AR4 MK2 6 DOF ROBOT ARM - DIY 6 axis robot kit / Arduino controller with Python program interface
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- Опубликовано: 4 окт 2024
- 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.anninrobot...
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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-steppe...
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Chris you have done an incredible job. This is a life’s work to be proud of.
Thank you!
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...
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.
My pleasure, thank you.
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.
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!
Thank you very much. I really appreciate it.
Thanks again Chris for your contribution to the open source STEM community!
I'm happy to share the project. Thank you!
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.
Thank you!
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.
Thank you.
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.
Will always remember this guy
This looks so strong. Love that you can get some serious motors into it without making it cost the earth
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!
Thank you!
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!
Thank you!
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.
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!
Thank you!
This is amazing! Excellent work. This is way better than the goofy arms people build using hobby servos.
Thank you!
Wow. Absolutely incredible. I am just getting started with robotics and can't believe such a wonderful resource exists. Thank you sir!!!
Thank you and Im happy to share.
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!
Thank you very much!
I'm glad I landed here. I'm looking for all the puzzle pieces to make a welding robot
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!!!!!!!!
Thank you.
you are actually a hero, I think i will be attempting an automation project with this 🙏
Awesome, thank you. Let me know if you have any questions.
this is the coolest thing on the internet. planning on ordering an aluminium one for a welding project !
Endless thanks from Turkey. 🙏
Thank you
Awesome to check in on this project every once in a while. Good work man!
Thank you very much!
WOW - this is incredible- I like that j5 mechanism, going to seriously do some looking into this, great job!
Thank you!
appreciate your hard work. Im going to start robotics school in a couple days and im going to make this to help practice .
Awesome, thank you!
This is fantastic Chris. Thanks for sharing your hobby.
I think this is my first robot project where I can start~ Thank you for your amazing project.
Your great Chris! Thanks for new update ... hope I will have the time to rebuild your great creation!
Thank you.
how perfect job for students. buying complete robot is too expensive even small one and program too. From Korea
thank you
Thank you, Chris! Following it for a long time.
Another Great Robot from Mr Annin.
thank you
This is a masterpiece for DIY's guys. Thansk for share your job!
Thank you!
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.
Awesome, thank you. Let me know if you have any questions.
Man..your are freaking AWESOME!!!
What an oustanding job.....!!
Congratullations and thank you form sharing..very informative and inspiring...
Thank you very much!
Крис! Ты крут! У тебя потрясающие роботы!
Building one right now. Thank you so much for making this open source
Great work! Thank you, Chris for sharing this!
my pleasure - thank you.
Wow! I am going to build at least one of these!
Cool, keep me posted if you have any questions.
@@anninrobotics Really appreciate all the work you've put into this, especially given that you're keeping it open source! 🎉
Huge respect!
Thank you
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."
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.
@@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.
I'll talk to them about listing each motor individually.@@Jaymis
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
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.
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.
@@whitneydesignlabs8738 no. I looked at the AR4 maths, but I didn't understand it, so I made my own from scratch
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
Nice work, hope you are working on welding applications, like arc motion welding, zig zag welding motion, statching motion
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.
Very inspiring!!! Excellent work. Thank you for sharing.
Thank you!
Awesome update!
thank you.
Good man - this is wonderful. Well done!
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.
Thank you 😊
Thank you for your hard work on this project.
Waw, amazing result! Great ingenuity!
Thanks!
Chris, this is fantastic!
Thank you!
Congrats man!
Thanks so much buddy! I dream of building something that complex :) GOOOD JOB! :)
Thanks!
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
thank you. I will be looking into a larger robot in the future.
Absolutely awesome 👏. Well done mate, your robot arm is so cool. 💯 👍. Cheers Aaron
Thank you!
Legendary work. Thank you!
Thanks!
Will look into the kit. Nice job. You definitely show your skills and love of the profession. Have a good Thanksgiving.
Thank you very much.
Amazing work, thank you for your contribution
Thanks!
Thanks.Chris
Nice project Chris!
Thanks!
🎉 Amazing project!
Thank you.
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.
woooo! I think your work is very meaningful! Thank you very much!
I appreciate that, thanks.
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.
Looks great Chris!
Thank you.
awesome. I might build one my self one day
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?
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.
@@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!
@@OldSilkRoad thank you!
NICE
Thanks
Wow just wow. I'm baffled
This is so awesome man. Thank you. New subscriber ✌🏻
appreciate it, thanks!
@@anninrobotics I’m going to build one, one day for sure!
Rad!…
Where it Goes….It Goes -Awsome- !
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.
Truly an amazing work
Thank you!
You're awesome bro
Thank you!
Very good project, well done bro
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.
Awesome project! Freakin' awesome!! Thank you!
Thanks!
Amazing work keep doing it ^^
Thank you!
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
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.
I'm so making this.
I would love to have the time to buid one.. Continue the great work.
Thank you
I'd wish that kits of this would be made available in EU because it is super expensive to import :( Would be nice if there was a partner like motedis from Germany as EU reseller of the kits (or some one else within EU)
I do ship to the EU. I use UPS international. I'm sorry I don't have any resellers. I do have the kits listed on the site at minimum pricing. Thank you.
Isn't just about some vat stuff plus some delivery fees? Something you would have anyway even with local partner?
So cool, I want one, even if I not have time to play with it
Thank you, let me know if you have any questions.
Great work like always
Thank you man thanks a lot
my pleasure, thank you.
This is awesome!
This is awesome!!!! Thank you soo much!!!👍🏻👍🏻👍🏻👍🏻
my pleasure, thank you.
So cool.
Thank you.
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 :)
it is amazing
thank you!
So cool!!! Must try
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
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?
Hello, I have a complete manual and tutorials page at www.anninrobotics.com
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?
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.
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.
Woww from Paris
thanks!
Hi Chris, I have a question hopefully you can answer.
How many degrees of freedom an object can use simultaneously?
An object in 3D space has 6DOF how many can it use simultaneously?
Let’s say a cylinder is stationary and levitating in the air, it has the potential to move in any of 6DOF. We push a button and the cylinder moves forward- it’s using one DOF out of 6 available. Then we press another button and it starts to roll while it’s moving forward - it’s using 2 out of 6DOF. Then we press another button and it starts to go up while it’s rolling and moving forward- it’s using 3 out of 6DOF.
Question: how many DOF an object can use simultaneously?
This is amazing. I would love to have this in Europe! Do you only sell in USA?
No I ship world wide. I ship UPS international.
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?
Thank you, you can find all the information including robot kits at www.anninribotics.com
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!
Thank you. I've been thinking about doing that, just need to find the time. Too much work....
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
There aren't any thermal issues with stacking the drivers together like that?
No I have had no issues, there is air spacing between the drives and the 40mm fan keep air flowing around them.
Just to make sure, the new 4.0 software version be used with the AR4 MK1, correct?
Yes it can. On the kinematics tab just make sure you load the MK1 defaults.
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
I'm working on improving and streamlining the gcode interpretation. I'm sure its possible but I haven't done it yet.