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

[@jasoncreech4486]

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

[@anninrobotics]

Thank you!

[@KyrychenkoAnton]

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]

My pleasure, thank you.

[@ken125y]

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]

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.

[@OhGosh360]

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]

Thank you very much. I really appreciate it.

[@libasaurusrex]

Just today I found this project - absolutely blown away by it all. Amazing work.

[@rv8804]

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]

Thank you!

[@vivekr4690]

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

[@anninrobotics]

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

[@victormuchina4865]

Will always remember this guy

[@jamiethomas4079]

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]

Thank you.

[@injectionAI]

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]

Thank you!

[@kraavok]

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]

Thank you!

[@JinKee]

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

[@vasilykotikov6916]

Having worked in a company that was develooing a 6 dof robot i can say the amount of rhe work done by Chris is incredible...

[@joels7605]

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

[@anninrobotics]

Thank you!

[@msontrent9936]

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

[@anninrobotics]

Thank you and Im happy to share.

[@CarlinComm]

Wow this is awesome! Thanks for sharing the process, and making the parts and kits available, very well done.

[@anninrobotics]

@@CarlinComm thank you

[@CarlinComm]

@@anninrobotics Since I've been wanting to build something like this anyway, it sure makes sense to just tap into all the work you've already done. Might be a few months before I'm ready, but I will be back :)

[@CRZYCYBR]

Incredible work man. On behalf of the community, thank you for this amazing gift. You are appreciated.

[@anninrobotics]

@@CRZYCYBR thank you!

[@tamgaming9861]

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.

[@ferriswhitehouse1476]

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

[@anninrobotics]

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

[@cluebin8398]

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]

Thank you!

[@GoughCustom]

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

[@anninrobotics]

Cool, keep me posted if you have any questions.

[@GoughCustom]

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

[@mellis966]

This is fantastic Chris. Thanks for sharing your hobby.

[@Pndda-rm9of]

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]

Thank you.

[@mytuberforyou]

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

[@anninrobotics]

Thank you!

[@tolerious]

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

[@ezgimedya6060]

Endless thanks from Turkey. 🙏

[@anninrobotics]

Thank you

[@lexicalambiguity5819]

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

[@kdrkfl]

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]

Thank you very much!

[@aaronshippelhoute5011]

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

[@anninrobotics]

Thank you very much!

[@stevemarsh4257]

Another Great Robot from Mr Annin.

[@anninrobotics]

thank you

[@justintupicruz6324]

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

[@anninrobotics]

Awesome, thank you!

[@stevesheliflying]

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]

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

[@saimodelimasantos2343]

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

[@anninrobotics]

Thank you!

[@marcelobenitezabc]

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

[@anninrobotics]

Thank you very much!

[@АндрейБерилло-и7ь]

Крис! Ты крут! У тебя потрясающие роботы!

[@Ed_Aylward]

Dude! Chris! Mind Blown!

[@anninrobotics]

Thank you!

[@Ed_Aylward]

Chris I'm trying to build a parallel cable robot to 3D print houses. How do the kinematics get incorporated into the programing? In the firmware or the slicer? Will I need custom g code?

[@anninrobotics]

@@Ed_Aylward the kinematics are calculated in the teensy control board firmware.

[@SantaDragon]

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

[@anninrobotics]

Thank you.

[@SweetSilvia]

this is so impressive congrats.

[@anninrobotics]

@@SweetSilvia thank you

[@khomsans]

Great work! Thank you, Chris for sharing this!

[@anninrobotics]

my pleasure - thank you.

[@royjones1053]

Huge respect!

[@anninrobotics]

Thank you

[@PhG1961]

Waw, amazing result! Great ingenuity!

[@anninrobotics]

Thanks!

[@DCT_Aaron_Engineering]

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

[@anninrobotics]

Thank you!

[@user_375a82]

Good man - this is wonderful. Well done!

[@Wolfen_91]

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]

Thank you 😊

[@MagDag_]

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

[@plccoder1558]

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

[@anninrobotics]

Thank you!

[@ITubeYouK]

Chris, this is fantastic!

[@anninrobotics]

Thank you!

[@ItsNotAllRainbows_and_Unicorns]

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

[@anninrobotics]

Thank you very much.

[@JaisonBuilds]

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

[@anninrobotics]

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

[@ByDesignation]

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

[@LastV8Interceptors]

Nice project Chris!

[@anninrobotics]

Thanks!

[@JoshMurrah]

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.

[@seidtgeist]

Legendary work. Thank you!

[@anninrobotics]

Thanks!

[@D43vil]

Amazing work, thank you for your contribution

[@anninrobotics]

Thanks!

[@almosthuman4457]

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

[@LeadDennis]

Thank you for your hard work on this project.

[@JonMurray]

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

[@anninrobotics]

appreciate it, thanks!

[@JonMurray]

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

[@mohamadrahmani5802]

Great work like always Thank you man thanks a lot

[@anninrobotics]

my pleasure, thank you.

[@MiroslavObrtel]

🎉 Amazing project!

[@anninrobotics]

Thank you.

[@mikealthomas1]

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

[@anninrobotics]

my pleasure, thank you.

[@fabiofoltran4361]

Truly an amazing work

[@anninrobotics]

Thank you!

[@daniellizarazo3308]

Congrats man!

[@tuwenbo]

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

[@anninrobotics]

I appreciate that, thanks.

[@abuhamza6817]

Very good project, well done bro

[@anninrobotics]

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.

[@source-robotics]

Awesome update!

[@anninrobotics]

thank you.

[@jordanlittleton7650]

Looks great Chris!

[@anninrobotics]

Thank you.

[@danh9002]

Awesome project! Freakin' awesome!! Thank you!

[@anninrobotics]

Thanks!

[@NaderElgdawy]

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

[@davidmongrain632]

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

[@anninrobotics]

Thanks!

[@mypig227]

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

[@anninrobotics]

thank you

[@TheTonyRedgrave]

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.

[@jeantorres3293]

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]

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.

[@end_of_reel_film]

Great build! What is the max payload for the bot?

[@anninrobotics]

@@end_of_reel_film it's 4lbs or just under 2kg

[@bedahtpro]

Wow, This is great!! I understand that the software can be downloaded and the stepper bought and some parts 3d printed but how would one get hands on all of the specific metal parts that are needed?

[@anninrobotics]

Thank you, you can find all the information including robot kits at www.anninribotics.com

[@Ziptietechnician]

2:53 if you get that code on a loop it will be lifting 10lbs in no time. ;)

[@OldSilkRoad]

This is mind-blowing!! This is not just incredible, but is a legacy… that’s the best way to describe it. One question: in a modified form, is this accurate enough to replace a desktop CNC router?

[@anninrobotics]

Thank you. It may be capable of light milling but it's best for material handling operations. I still have some optimization to do on the gcode aspect as well.

[@OldSilkRoad]

@@anninrobotics Thank you so much for your response. I am looking at fairly light wood carving applications. I shall follow your progress. Best of luck!

[@anninrobotics]

@@OldSilkRoad thank you!

[@kaspera.daviesthegastromed9431]

Really awsome work Chris, would there be any way for me to install more powerful stepper motors to increase payload?

[@anninrobotics]

I have seen people modify the design to add a nema 23 stepper motor for joint 3 to increase the payload.

[@whitneydesignlabs8738]

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.

[@lucashansen1707]

This is amazing. I would love to have this in Europe! Do you only sell in USA?

[@anninrobotics]

No I ship world wide. I ship UPS international.

[@oliverer3]

Just to make sure, the new 4.0 software version be used with the AR4 MK1, correct?

[@anninrobotics]

Yes it can. On the kinematics tab just make sure you load the MK1 defaults.

[@ConiferGrower]

Hi Chris. I'm a farmer in Michigan using your robot for some machine vision tasks related to my conifer operation. Thank you for releasing this open-source project. I purchased the Hardware and Electrical kit back at the end of September but have not put things together yet. I see on the website the AR4 hardware and electrical kit are the same for the MK 2 version. Is the stepper motor package the same?

[@lostcodex]

I also purchased the complete kit at the end of September and would be interested in knowing the differences between the mk 1 and mk 2.

[@anninrobotics]

Hello, the electrical kit has most of the same parts but there are a few new parts. You will need some 20awg red/black wire, USB keystone jack, Micro to C USB cable, 5.5mm DC socket, rocker switch, and 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. These drives can be found on Amazon as well. Thank you and let me know if you have any other questions.

[@daviderkan]

Hi Chris, it is an amazing project that I’ve been following for a number of years. I’m teaching digital Architecture in Brussels Uni, I would love to build one for the digital fabrication lab and using it for 3d printing, do you think it is suitable for this kind of operation. Thanks again for your wonderful project and the philosophy behind. David

[@anninrobotics]

I'm working on improving and streamlining the gcode interpretation. I'm sure its possible but I haven't done it yet.

[@taylantarhan_]

Thanks.Chris

[@NaderElgdawy]

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]

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

[@TahitianGringo]

Amazing work keep doing it ^^

[@anninrobotics]

Thank you!

[@greendsnow]

Hey there! Can we get some solid data on its precision for repeating actions like taking some thing from somewhere and putting it to a specific point in space?

[@anninrobotics]

Yes there is a specification section in the manual. Send me a message if you have any questions or trouble finding it. Thank you.

[@nonaak]

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

[@En1Gm4A]

awesome. I might build one my self one day

[@marovdriver]

Woww from Paris

[@anninrobotics]

thanks!

[@Ziptietechnician]

I am always avout two updates behind lol. I have already started my enclosure.. guess i will have to build a whole 2nd arm. Darn.

[@NaderElgdawy]

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

[@johannvoigtlander7398]

Awesome work! Does the Gcode only work in a 2-axis plane or will it work in 3D? I'm glad the physical robot hasn't changed much or I'd have to build another one from scratch!

[@anninrobotics]

Thank you. I haven't done alot in 3D as I was mostly messing with 2d drawings but it should work in 2.5D but I didn't do anything yet for handling changes in orientation - just xyz. I have tried to keep the design consistent so no one gets left out. Thanks again.

[@whitneydesignlabs8738]

I look forward to experimenting with this gcode function. When I first got my "some other brand" SOB robot arm, my approach was from a CNC perspective, attempting send it gcode using UGS. It sort of worked for simple 2 axes only. But things got squirrely quickly when all the DH parameters came into play. That is when I started experimenting with Chris's AR4 software@@anninrobotics

[@0Logan05]

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

[@the_biggest_chungus7508]

Hey Chris, I'd like to buy the CAD Model of the AR4 and mill it out of aluminum myself. Just a question about the 5lb Payload though: Is it limited by the servos or the structural stress of the metal? I'd use the robot for my Masters Thesis and would need to know this beforehand, since I would need a payload capacity of 5kg instead of 5lb☺️

[@anninrobotics]

The weight limitation is in the motors, J3 and J5 usually give up first when lifting. I have seen people modify the design to use a larger motor for J3.

[@the_biggest_chungus7508]

@@anninrobotics cool, thanks☺️

[@aleXelaMec]

So cool!!! Must try

[@aleXelaMec]

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

[@Jaymis]

I tried to post this comment yesterday but I think it might have been eaten by spam filters as it included web links: Do you have a list of changed parts anywhere to upgrade from the AR4 to MKII Chris? (I can see the EG series gearboxes are available separately from StepperOnline) My AR4 build is mechanically complete but I've been injured and unable to do the wiring. Finally recovered and was planning to do the electronics in the coming months. The new compact enclosure looks fantastic! It's been so interesting and exciting to follow your progress over the years. Having compared the stepperonline kits I can at least somewhat answer my own question for upgrade parts: J1 Gearbox - EG24-G10 J3 Gearbox - EG24-G50 I can't find the J4 one though, as their Nema11 gearboxes only have ratios listed of 10, 50 and 100:1 Also the new compact power supply - LYD240900- doesn't seem to be listed anywhere, but at 24V 9A with a barrel plug that shouldn't be too hard to find elsewhere You've also mentioned in another comment on this video that upgraded drivers are required, as well as some other electronics kit components: "You will need some 20awg red/black wire, USB keystone jack, Micro to C USB cable, 5.5mm DC socket, rocker switch, and 40mm fan. (see the MK2 manual BOM for details)... 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."

[@anninrobotics]

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.

[@Jaymis]

@@anninroboticsThanks Chris. The last thing I couldn't figure out is if I was upgrading to the more accurate gearboxes, do you know if StepperOnline have the J4 16:1 available separately? I was able to find the ones for J1 and J3, but looking for J4 they only have 10:1 and 50:1, neither of which feel close enough to 16:1.

[@anninrobotics]

I'll talk to them about listing each motor individually.@@Jaymis

[@Macatho]

Do you sell the linear rail as well? If not - could you link which parts would work? My project requires the robot to be able to traverse around 1.5 meters linearly. Once again, incredible job by a single person.

[@anninrobotics]

Thank you very much. I don't have a kit for the rail but the manual does have a bill of materials for it. The software is configurable so that you can make a rail any length you need. If you have any specific questions please shoot me an email at [e-mail]

[@harrybouch7907]

This is awesome! I'm about to start a computer science degree and would love to build something like this. Are there any video guides/tutorials on how a total beginner can get started with this?

[@anninrobotics]

Hello, I have a complete manual and tutorials page at www.anninrobotics.com

[@thinhphan5404]

Hi Chris, I want to build an AR4 MK2 and would like to start with the most basic parts. In your store, I will need the 'AR4 MK2 Robot Combo Kit', the 'Complete AR4 MK2 Stepper Motor, Driver & Power Supply Package - factory direct from StepperOnline' and the 3D prints you provide. Is that correct?

[@anninrobotics]

Yep that's correct, message me with any questions you have on the project and I'm happy to help.