AR4-MK3 6 AXIS ROBOT ARM KIT - the DIY 6 DOF robot / Arduino control & Python program interface

[@planckstudios]

Dude, this is a beautiful accomplishment. Your focus on software and usability is great for everyone. The vid deserves some notations when you're showing motion that was sped up in post. Can see some is real time footage in there. Congrats!

[@ferriswhitehouse1476]

I'm always so excited when I see you've posted a new update. Thanks for continuing your effort with the robot. Watching you work through examples with the software is super helpful as well.

[@cranesimple]

An open source product designed for the end user. Great work and thank you!

[@MatchaMakesThings]

I'm looking to make my own designed robot, and this is such a wealth of information and helpful ideas for what to include.

[@roberteckersley7834]

Brilliant love the com port update I can see this being very helpful. Thank you Chris

[@anninrobotics]

Thank you.

[@atntaltd]

@@anninrobotics amazing , really appreciate your effort

[@franckberniere6579]

Amazone update. I’m working since 4 months with Fanuc robots, and 2 months ago, got my TPEB certificate. Your system allows near from the same funcrions of a modern Fanuc controller. Great job, Chris. Waiting to reach my budget for an AR4, in order to feed my TC225 BROTHER (from 1991 !), that I’m retrofiting with LinuxCNC.

[@ClosedPitMining]

Sounds like an awesome project, im hoping to do the same if i can find the space and money for an old used cnc mill

[@atntaltd]

super comprehensive and detailed work of art

[@anninrobotics]

thank you!

[@bano99]

Hey Chris, great update, thank you for constant improvements! Awesome work!

[@anninrobotics]

Thank you.

[@cnchobbyist991]

Nice update to the software!

[@anninrobotics]

Thanks

[@latheadventures1390]

This is perfect ! i have been waiting for the if switch read for a long time, your skills are above and beyond this earth thank you so much... i can pull my ar4 out of retirement now

[@anninrobotics]

Thank you.

[@jasonstatement3553]

Well done, your work will not be forgotten!

[@anninrobotics]

Thank you

[@swannschilling474]

Awesome...this is such a beautiful piece of work! Makes me want to build one!

[@mciarlillo]

Okay, this is amazing and I’ll have to look into building a kit ASAP!

[@sriag24]

Chris you're amazing! Great update and awesome demo. You're making robotics accessible! Thank you for your hard work!!

[@emremicrosoft5321]

I need to develop some kind of fruit harvesting arm. AR4 seems very suitable for software development. What do you think about whether I can do the necessary AI development on Arduino so that it can distinguish the ripe fruit from the others and harvest it?

[@codeack101wlck]

ohhhhhh I'm so getting this, and attaching my welder to it I needed this yesterday

[@handle44]

Chris, you rock!

[@anninrobotics]

Thank you.

[@phobosmoon4643]

holy smokes thats like a million bux, thanks homie!

[@Trainwreck1123]

Do you provide files for the machined parts, or are those only available for purchase?

[@anninrobotics]

Yes the SolidWorks and step files or on the robot kits page for purchase.

[@codeack101wlck]

I'm about to level up my life! this is exactly what I'm looking for

[@AndreMonthy]

Will there be an upgrade kit + guide from MK2 to MK3 because it seems the J6 motor is not available as a standalone purchase? Also, is v4.4 of software compatible with MK2?

[@anninrobotics]

Yes, I'll have stepper online make a link for the motor by itself and I will also make the new housing available. Yes version 4.4 will work with the MK2 and MK1.

[@AndreMonthy]

Awesome, thanks@@anninrobotics

[@NolanKwok-n1f]

Hi sir, the motor step per revolution you set 400,why is that for a step angle 1.8 steppper motor? Why not 200?

[@ClosedPitMining]

I dont know what stepper drivers the robot uses so i could be wrong about this, but some drivers for stepper motors use "micro stepping". If it is set to "half" of 1/2, you would need double the number of pulses for a full revolution.

[@SantaDragon]

You're so awesome! Thx Chris.

[@filmweaver2013]

Have been following the project for a while, a huge inspiration! brilliant work, the software and hardware and their integration is on par if not better than some commercial brand-name educational robots! Thank you for sharing this May I know what platform/programming language you used for the GUI of the software, I am building a firmware for a lab research project (it is a 3 axis robot/ gantry for material research) at my university and would love to make a simple app that people (other than me) can use it to explore and use it?

[@anninrobotics]

Thank you, the GUI was programmed in Python using tkinter module.

[@filmweaver2013]

@@anninrobotics Thank you, will look into it :)

[@science830]

the biggest thing im wondering about is stability/wobble. im sure im in the minority but im really interested in using something like this for tabletop cinematography with an ultra lightweight camera. I saw one video with i think a previous model of this and the footage out of it was really wobble, but then it looked like there was some back and forth with chris in the comments. Im just trying to figure out if it's been fixed or not.

[@antoonsorg]

Wow awesome made i wish i could make that. Mechatronics awesome work

[@anninrobotics]

@@antoonsorg thank you

[@sleepyron_av]

Thanks for these examples of use, this is amazing work! Wondering if it is possible to connect something like this to a spreadsheet to count the parts inventory? Maybe just read/write your registers to a csv or something…

[@brockgettemeier8041]

Do you have any videos of the AR4 arm in a real world application?

[@Jaun_]

This is a great set of updates. I am curious, what would be the best approach to have an external Python script send commands to the arm via the user interface program?

[@Jaun_]

For example I’d love to be able to do something like: from AR import MK4 M = MK4() gcode = … M.send(gcode) # or M.J4 = 30 #move Joint 4 by 30

[@marcio83154]

Voce tem o projeto do robo para fornecer porque seu trabalho e incrível

[@anninrobotics]

Thank you very much. You can find all the software and manuals at www.anninrobotics.com/

[@TwitchyMofo]

Is there a teach mode where you can move the robot manually into position with your hands? With the arm semi powered so it stays were you move it to? I've seen this functionality on other desktop arms and it's incredibly useful. I'm struggling to get my AR4 exactly where I want it via the control panel.

[@AckzaTV]

could this thing actually eject parts from a 3d printer bed using some sort of visual Ai detection to actually decide what part of the model it should pop off and maybe we could even start designing supports meant to be robot hand friendly

[@Nolankwok-l6d]

hi mr Chris Annin ,thx for your efforts first,i got a question about steps per motor revolution 400, the step angle of 1.8 degrees, we should have a steps per motor revolution 400,why did I see it on the excel sheet as "400"?where did I get wrong?please tell me ,thx

[@Nolankwok-l6d]

we should have a steps per motor revolution 200

[@mehmetgul8686]

thanks for your sharing such a good tutorial

[@MrNoipe]

do you ever plan on moving off of steppers to bldcs?

[@anninrobotics]

Yes, Its something I have been looking at, just trying to find cost effective gearhead versions that fit the sizes I need.

[@jetwayartisman]

Is the movements in the video accelerated or original speed of movement

[@anninrobotics]

@@jetwayartisman yes, I tried to move through each section quickly to keep it under 15min

[@jetwayartisman]

@@anninrobotics just checking to see if the robot can be used for cinematic motion capture works

[@anninrobotics]

@@jetwayartisman yes Ive had several people use it for that.

[@muratdogan4142]

Hello teacher, can I ask a question? What kind of interface can I use to go to any desired location on Scara robot from the computer? Kind regards.

[@gabrudude3]

Hi Chris, really appreciate your dedication and efforts. Awesome work! Quick question, with current payload capacity, can AR4 handle a router bit to cut MDF or acrylic sheet?

[@tomaszo7557]

Can you configure PLC with the robot?

[@blazelysack2385]

This is amazing. Keep going!!! 😃

[@hermansantema1004]

I'm looking for an applicatieontwikkeling for putting steeds in a growing cube

[@scottdimelow817]

Hi Chris, I've followed your project with interest for a while and I think it's incredible. Realistically do you think this could be completed if I currently have no programming experience? I do have CNC experience so making the parts would be doable 😁

[@moonx02]

I been following your channel for around ~3 months now and always impressed with all the videos you put out. I was considering printing all the parts to build this, but decided to save up to the aluminum kit. Are there any coupon codes you can share with us? ;D Thanks for the great content!

[@anninrobotics]

I don't have any discounts but I'm always trying to keep the project cost as low as possible and I will continue to find ways to make it cost less. Thank you so much.

[@hello81642]

Can it 3d print or do CNC ?

[@user-lx9jm1wo3h]

Can you 3d print with it?

[@AandHAutomationllc]

Can I request a stand alone vision software. We have a 3 axis gantry to pick and place parts for kits. I would be very helpful to have your vision system. Looks like it would do what we want.

[@urban1643]

I have Great respect for you.

[@connormarsh6339]

Is ur UI software a LabVIEW front panel? Or is it custom software. It looks extremely similar to LabVIEW

[@anninrobotics]

It's custom software for the robot that I wrote.

[@kenmargolis2283]

Nice!

[@anninrobotics]

Thank you.

[@jcreyf]

Great stuff! I wish I had one!

[@RolandP-gv2ql]

Very nice project. What is the max. load?

[@anninrobotics]

Thank you. max payload is listed at 4lbs but I have lifted 5lbs with the arm not fully outstretched.

[@RolandP-gv2ql]

Thank You . 1.8kg or 2.2kg ist for this small robot very pretty

[@codeack101wlck]

@@anninrobotics mint!

[@mohammadetek9772]

Theoretically, can I make the arm longer?

[@anninrobotics]

Yes you could

[@vinoddesai4688]

Hi chris May i know the reach of AR4 as AR2 i ahve from you has aprrox 55 to 60 cm

[@anninrobotics]

@@vinoddesai4688 the maximum reach from the center of joint one fully outstretched to the end effector is 63 cm. There is also some diagrams and specifications in the manuals that may be helpful.

[@chhottudamodak7804]

please share the link to purchase

[@anninrobotics]

hello, www.anninrobotics.com

[@alphaO27]

How much load in Kg does it support ?

[@anninrobotics]

1.9kg let me know if you have any other questions

[@uselessrobotics5383]

Hello, Do you have an API in python or maybe C++ ?

[@anninrobotics]

You can send usb serial commands to the control board. The control software I wrote exposes each cmd sent to the control board on the settings tab so you can see each cmd example

[@erikhambaryan4769]

How much would it cost in total?

[@LearnWized]

Considering you want to build it exactly 1:1 in the video, i.e aluminum parts and 3d printed parts. The motors, drivers, psu, and electronics, would at the very least be around 900 - 1000 dollars us, thats excluding all the hardware parts like bearings, and other parts necessary to make the hardware work.

[@Tjup]

what is the estimate cost on this project, before i start it :)

[@anninrobotics]

Total cost is just over $1900 to build the robot, let me know if you have any other questions.

[@Tjup]

@@anninrobotics i wanna build it, but im in Europe, can i buy the whole kit here?

[@anninrobotics]

@@Tjup Yes I ship UPS worldwide.

[@karus459]

What difference between ARK4-MK3 and ARK4-MK2?

[@anninrobotics]

The only difference is the upgrade of the J6 motor to a higher tolerance version and the addition of some functionality to the program relative to the if then statements.

[@Yakroo108]

👍👍👍

[@darkshadowsx5949]

Nice robot. it looks like you're using Fanuc style programming. The problem i see is the programmer UI is a absolute mess. everything is displayed all at once making it very confusing and intimidating for beginners. which happens to be your target audience since your aiming for STEM/education. i like how doosan organizes their commands by having you go to a command input tab, insert the command into the program then edit it in properties tab. it only displays what you need to see for that specific command making it simple and more intuitive to use. problem with doosan controllers is switching between programing and JOG or other screen is slow as a frozen turtle. For Fanuc their pendant controller is an absolute mess having 80 buttons you dont know if you can press, but on the screen they still only display what you need to see for editing a command. their menu layout was seemingly developed in the 1800s on a napkin and never updated. But you can jog the robot on any screen just using the buttons and menus load very fast. those are the only two systems i'm familiar enough with to comment on. could be a better one out there but i haven't had the chance to see and use it yet.

[@MrToromingo]

❤❤

[@perdixxion26]

❤

[@AckzaTV]

making a robot hand really shows you the limitations of a nrobot hand compared to your own hand and makes you apreciate the human hand, and makes you realize if slavery was still leghal, we would have people talking about what breed of slave is most valuable, some slaves would be worth more, certain slave families would be bred more expensive,people would be like horses, and it wouldnt have been limited to just black people, they would have started breeding all sorts of slaves of every race if they had continued allowing slavery. its crazy that they even had it at all all the way untill the 1800s like slaves took trains lol. its like i could imagine people finding ways to describe the hands of their slaves as the new upgrade . i guess cyborgs will be like slaves i mean eventually we will ask why not just have a human slave doing the work we need done.

[@fellpower]

if u cant mill your own parts, youre lost. so no project for me

[@devrim-oguz]

He said the files are open, so probably the drawings are there too. But I didn’t check.

[@TylrVncnt]

?

[@fellpower]

@@devrim-oguz yeah, but u need a 4k$ Mill too ^^

[@lincolnlarson5592]

You could totally send the files to a place like pcbway that will machine them out for you for a reasonable price.

[@DigitalDivotGolf]

You can easily send the files to sendcutsend and they will be at your house in a week. If there’s a will there’s a way. 🙄