AR4 MK2 6 DOF ROBOT ARM - DIY 6 axis robot kit / Arduino controller with Python program interface

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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
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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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Опубликовано:

19 ноя 2023

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Комментарии : 291

@jasoncreech4486 7 месяцев назад

Chris you have done an incredible job. This is a life’s work to be proud of.

@anninrobotics 7 месяцев назад

Thank you!

@KyrychenkoAnton 7 месяцев назад

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.

@anninrobotics 7 месяцев назад

My pleasure, thank you.

@ken125y 7 месяцев назад

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.

@ThisIsToolman 7 месяцев назад

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.

@JinKee 7 месяцев назад

This looks so strong. Love that you can get some serious motors into it without making it cost the earth

@vivekr4690 7 месяцев назад

Thanks again Chris for your contribution to the open source STEM community!

@anninrobotics 7 месяцев назад

I'm happy to share the project. Thank you!

@OhGosh360 7 месяцев назад

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!

@anninrobotics 7 месяцев назад

Thank you very much. I really appreciate it.

@rv8804 7 месяцев назад

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.

@anninrobotics 7 месяцев назад

Thank you!

@victormuchina4865 4 месяца назад

Will always remember this guy

@tamgaming9861 5 месяцев назад

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.

@jamiethomas4079 7 месяцев назад

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.

@anninrobotics 7 месяцев назад

Thank you.

@kraavok 5 месяцев назад

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!

@anninrobotics 5 месяцев назад

Thank you!

@mellis966 6 месяцев назад

This is fantastic Chris. Thanks for sharing your hobby.

@cluebin8398 7 месяцев назад

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!

@anninrobotics 7 месяцев назад

Thank you!

@joels7605 7 месяцев назад

This is amazing! Excellent work. This is way better than the goofy arms people build using hobby servos.

@anninrobotics 7 месяцев назад

Thank you!

@user-su1ks7zp9f 7 месяцев назад

Крис! Ты крут! У тебя потрясающие роботы!

@tolerious 4 месяца назад

I think this is my first robot project where I can start~ Thank you for your amazing project.

@JoshMurrah 7 месяцев назад

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.

@aaronshippelhoute5011 7 месяцев назад

Awesome to check in on this project every once in a while. Good work man!

@anninrobotics 7 месяцев назад

Thank you very much!

@demonhogo 3 месяца назад

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!

@anninrobotics 3 месяца назад

Thank you!

@source-robotics 7 месяцев назад

Awesome update!

@anninrobotics 7 месяцев назад

thank you.

@MagDag_ 7 месяцев назад

Thank you, Chris! Following it for a long time.

@Pndda-rm9of 2 месяца назад

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!!!!!!!!

@anninrobotics 2 месяца назад

Thank you.

@msontrent9936 4 месяца назад

Wow. Absolutely incredible. I am just getting started with robotics and can't believe such a wonderful resource exists. Thank you sir!!!

@anninrobotics 4 месяца назад

Thank you and Im happy to share.

@khomsans 7 месяцев назад

Great work! Thank you, Chris for sharing this!

@anninrobotics 7 месяцев назад

my pleasure - thank you.

@mytuberforyou 5 месяцев назад

WOW - this is incredible- I like that j5 mechanism, going to seriously do some looking into this, great job!

@anninrobotics 5 месяцев назад

Thank you!

@ferriswhitehouse1476 7 месяцев назад

you are actually a hero, I think i will be attempting an automation project with this 🙏

@anninrobotics 7 месяцев назад

Awesome, thank you. Let me know if you have any questions.

@ITubeYouK 2 месяца назад

Chris, this is fantastic!

@anninrobotics 2 месяца назад

Thank you!

@BR-hi6yt 7 месяцев назад

Good man - this is wonderful. Well done!

@ByDesignation 7 месяцев назад

Building one right now. Thank you so much for making this open source

@lexicalambiguity5819 7 месяцев назад

this is the coolest thing on the internet. planning on ordering an aluminium one for a welding project !

@daniellizarazo3308 4 месяца назад

Congrats man!

@LeadDennis 2 месяца назад

Thank you for your hard work on this project.

@ezgimedya6060 6 месяцев назад

Endless thanks from Turkey. 🙏

@anninrobotics 6 месяцев назад

Thank you

@kdrkfl 7 месяцев назад

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!

@anninrobotics 7 месяцев назад

Thank you very much!

@stevemarsh4257 7 месяцев назад

Another Great Robot from Mr Annin.

@anninrobotics 7 месяцев назад

thank you

@SantaDragon 7 месяцев назад

Your great Chris! Thanks for new update ... hope I will have the time to rebuild your great creation!

@anninrobotics 7 месяцев назад

Thank you.

@LastV8Interceptors 7 месяцев назад

Nice project Chris!

@anninrobotics 7 месяцев назад

Thanks!

@steveangell4426 5 месяцев назад

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.

@anninrobotics 5 месяцев назад

Awesome, thank you. Let me know if you have any questions.

@royjones1053 7 месяцев назад

Huge respect!

@anninrobotics 7 месяцев назад

Thank you

@jordanlittleton7650 7 месяцев назад

Looks great Chris!

@anninrobotics 7 месяцев назад

Thank you.

@itsnotallrainbowsandunicor1505 7 месяцев назад

Will look into the kit. Nice job. You definitely show your skills and love of the profession. Have a good Thanksgiving.

@anninrobotics 7 месяцев назад

Thank you very much.

@seidtgeist 7 месяцев назад

Legendary work. Thank you!

@anninrobotics 7 месяцев назад

Thanks!

@plccoder1558 7 месяцев назад

Very inspiring!!! Excellent work. Thank you for sharing.

@anninrobotics 7 месяцев назад

Thank you!

@PhG1961 7 месяцев назад

Waw, amazing result! Great ingenuity!

@anninrobotics 7 месяцев назад

Thanks!

@danh9002 6 месяцев назад

Awesome project! Freakin' awesome!! Thank you!

@anninrobotics 6 месяцев назад

Thanks!

@paulfreed6394 7 месяцев назад

Holy shit! Very nice Chris!

@anninrobotics 7 месяцев назад

Thank you

@saimodelimasantos2343 7 месяцев назад

This is a masterpiece for DIY's guys. Thansk for share your job!

@anninrobotics 7 месяцев назад

Thank you!

@Wolfen_91 7 месяцев назад

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.

@anninrobotics 7 месяцев назад

Thank you 😊

@justintupicruz6324 3 месяца назад

appreciate your hard work. Im going to start robotics school in a couple days and im going to make this to help practice .

@anninrobotics 3 месяца назад

Awesome, thank you!

@MiroslavObrtel 4 месяца назад

🎉 Amazing project!

@anninrobotics 4 месяца назад

Thank you.

@marcelobenitezabc 7 месяцев назад

Man..your are freaking AWESOME!!! What an oustanding job.....!! Congratullations and thank you form sharing..very informative and inspiring...

@anninrobotics 7 месяцев назад

Thank you very much!

@DCT_Aaron_Engineering 7 месяцев назад

Absolutely awesome 👏. Well done mate, your robot arm is so cool. 💯 👍. Cheers Aaron

@anninrobotics 7 месяцев назад

Thank you!

@D43vil 7 месяцев назад

Amazing work, thank you for your contribution

@anninrobotics 7 месяцев назад

Thanks!

@taylantarhan_ 6 месяцев назад

Thanks.Chris

@TahitianGringo Месяц назад

Amazing work keep doing it ^^

@anninrobotics Месяц назад

Thank you!

@En1Gm4A 7 месяцев назад

awesome. I might build one my self one day

@almosthuman4457 5 месяцев назад

I'm glad I landed here. I'm looking for all the puzzle pieces to make a welding robot

@ArgoRobots 7 месяцев назад

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

@ArgoRobots 7 месяцев назад

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.

@whitneydesignlabs8738 7 месяцев назад

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.

@ArgoRobots 7 месяцев назад

@@whitneydesignlabs8738 no. I looked at the AR4 maths, but I didn't understand it, so I made my own from scratch

@whitneydesignlabs8738 7 месяцев назад

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

@fabiofoltran4361 7 месяцев назад

Truly an amazing work

@anninrobotics 7 месяцев назад

Thank you!

@aleXelaMec 7 месяцев назад

So cool!!! Must try

@aleXelaMec 6 месяцев назад

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

@davidmongrain632 7 месяцев назад

Thanks so much buddy! I dream of building something that complex :) GOOOD JOB! :)

@anninrobotics 7 месяцев назад

Thanks!

@JonMurray 6 месяцев назад

This is so awesome man. Thank you. New subscriber ✌🏻

@anninrobotics 6 месяцев назад

appreciate it, thanks!

@JonMurray 6 месяцев назад

@@anninrobotics I’m going to build one, one day for sure!

@abuhamza6817 5 месяцев назад

Very good project, well done bro

@anninrobotics 5 месяцев назад

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.

@mikealthomas1 7 месяцев назад

This is awesome!!!! Thank you soo much!!!👍🏻👍🏻👍🏻👍🏻

@anninrobotics 7 месяцев назад

my pleasure, thank you.

@souravhawaladar3870 3 месяца назад

Inspiring 👏🎉

@marcustomlinson1433 7 месяцев назад

You are awesome!

@anninrobotics 7 месяцев назад

Thank you!

@mohamadrahmani5802 7 месяцев назад

Great work like always Thank you man thanks a lot

@anninrobotics 7 месяцев назад

my pleasure, thank you.

@tuwenbo 7 месяцев назад

woooo! I think your work is very meaningful! Thank you very much!

@anninrobotics 7 месяцев назад

I appreciate that, thanks.

@rokhmatfebrianto767 7 месяцев назад

Very cool man

@anninrobotics 7 месяцев назад

Thank you.

@TheTonyRedgrave 7 месяцев назад

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.

@GrantRamm 3 месяца назад

So cool.

@anninrobotics 3 месяца назад

Thank you.

@ventusprime 7 месяцев назад

NICE

@anninrobotics 7 месяцев назад

Thanks

@0Logan05 3 месяца назад

Rad!… Where it Goes….It Goes -Awsome- !

@3dprintingfun329 7 месяцев назад

Really nice

@anninrobotics 7 месяцев назад

Thank you.

@artem-yw8km 5 месяцев назад

it is amazing

@anninrobotics 5 месяцев назад

thank you!

@NaderElgdawy 7 месяцев назад

Nice work, hope you are working on welding applications, like arc motion welding, zig zag welding motion, statching motion

@GoughCustom 7 месяцев назад

Wow! I am going to build at least one of these!

@anninrobotics 7 месяцев назад

Cool, keep me posted if you have any questions.

@GoughCustom 7 месяцев назад

@@anninrobotics Really appreciate all the work you've put into this, especially given that you're keeping it open source! 🎉

@mypig227 7 месяцев назад

how perfect job for students. buying complete robot is too expensive even small one and program too. From Korea

@anninrobotics 7 месяцев назад

thank you

@whitneydesignlabs8738 7 месяцев назад

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.

@NaderElgdawy 6 месяцев назад

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

@anninrobotics 6 месяцев назад

thank you. I will be looking into a larger robot in the future.

@kamilhorvat8290 7 месяцев назад

amazing

@anninrobotics 7 месяцев назад

Thank you.

@nonaak 7 месяцев назад

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

@jonathanr4242 4 месяца назад

I'm so making this.

@jagadeesan1234 6 месяцев назад

Super bro 🎉🎉🎉🎉🎉❤❤❤

@anninrobotics 6 месяцев назад

Thank you.

@jessejamez5985 7 месяцев назад

That's some remarkable $hit! Can't wait to build my robot army!

@anninrobotics 7 месяцев назад

Thank you.

@ortegasculpture 7 месяцев назад

so dope

@anninrobotics 7 месяцев назад

Thank you!

@torbjornhakansson6079 7 месяцев назад

So cool, I want one, even if I not have time to play with it

@anninrobotics 7 месяцев назад

Thank you, let me know if you have any questions.

@jeantorres3293 7 месяцев назад

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

@anninrobotics 7 месяцев назад

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.

@purvislewies3118 24 дня назад

good

@leandrogoethals6599 5 месяцев назад

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 :)

@NaderElgdawy 5 месяцев назад

Hi Chris, i tied to use AS5600 encoder with AR4 MK2 but i didn't receive any values. Are Encoder.h library in Arduino code will work only with Stepperonline motors only?. If Yes can please show how can modify it to be suitable with any encoder model SCL&SDA connection

@ahoorabagheri6857 4 месяца назад

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

@Leezorc 7 месяцев назад

Wow just wow. I'm baffled

@szabolcs__ 7 месяцев назад

I would love to have the time to buid one.. Continue the great work.

@anninrobotics 7 месяцев назад

Thank you

@NaderElgdawy 5 месяцев назад

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

@FeoCustomWorks 7 месяцев назад

Hello Chris! I want to make a gantry welding robot (5 axis), according to my dimensions. Tell me, can it be programmed using your program? Sorry if this is a stupid question, I'm not good at this...

@anninrobotics 7 месяцев назад

The software is written for 6 axis. I havnt tried adapting it to a 5 axis machine but you could likely use the software only jogging in joint mode and always keep joint 4 at zero and I think it would work but I would need to test.

@marovdriver 10 дней назад

Woww from Paris

@anninrobotics 9 дней назад

thanks!

@JaisonBuilds 7 месяцев назад

There aren't any thermal issues with stacking the drivers together like that?

@anninrobotics 7 месяцев назад

No I have had no issues, there is air spacing between the drives and the 40mm fan keep air flowing around them.

@1hoursongs323 7 месяцев назад

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!

@anninrobotics 7 месяцев назад

Thank you. I've been thinking about doing that, just need to find the time. Too much work....