tutorial too(DELIVERY ROBOT_AUTONOMOUS_USE LIDAR/GPS/COMPASS)

@KennyKim0406 2 года назад

my god this is amazing!

@anninrobotics 2 года назад

thank you very much

@bowieinc 2 года назад

Awesome!

@tommarshall3034 2 года назад

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?

@richardfynmann5452 2 года назад

I am here to thank you, and give you a new subscriber sir

@anninrobotics 2 года назад

Thank you.

@bianorjr 2 года назад

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

@anninrobotics 2 года назад

Thank you, I'm happy to help.

@anninrobotics 2 года назад

Thank you, I'm happy to help.

@alefgrigorio6394 2 года назад

Thanks you,

@RoboDK3D 2 года назад

Good job!

@anninrobotics 2 года назад

Thank you very much and for all your support.

@MenKing007 2 года назад

@@anninrobotics How to run AR4 in robotDK ,thanks!

@Eden_Maker 2 года назад

Amazing!!!!!

@anninrobotics 2 года назад

Thank you

@Llihor 11 месяцев назад

Insane

@OriginalThisAndThat Год назад

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

@faisalalbader8385 2 года назад

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?

@evren.builds Год назад

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?

@huangsteven8111 2 года назад

Great job！Chris Annin

@anninrobotics 2 года назад

Thank you.

@cedricpod 2 года назад

brilliant

@anninrobotics 2 года назад

thank you

@kentvandervelden 2 года назад

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

@anninrobotics 2 года назад

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.

@nermaldotorg 2 года назад

@@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 ?

@anninrobotics 2 года назад

@@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.

@nermaldotorg 2 года назад

@@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 ?

@AdaptivePhenix 2 года назад

@@nermaldotorg 74HC4050

@mihaibr206da 2 года назад

professional. just that.

@anninrobotics 2 года назад

Thank you

@PropellerSteve 2 года назад

Nice.

@anninrobotics 2 года назад

thank you

@bobweiram6321 2 года назад

It would be cool if it had a spindle so it can mill in multiple axis.

@Adam-wn6mk 2 года назад

Completely blown away mate, ive found your channel researching the build of a 4/5th axis for my self built cnc router and I now have a new project hahaha thank you for this. Can I ask you how rigid is the arm... if you mounted say a dremel or similar on it could you make it carve timber? I know dimensionally it would probably not be very accurate but more for artistic pieces, you would probably need to program a way for it to probe the stock before it starts carving too or is the learning you were showing how thats normally done? Sorry about all the questions and please keep doing what youre doing!

@anninrobotics 2 года назад

Thank you very much, I haven't done anything with a dremel or carving yet, I think if it was a small Dremel and lightweight enough the robot would do fine. The robot would need to be able to interpret G-Code to run a program like that which should work with robo DK once the post-processor is up and running, but I have a little more work to do on that.

@Adam-wn6mk 2 года назад

@@anninrobotics Ok awesome ive subscribed to see how it all goes, I know my dremel comes with a flex head attachment so the main unit is a metre or so away from the end which would probably save a lot of weight hanging off the end if that becomes a problem but also a dremel is hardly ideal and if it all goes well you would need a spindle of some sort... I saw the pocket NC cnc comes with an air driven spindle which would probably be lighter than a brushless type. Anyways I love your work seeing this sort of thing is inspiring as hell I think im going to try cutting out the parts from HDPE which a local scrapyard has a mountain of for pennies and see how it goes. Thanks again

@kevin_delaney Год назад

Oh I am so making this

@JM_Tushe Год назад

I can't thank you enough for making this amazing project open source. 🙏 By the way, any advice to help me understand how to solve the inverse kinematics? I'm good with a 3-axis robot but a 6-axis is just completely unknown to me lol And the books I've checked just break down the direct kinematics.

@anninrobotics Год назад

I have some videos on my channel I made on the kinematics. They are from a while back on the Ar2 but they might be helpful

@EdwinFairchild Год назад

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?

@anninrobotics Год назад

Yes I have everything in stock and stepperonline hasn't had any issues that I know of shipping the motor kits. thank you.

@KyrychenkoAnton Год назад

The price is unbelievable for what you get, and I truly applause you sir to open source the project, and I tipping my hat to you. May I ask about gear reduction and cycloidal drive - is there some considerations why simple geared reductors better - its the speed or price considerations (those may get quite pricey I know hehe). Looking into purchasing one in future to test my sla 3d printing "autonomous" setup I have in mind, cheers!

@anninrobotics Год назад

Hello, the current gearboxes are lower cost planetary drives. I'd love to use harmonic drives but trying to keep the project affordable for most people.

@KyrychenkoAnton Год назад

@@anninrobotics sure, totally understandable, thx