AR3 6 Axis Robot

[@rock3tcatU233]

The fact that this is open source deserves two thumbs up.

[@derarty4290]

👍🏼

[@अण्वायुवरीवर्त]

We'd be so behind if open source did not exist.

[@artrock8175]

And a NOBEL prize! This project can legit change the world!

[@PiefacePete46]

Decent reach, decent payload, auto-calibrate, closed loop... etc etc! There are not many boxes left to tick! Fantastic work Chris, Thank you so much!

[@anninrobotics]

You are very welcome and thank you for the comments.

[@Joeherdingcats]

Id like to buy you a beer. Your contribution to the world with this is amazing.

[@randymulhern1290]

More like a keg. 🍻

[@Ed_Aylward]

Wow this is the absolute best resource I have ever seen in my life and it's all free! Annin Sir, you rock man, you rock.

[@anninrobotics]

@@Ed_Aylward thank you. The lastest version vid is here: kzbin.info/www/bejne/n3OVf3Sdm7udf9Usi=QTCvmiHKuQ3u1Iu1

[@BIGWIGGLE223]

Man's got some mad skills!!!! Love how graceful it looks in the demo. I'm used to working around the big production robots and I can tell when someone who loves their job programs the pathways for em. They look graceful just like that.

[@theSR4N]

Legendary! I'm starting the printing tonight and ordering parts! Thanks for being open source!

[@manr.9106]

WOW! That is a work of art! You definitely deserve 1M subscribers for what you created and making it Opensource!

[@anthonyschroeder3611]

I've said it once you open sourced your AR2 robot with complete documentation and self coded software, but its worth repeating, your'e an amazing engineer with so many talents. Love you're inspiration to open source your designs and to document so much detail for the public. You help so many people with your projects and I personally find you to be a hero to the robotics community. thanks man

[@anninrobotics]

Thank you, my pleasure to share the project with everyone.

[@monkeytoes90]

This kind of information and tech getting into open source will open up more use cases and help modernization as a whole, this is really amazing work.

[@mapembert]

Incredible work, Chris, and incredible results! Not just the robot arms but the willingness to share and the level of your documentation. Each effort I give you 100% so this is a 200% effort project. Thank you for sharing your time and talents with the world. --Instantly subscribed and clicked the bell

[@anninrobotics]

thank you.

[@kentvandervelden]

As someone who has the AR2 parts sitting on their bench, thank you for sticking with the same machined parts :) I saw the post on the forum on the AR2 -> AR3 upgrade, and seems like one just follows the AR3 instructions, ignore the encoders, and disable that bit in the software. I'll look for the motor upgrade kit, but probably will stick with what I have. Looking forward to seeing what you do next! Have a great weekend!

[@anninrobotics]

Awesome, thank you.

[@kentvandervelden]

@@anninrobotics I picked up all the AR2->AR3 parts (I think), except the motors (which are not available from StepperOnline by themselves yet) and the encoders (which add to the BOM a good deal.) Maybe absolute magnetic encoders in the future? The new manual is a very nice improvement! Though please remove those out-of-place horizontal dashed lines :) Putting an Amazon shop would up would save each builder a lot of time. Assuming Amazon does not charge for one, would be a great time to create one before there are new AR3s built. I'll repeat what many are saying below: I can't imagine all the work you have put into this. Amazing!

[@kentvandervelden]

@@anninrobotics Has the travel track stayed the same? Thanks

[@anninrobotics]

@@kentvandervelden Thank you, I got rid of the lines, didnt realize that copied to the pdf from the slide master. took a while but I figured out how to delete it.

[@chipyk92]

As a fellow industrial automation and robotics engineer, I have to say, that is very impressive for a home made robot! Amazing job. I've been thinking about doing my own robot as well, thank you for the inspiration. I'm thinking of a much smaller one, though. I'm aiming for about 500 grams payload. My goal is to minimize the footprint and make use of it in day to day operations as an assistant. Let's say, giving you the headphones when you are at the PC, or the phone, when it rings, etc.

[@anninrobotics]

Thank you. Hope your robot goes well.

[@adamelkoumy5141]

the two arms looked like they were dancing. great job and thanks for sharing the knowledge.

[@anninrobotics]

thanks

[@Colli182]

Chris well done I love it. I came across your AR2 video over a year ago and loved what I saw my mind started thinking of all the possibility’s. I done a quick google search and realised that all the electronics and components will be to expensive for me to make my own AR2. I then decided I can start small and build something basic with servo motors.i ended up buying 2 cheap servo motors and then realised that I don’t know enough about robotics. So I've been doing allot of research on inverse kinematics and going back to basics with my arduino. I’ve spent a few hours a week when I get a chance to plan my robot and improve my coding skills I’ve learned allot but I’m still nowhere near having a basic robot. Now I see your AR3 and get so exited I just want one. I got to give you a compliment for all the knowledge and time that has gone into your project. I hope to one day have the money and time to build your AR3.

[@anninrobotics]

Thank you.

[@wentbackward]

Chris I discovered the AR3 via stepperonline when searching for motors for something much smaller and far less featured. This is stunningly impressive, I am truly inspired to finish my much simpler project.

[@mattack12]

Good God! The amount of work you must have put into the development of the robot arm and the the software and into writing the manual must be insane! The manual is fantastic - so detailed and so well illustrated! I have never seen such a well documented and clean robotics project on the web until now. And then you even make it all open source! Very, very impressed - outstanding job! Thank you for your effort! Just one question that I could not find the answer to: Are the aluminum and hardware kits available in Europe as well or only in the US?

[@anninrobotics]

Hello, thank you for the complements , its been a fun project for me and Ive had a ton of fun developing it. Its definetely a pet peeve of mine when people dont make good manuals or explain things from the beginning so I really tried to make it complete. Yes no problem shipping to Europe, I use USPS priority through Paypal and its typically around $70 shipping. thank you.

[@BIGWIGGLE223]

I concur. He has done a phenomenal job and then went 100 steps beyond and made it all available online. Insane. But in a good way.

[@SertEngineering]

Yes he did it. Outstanding work instruction he created. I started building mine today :) (AL version) instagram.com/p/CEVgg8ypxIo/?igshid=1m9tgurdohe6g

[@nolansprojects2840]

That was an awesome demo sequence.

[@glenfosterkraemer9033]

Wow Chris good to See Your work again.Do follow Chris worked many years with Chris and Truly knows what he is Doing. Implemented many Designs and programs we used in production Our previous Employer.

[@anninrobotics]

Hey Glen how are you? good to hear from you. Thanks for the kind words and tell everyone back home I say hello.

[@aruhtaz]

hey Chris, you might not see it but you're changing lives right now. WIth all that free information and the time that you put in... I've built a small scale organic biodigestor not too long ago with a team and had to come up with an operation manual and all that as well... it's amazing how you're making all of it open source. You've definitely altered a few individual's timelines!!

[@anninrobotics]

im glad to help out. thank you

[@bobberrider5479]

I just bought your kit last night! Hoping to getting it built as soon as the various parts come in. Thanks for your work on this.

[@anninrobotics]

Awesome, I'll get your order shipped out first thing, keep me posted on how your build goes. thanks

[@achmadhilmy906]

wow, you are working as robotic system engineer no wonder you could build for open source keep up the good work Chris

[@anninrobotics]

thank you very much

[@sergiosc92]

AWESOME WORK SIR. Just amazing. Thank you.

[@lubeckable]

This open source robot + deep learning + computer vision = best project ever

[@MrThechrisstuff]

Do you want skynet? Because that's how you get skynet! All jokes aside, you're right that would be awesome.

[@ZelleJ]

Just found your channel, Excellent work and thank you for sharing!

[@anninrobotics]

thank you, my pleasure

[@jodyolivent8481]

Great timing. I just started printing off the parts but haven't purchased any of the electronics yet. Thanks for all of the hard work you've put into this. I plan to video the build and end use. I'll post it on my channel.

[@anninrobotics]

awesome, keep me posted

[@dale7561]

Hey Chris, I just stumbled across your project and have just downloaded your manual. This is a really amazing project and will help people who want to really get into robotics. Your manual is great btw. Reminds me of Haynes auto manuals

[@anninrobotics]

Thank you

[@OldSilkRoad]

This is as awesome as awesome gets! Bravo! You’ve got yourself a subscriber!

[@anninrobotics]

Thank you very much.

[@OldSilkRoad]

@@anninrobotics Thank *you* for your generosity!

[@chadkrause6574]

This thing looks awesome! You might be able to dampen those jitters at the end by doing a s-curve acceleration

[@MorneMoolman4]

Just want to say thank you for making this available. This is helping me understanding so much more!

[@anninrobotics]

thank you

[@tjoho83]

The world need more people like you. Thanks for making the world a better place

[@anninrobotics]

thank you

[@makex_se]

Wow at 5:02 you can see the difference in stiffness between the aluminum and the plastic robot arm. Btw, i'm so impressed by those robots! Good job!

[@anninrobotics]

thank you

[@jouleio4525]

You just inspired me to become a roboticist Sir! This is magnificent!

[@anninrobotics]

thank you

[@beni446]

Just choked on my lunch, That thing is open source! damn, well done Sir.

[@Slicksparky]

Amazing! What a contribution to the world of robotics... Open source! You rock!

[@anninrobotics]

Thank you

[@microdrone]

Beautiful work! It's a work of art, nice job on the motion control as well!

[@mikedavis6613]

This seems like it would be perfect project for me and my daughter

[@gusbisbal9803]

That auto calibration is Robot kung fu. Incredible.

[@fabianalfonsoflores1952]

I can't believe the level of documentation!, thank you so much for share this invaluable knowledge :)

[@anninrobotics]

my pleasure and thank you

[@IndustrialMaintenance]

Amazing man! Robotic weld tech here so its fun to play with em at work haha. Keep it up!

[@maverickeire1136]

Your job is simply amazing, Chris. I love your older versions of robotic arms but this one is a Piece of Art in Tech for me. Thank you a lot for this amazing works and for sharing with literally all the World. You´re great, man!!!

[@anninrobotics]

Thank you very much I appreciate that.

[@sepoldj]

Awesome job, so nice looking robot arms and a lot of time and work spent on them. Thank you for this sir and keep this awesome job.

[@anninrobotics]

thank you

[@TheNamelessOne12357]

What are slicer settings of a 3D printed version? It shakes a little on sharp moves, maybe using more shell perimeters and 100% infill could make whole robot more rigid?

[@anninrobotics]

the load bearing spindles are 100% infill and all the other parts are 50% infill with 5 layer walls. 100% for all may be better.

[@TheNamelessOne12357]

@@anninroboticsOK, but why did you choose ABS? PLA seems to be more rigid than ABS, and this robot is not used under high temperatures, so PLA won't deform. Also, there are some fillaments with Carbon, which are even more rigid.

[@troyslab7118]

Really impressive work! And, as importantly, thanks for making it open source! I see building one of these in my near future. :-D

[@anninrobotics]

Thank you, I'm glad you are interested in the project.

[@eyupbekci6528]

I am very happy due to discovering you. Greetings from Turkey

[@anninrobotics]

Thank you

[@wernerberry7800]

Super great demo vid Buddy!! Love the new AR3 feed back!!

[@anninrobotics]

Thank you Sir!

[@john2759]

Unbelievable, excellent work. Simple but very accurate, 😎👍

[@freshstartsarasota]

This is freaking awesome... Just started my 3D printing/engineering hobby... I'll be ordering some time after conquering much much more basic stuff but wanted to say thanks in advance for such a cool project that inspires me.

[@anninrobotics]

thank you very much.

[@SantaDragon]

Thank you for that robot. It is perfect for educational use.

[@anninrobotics]

No problem, I'm happy to share the project. Thank you

[@chobletchoblet3273]

What an incredible project. That is extremely impressive.

[@tttuberc]

Beautiful design, and thanks for making it opensource

[@cnc-ua]

Thank you so much. So exciting. I'm planning to build it next year. Good to see you on GitHub. The plan is to try to use it as ATC replacement for the CNC mill

[@SertEngineering]

cncua that s my plan too :) I m gonna integrate into my tormach as part changer plus tool changer. I m super excited too. Started building AL version today instagram.com/p/CEVgg8ypxIo/?igshid=1m9tgurdohe6g

[@cnc-ua]

@@SertEngineering good luck with a build

[@pitot1988]

Thanks for sharing your project, Chris!

[@jsgamewow]

Have you thought of mounting the AR3 on a pair of overhead gantries and adding 2 more axis’ instead of using a travel track? I was thinking of that when I saw someone using these style robots for sculpting with routers.

[@rushbigmoney]

Finishing up AR2, might need to build AR3, awesome kit

[@anninrobotics]

thank you

[@aabiskarbasyal4844]

This is brilliant!!! Thank you Chris.

[@rodrigobrasiliense5406]

Beautiful project. 2 questions, how to avoid the jitters and how to make it faster? Greetings from Brazil.

[@alfredanil]

AR4 should incorporate sensorless technology , I'm talking about trinamic drivers tmc 5160 and tmc 2209 combo. Sensorless homing would definitely reduce harness stiffness or interference. Advanced features of trinamic drivers can help recover lost steps, keep motors running cool, detect stall and many more.

[@chemicalcorrosion]

Awesome project! Thank you so much for openly sharing your hard work and knowledge.

[@celestinoazcaratevanacloch6181]

Sin duda eres un crack, ahora con lazo cerrado, si que mola , lo próximo a velocidad mas alta, me ayudara bastante ver el algoritmo del motor pap en lazo cerrado

[@MakeTechPtyLtd]

Well done Chris. I'm looking forward to building one.

[@anninrobotics]

thank you

[@raheelkasoo5893]

Hi Chris. Fantastic work. Just a question. is it possible to change the microstep for joint no.3 if yes does the encoder setting need to be changed.

[@gregwaugh8069]

About to deep dive into this. Question. Does the AR3 Control panel integrate with the Robo DK simulation so I can start to learn the motion control? Going back through video to see if the answer there. Cheers awesome

[@jihadkhorfan]

thanks for sharing this project. can we scale it to make it bigger ??

[@anninrobotics]

Its possible, that may be a future project but the AR3 is sized for the gearmotors available at low cost. thank you.

[@raidenchang7804]

Wow ,I am so glad to build AR3 Robot immediately.

[@anninrobotics]

Thank you, hope you like the project.

[@michaelzlprime]

Thank you for your efforts and for making it open source!

[@anninrobotics]

You are welcome, thanks.

[@BryceSchroeder]

@@anninrobotics Is it true that there are restrictions on commercial use of parts produced with the robot? If so, it is not open source, it just happens to have source available. There is an Open Source Hardware definition that defines the use of the term "open source." If, in fact, I heard wrong, please set the record straight on Hackaday.

[@anninrobotics]

@@BryceSchroeder I didn't put this project out there for profiteering, if it's really that important to you that you can resell my project then find another robot project to sell. If you're just trying to start a debate over the symantics of you're definition of open source software then feel free to refer to my project as "the robot that's free for everyone except the person that wants to make copies of it just to make money". I'm sorry I used the words "open source" if it really bothers you that much.

[@BryceSchroeder]

@@anninrobotics It's laudable to make your designs available, but you shouldn't call it "open source" if it isn't. The words have a specific meaning, and if others can't make commercial use of it (while crediting your original work and possibly being required to also make their own modifications open source - see "copyleft") the project is not "open source." It's just as misleading as, for example, saying this is a "delta robot." It's not open source any more than it's a delta robot. That's fine, and it's your right to license it how you wish, but appropriating the term "open source" is confusing.

[@GibbyOfThatIlk]

Fantastic work sir, congrats.

[@SEREC3D]

Gracias por hacer de este vídeo un gran inicio de aprendisaje a lo que es el cnc en varios ejes, fines ya sean para uso personal, pero, gracias por hacer de esta introducción a hacerlo nosotros mismos y a querer aprender esta valiosa información y mundo de maquinas en cnc, en donde en paises tercermunditas agradecemos enormemente, gracias. Saludos desde Colombia.

[@anninrobotics]

you are very welcome and thank you!

[@intagliode]

Awesome work Chris! Ive been watching this channel since you started. Amazing progress!

[@anninrobotics]

Thank you very much. It's been a fun project and I'm excited to keep going with it.

[@paulkirchhof9546]

Good work, did you ever build legs for the arms? You told about Encoder how are they connect with the motor axis? How did you program the moves?

[@huangsteven8111]

it's great project! Thanks you so much Chris!

[@anninrobotics]

my pleasure thank you

[@radusofronici8095]

Chris, Why encoders and not resolvers? Have you measured the repeat accuracy?

[@Shanifak]

Awesome work. Thank you very much. i am definitely gonna try it. Just 2 questions: What is your opinion on using servos in place of stepper motors. Can we make AR3 to learn and copy the moves, such as for spraying robots?

[@tamgaming9861]

Awesome to see what you made! Respect!!! Maybe one question. Why do you use a Teensy instead of an ESP32 for the robotarm? Thanks in advance and again for to share it with us!!!

[@anninrobotics]

Hello, Im not familiar with the ESP32 but I chose the teensy 3.5 for a few reasons, speed @ 120mhz, all pins are 5v tolerant for using the lower cost 5v encoders, all pins have interrupt capability for encoder use and the teensy has a nice encoder library. thank you.

[@tamgaming9861]

@@anninrobotics Thank you very much for the informations! You made a great job! Thanks for sharing it with us again!

[@SurfyKirky]

Wow certainly peaked my interest!! Looking at setting up a small backyard workshop and would be nice to add to an extra hand. Just wondering the 2kg payload does that also mean the gripper can point upwards with that weight?

[@anninrobotics]

Hello, thank you, yes it can lift that payload to the inverted position with the wrist as long as the load is close to the wrist, but it would be reduced if there's a moment or lever arm on the load.

[@SurfyKirky]

Chris Annin great! Thank you so much for that!

[@kestergascoyne6924]

Unbelievably valuable. What a gift. Thank you.

[@Ahasan.662]

Total set-up weight ( except controlling unit) ? Maximum payload ?

[@jdurhamify]

Hey Chris - is there any performance differences between adding an encoder to a dual shaft stepper vs buying a stepper with integrated encoder aka closed loop stepper motor that Stepperonline sells? I noticed that the arm's instructions calls for the former.

[@mauriciogomez1908]

Hello Chris, unbelievable, thanks for that content, the videos are very good, amazing work!!! I need help with the code to configure the limit switches, so that it goes home at the time of starting. Thanks.

[@schnitzelschnizel9448]

I need a robotic arm and hand that writes on a chalkboard.

[@damianwiecaw492]

Awesome work man...

[@ravindrakumar-lq5ni]

This is so beautiful and amazing, I would love to order 2 arms, hopefully soon. Thank You

[@chrisfreeman78]

beautiful design brother!!!!!!

[@anninrobotics]

Thank you very much.

[@michaelkowalski3745]

Not sure this would be the right place to ask, but how difficult do you think it would be to attach a compressor spray paint gun on one of these? Was thinking to try with the application of clear coating small objects. Is it doable you think? Thanks!

[@anninrobotics]

I don't think it would be difficult at all. Ive had people do all kinds of task that are similar. That would be a great topic on the forum. I have a hard time keeping track of questions on the youtube feed but definitely post the question or send me an email.

[@abosale7ms]

very nice work ....thank you so much from Egypt

[@anninrobotics]

thank you. happy you like the project

[@amangraphics]

amazing work.... will same codes work if i place the moters without pully and belts, but for same axis?

[@anninrobotics]

Yes just change the calibration values accordingly. See the AR2 videos on calibration

[@DimitarManovski]

Great work, thanks for sharing and make it open source

[@forloop7713]

Could this be used to mill wood?

[@SaleCNC]

They are all stepping motor? What about gearbox ratio?

[@anninrobotics]

The gearbox ratios vary some of them are 15 to 1 others are 50 to 1, all the motors are listed in the manual and the bill of materials on the website linked in the description.

[@wolfrobots118]

Nice!! I wish I had your mad skills. Although 2000+ is not affordable.... affordable to the viewers that would be interested in this would be under $1000. 2000+ is the same price of all the other ones in this class that are considered unaffordable, and those ones come already assembled.

[@DPTech_workroom]

Looks very good! Is it possible manually show to the arm what to do and save it, then replay the movement automatically?

[@anninrobotics]

You have to use the jogging bottoms to move the robot, cannot physically drag the robot toa position.

[@DPTech_workroom]

@@anninrobotics I see. I saw some videos, where manually can move the robot and its remembers the position of the encoders and only the movement speed needed to be adjust. Is it possible to do it in the future in your soft? Is it possible to use some CAM system for this robot arm? (mill, or engrave, e.t.c.)

[@DPTech_workroom]

@@anninrobotics will be possible to teach the robot (physically drag and show the position) in the future and then reply? Like in INNFOS’ Gluon robotic arm

[@anninrobotics]

@@DPTech_workroom no not at this time, the robot must be jogged using the software. but I will look at that for future designs.

[@DPTech_workroom]

@@anninrobotics it would be so helpful. Because the software now is recognising if the axis was moved reading out the positios of the encoders. Just need to remember the positions with some save button and creating a new line. After that just replay. I'm not good at programing, so I do not know, how difficult is it to modify it.

[@cybertec2005]

great job, im now thinking of building one myself I was looking at old used robots but there in the 5k mark I would like to make a bigger one and advice on scaling this? as i have a Dyna DM1007 CNC machine i would love to pallete change on :)

[@cybertec2005]

also to add I would say a payload of 10 to 20 kg would be amazing :)

[@francishosey551]

I want to get into robots like this, controlling them and programming them. Is that what you do or do you just design them? What degree or trade wld you recommend for this position?

[@ReevansElectro]

The movement seems a bit slow. Can the rough movements be faster and then slow down for the fine movements?

[@anninrobotics]

Yes it can definitely be sped up for the transition moves.

[@gcmlrd12]

Great stuff Chris, thank you.

[@kdr-TheVoiceOfIndia]

Can this model b scaled for 1.5mtr welding robot.👍

[@Chave10]

Hello, how are you!? first I want to thank you, beautiful project, fantastic! I will start the construction, but I have a basic doubt! What is the project? AR3 or AR2, what is the difference between them? Thank you!

[@anninrobotics]

The AR2 was the open loop version, the AR3 has encoders added with closed loop.

[@aladinmovies]

You make so much work. Than you!

[@Argoo41]

This is so great to see and interesting to learn. Thank you!

[@anninrobotics]

I'm glad you like it. You are welcome. Thanks

[@smartassist9700]

Someone used windshield wiper motor to steer riding mower. They controlled with RC. Another video showed capability of windshield wiper motor being able to lift 400lbs. I am partially disabled, I wanted to create a simple arm to extend from trailer arm behind tractor mower to pick up objects such as fallen limbs, etc. do you think that is do-able?

[@anninrobotics]

anything is possible given ingenuity and persistence.

[@smartassist9700]

I have 37 yrs in large computer corp sales USA and Asia. Self taught programmer. Determined to succeed with my projects. However a little guidance while I take on the learning curb will help me reach that success with the arm assistant. I figure 4 motors needed but not sure. What metal available would be solution to make arm. And question on type of grip /hand to pick up with. Would u care to correspond some on this?

[@paskmoe4969]

Gorgeous project. Are there any plans using this as a cnc? Id love to see it carving 3d shaped wood with a router.

[@anninrobotics]

Thank you, yes one of my future goals is to get it interpreting GCode.