AR4 6 Axis Robot Arm

[@mkase4697]

Chris, this is truly unprecedented! I have been admiring your work for a few years now. This new version is even more impressive. But the thing which I am so impressed with is your desire to give your countless hours of top quality work away for free. What a difference to the unrelenting money grabbing going on today. I wish you all the very best!

[@anninrobotics]

thank you very much

[@manuellarrosa159]

Manuel

[@aerospacefasteners1027]

@@anninrobotics Thx again.

[@TheBoweeble]

Thanks again for all of your hard work and your willingness to share this project with the world.

[@anninrobotics]

my pleasure and thank you

[@stochasticsignal1951]

It's been a while since I've heard an update on the AR series! The offset calibration is a very cool feature to see and the Teensy is a fantastic platform.

[@artrock8175]

You're a LEGEND, Crhis! Thank you for sharing your work and expertise with the world for FREE!

[@anninrobotics]

thank you, im happy to share the project

[@hanzrudel6486]

Es un verdadero gusto haber llegado a este canal de youtube hace ya casi 4 años y haber encontrado a alguien muy profesional, con el corazón tan impregnado de ganas por hacer algo por la comunidad y con tanta pasión por compartir sus conocimientos, pues el conocimiento es universal. El gran Marco Aurelio dijo "Hemos nacido para colaborar, al igual que los pies, las manos, los párpados, las hileras de dientes, superiores e inferiores. Obrar, pues, como adversarios los unos de los otros es contrario a la naturaleza". Sigamos el ejemplo de Annin y continuemos en el camino de la naturaleza.
Exitos y muchas gracias por toda esa pasión y aporte a la comunidad, Me llena de emocion haber llegado a este canal.

[@TheshBuilds]

Thanks for all the great work Chris! Looking forward to building an AR4 once my current CNC build is complete.

[@mrbrent4]

Chris , nice update. I purchased the Ar3 kit and had my son an mechanical engineering student and a group from his school help build it. I was shocked how little hands on these students got in the program so it was a great project to get them some common sense real life skills. I built it to use for a particular process for my company however the processor wasn’t up to the task. I am happy to see the new board and look forward to updating my robot when time permits.

[@kenniethgonzalez5747]

Ive been wanting to get nto robotics for years, but without formal education or money, I thought it was just a pipe dream. Thanks to your project I feel confident enough to give it a go. your manual is so amazing. youll be getting an electronics order from me very soon thank you for all of your hard work Mr Annin

[@anninrobotics]

Thank you. Keep me posted if you have any questions.

[@vikatverlekar4340]

AR1>AR2>AR3>AR4 and more to follow, this is awesome, Its like trying to beat your record, an desire to do better.

[@turk.mehmetcan]

Been following the project since AR2 release and you still keep amazing me! Thanks for all the effort and hardwork you put in this project. 🙏

[@cmptechnologiesllc3727]

Hi Chris, I just stumbled across your channel and content. Immediately subscribed!! I too have 30 years experience with ABB, Fanuc, Kawasaki, Yaskawa Robots. Unfortunately I have been forced into Early retirement. Your work is truly amazing!!!! Absolutely love the 7th axis rail!! Cant wait to see more!!

[@ectoplasma0001]

I am trying to convince my management to go for this rather than the universal robots we already have. This seems so much nicer to use as an engineer/software developer. This is amazing.

[@anninrobotics]

thank you

[@AdaptivePhenix]

One thing that they emphasize with the UR's is the relatively low impact if they happen to collide with a human. This tells me that they are running _true_ servo-motors in "Torque Mode" and they are limiting the torque to just what is required. I'm not a stepper expert but I suspect that this technology isn't capable of torque limiting(?)

[@jasoncreech4486]

Your work is incredible. Thanks for sharing this with us. This is the only way we could ever own a industrial style robot.

[@anninrobotics]

Thank you.

[@olorf]

I just placed the order for the AR4 stepper kit. I'm so grateful you are doing this and providing the aluminium and hardware parts for what I assume is very close to cost. Thank you Chris!

[@anninrobotics]

My pleasure. Thank you.

[@matthijsbakker7755]

It looks completely stable, that is amazing work!! 🎉🎉

[@anninrobotics]

Thank you! here is the latest if you are interested ruclips.net/video/KJFtruAHXoU/видео.html

[@safetypak]

you are incredible Chris. It is an unbelievable project and so generous to share it free with the world. This is fantastic for education with kids and teaching. Amazing what you have done. thanks so much for being so open

[@anninrobotics]

Thank you

[@Thekingmaker]

The gods have spoken .... again. THANK YOU

[@anninrobotics]

my pleasure and thank you

[@jargomanihilda8743]

Seems daunting even for a skilled programmer. This takes money, time, and knowledge.

[@MakingStuff]

This is so cool. I've been wanting to build one of these for a while. Maybe it's time I stop procrastinating.

[@jacobsvickers3945]

I need one of these so bad!!!! I'm literally saving up a hundred dollars at a time every two weeks!!!

[@FilterYT]

Wow, what an amazing gift to share, thanks!

[@anninrobotics]

Thanks!

[@9z4clb]

Chris this is amazing work! Hoping to finish up some other projects by January to make space on the bench to begin my AR4 build come February. I'm going with the full aluminum kit. Cheers, Cletus

[@sardorbekumarov2389]

Amazing work!

[@anninrobotics]

thank you

[@fellpower]

WOW; what a great project. i think i have to build one - maybe as a video series ;)

[@jasoncreech4486]

You are incredible Chris, I look forward to building one of your designs and your software looks very user friendly in comparison to other industrial robots.

[@anninrobotics]

Thank you!

[@enzopontone2227]

Hi Chris, this is actually a GREAT project! Congratulations for you skill an patience to write a comprehensive documentation (fundamental!). I'm planning to purchase a kit in a few months when I'm over with other chores!

[@anninrobotics]

Thank you very much.

[@jasonstatement3553]

Chris, I admire you. You are an inspiration to many, including me. Thank you so much, you are doing humanity a great service :)

[@anninrobotics]

Thank you!

[@zachgoodbody]

Hi Chris, I've just recently found this and look forward to trying to build this with some spare time. Your documentation is amazing. Keep it up!

[@anninrobotics]

Thank you

[@jakemeyer8188]

You are the MAN!

[@benni199988]

I really appreciate your work! Will start building one after my CNC is finished.

[@Cretan-un6ul]

I am definitely going for this project one day. It gets kind of expensive project but it inspires me so much.

[@boko3155]

Really excited about a world of sharing creations freely! This is beautiful 🤩.

[@AlecMuller]

Looks awesome! One step closer to robots that build copies of themselves :)

[@kentvandervelden]

Hi Chris, looks great! Do you have a changelog of the AR4 from the AR3 with belt upgrade? Are the only changes the electronics, motors, and software? Thank you

[@anninrobotics]

Hello, I will be working on a document and teensy sketch to update the AR3 to use the AR4 software this week. The primary difference is that the AR3 uses the CUI encoders so I need to create a 4.1 sketch that has the correct encoder values. The pinout on the teensy 3.5 is nearly the same as the 4.1 so I don't expect there to be much in the way of wiring changes. When I have the sketch and document ready I will post it to the downloads page and make an announcement on the site's blog page.

[@nermaldotorg]

@@anninrobotics I thought we couldn't use a Teensy 4.1 on AR3 as the encoders need 5v and the Teensy 4.1 only runs on 3.3v ?

[@anninrobotics]

@@nermaldotorg On the AR4 I added a 3.3v and 5v wire going to the base of the robot, the 5v powers the encoders and the encoder return voltage is low enough the 4.1 is fine and then the 3.3v signal is used on the limit switches. All that being said I have had several people use the 4.1 anyway and even with the limit switches being powered by 5v there seems to be enough voltage drop that no on has reported burning out any teensy 4.1 inputs. Regardless I am going to put together a upgrade document and explain this and still recommend people run a 3.3v to the base and switch the limit switches to 3.3. email me if you have any other questions on that and I will try to answer any questions you have.

[@nermaldotorg]

@@anninrobotics Thanks for the reply - I might just put a diode in series on each of the limit switch inputs to the teensy to drop the voltage another 0.6v or so.
Would that work ?

[@AdaptivePhenix]

@@nermaldotorg 74HC4050

[@gerhardgroenewald6560]

Uhmmm. Someone knows a ton of shit and yet sounds so sincere...I have found a hidden Gem wow.Thanks Alot!!!

[@gerhardgroenewald6560]

Reading ar4 manual at the moment. Heating bearings with a hair dryer.....Why haven't I thought of that years ago? My shop is getting new hair dryers now lol. Your work is astonishing. I can only imagine the time and effort put into this. This is literally the best treasure I have found on the net. I'm assembling all components in cad today to check the design out. Are ar4 stl files nominal sizes or should I go for ar3 nominal size spec folder?

[@marklee1209]

This is awesome! I fancy building my own robot so this is an awesome resource!

[@alexkart9239]

Good job, bro! I hope, one day, we will see the "AR-1000" with 1Ton payload capability. =D

[@Chrima]

You’re a beast! New goal is to build one of these

[@anninrobotics]

Awesome

[@cedricpod]

brilliant …. thank you CA

[@anninrobotics]

thank you

[@whitneydesignlabs8738]

Very cool. I am excited to learn more about this architecture. I have a robot that was saved from the scrap yard that I will do some experiments with using the software and wiring basics.

[@hectorleandro9442]

Wowwwww! You are a genius!!

[@anninrobotics]

Thank you :)

[@madeautonomous]

Amazing! I would love to start and try building something like this over the winter break!

[@jordipascualgranado7154]

Thank you so much for sharing this extraordinary work and congratulations!

[@XStance7]

Thank you, such great work and documentaiton. Really appreciate all the effort.

[@ratuadil3133]

Amazing jobs chris

[@anninrobotics]

Thank you!

[@SantaDragon]

I love your project! Thanks so much. I follow you since the mark 2 of your AR :)

[@anninrobotics]

Thank you very much.

[@SantaDragon]

@@anninrobotics Hi Chris, Stepperonline Link is dead somehow :(

[@anninrobotics]

@@SantaDragon Thanks for the heads up. I updated the link. I guess they changed something on the address.

[@pablomosquerabarrero7981]

Chris Annin your work is a treasure greets from colombia

[@anninrobotics]

Thank you

[@ivprojects8143]

This is excellent! Thank you for sharing your hard work.

[@peerajak]

Cool project!. I think I will try this.

[@Yabbo06]

your work is amazing

[@OriginalThisAndThat]

I am very interested about robotics and stuff, but I injured in car accident end of the 90's, and got quadraplegia. My hands work ok'ish but my fingers dont, I'd be so interested to buy this and do all kind of stuff with it, maybe help myself to work better with my 3D printer. I have tons of ideas but cant do everything that I want. Very nice design and code. 5/5

[@andreaskarlsson9384]

So impresive

[@anninrobotics]

Thank you!

[@ricardoortiz3727]

Hello Cris! I send you the Like N° 1000 in this video!!! Truly an amazing job! My congratulations, I don't know much about this but I'm going to try it because it was always my dream to have a robot and at 36 years old I think this is the opportunity! I wish you the best!

[@anninrobotics]

Awesome, thank you. Keep me posted if you have any questions.

[@ScootLogix]

Wow Awesome man. I'll probably buy one just waiting for servos to get back into stock.

[@anninrobotics]

thank you

[@SpeedingCanister]

This is truly amazing!

[@onkelmorfars]

wow, I am so impressed. I will definitely buy a kit in the near future

[@anninrobotics]

thank you

[@New_World_Disorder]

Awesome as always! I need to build one of these at some point.

[@bianorjr]

im following you for some months already.. you are an amazing personallity!! what a great work to share your knowledge with us.. im from Brazil, found you on internet searching for a good diy 6 axis robot.. and i already emailed you, for my surprise, you replied!! ;-)
i will have my ar4 for sure and will contact you to learn how to place a tourn table instead of travel track on mine.. i have a initial idea, just need to learn perfectly how to integrate on your software as I did not start to deal with it yet!
thanks a lot

[@anninrobotics]

Thank you, I'm happy to help.

[@anninrobotics]

Thank you, I'm happy to help.

[@harindugamlath]

Thanks chris. Hope time allows me to build one and contribute. awesome work. Can't thank you enough

[@anninrobotics]

Thank you

[@Mister_Stork]

AR4! Awesome! 🤙🏻

[@anninrobotics]

thank you

[@yulongzhang9678]

Hello,Chris.Thank you for sharing.
I want to know how you connect to RoboDK,and there is a "drive" option in "connect" interface, how to define this drive file?

[@josegegas]

This looks great. Thank you!

[@richardfynmann5452]

I am here to thank you, and give you a new subscriber sir

[@anninrobotics]

Thank you.

[@deroskar]

Thats amazing! Thanks for all the hard work.

[@Llihor]

Insane

[@marc-antoinethebeautiful7714]

WOW ! i was in the process of printing the parts for the AR2 and i was getting issues not knowing if the position of hole where going to match the position of the servo. Now that you said there a link to get the full kit for the servo I think i will just get that going and continue on.

[@nutscrew9091]

Awesome project sir....waiting other robot make tutorial too(DELIVERY ROBOT_AUTONOMOUS_USE LIDAR/GPS/COMPASS)

[@khomsans]

Great work! and Thank you for sharing your hard work, wonderful !!!

[@aronabrams1051]

Well done!

[@anninrobotics]

thank you

[@PhG1961]

Impressive work ! Great ingenuity !

[@anninrobotics]

thank you

[@samo6401]

I'm confused about the RoboDK section. I really want to build one of these but as I understand it, the post-processor on RoboDK is not working. I can create a path for the robot to follow in RoboDK, but how do you go from that path to the real physical robot moving if the post processor is not working

[@anninrobotics]

RoboDK said they were working on it but I havnt been getting any responses from them lately so I'm not sure what they are up to. You might try contacting them directly.

[@kevincamacho1629]

Can you scale this robotic arm 3x physically and make it carry something like 5kg of Payload? That would be amazing

[@shubhamkhobragade6674]

how to calculate motor torque required for arm and payload ?

[@Martin-xb2rz]

Hey there. I am planning to build a mill with a robot arm. The building volume is 1m³, can I use Ur robot for this? It should mill, 3d print and engrave.

[@kevin_delaney]

Oh I am so making this

[@bobweiram6321]

It would be cool if it had a spindle so it can mill in multiple axis.

[@faisalalbader8385]

Awesome project Annin!
I’m building this to attend the 3D printers in my studio, which I think would need visual processing solution attached to it. Would you please recommend resources in visual processing? 🙏🏻 and is there a possibility of adding an eighth axis for vertical motion along with 7th axis horizontal motion?

[@cameronblackmon9540]

What an interesting development

[@heetmalde6696]

Thank you so much 😃

[@anninrobotics]

my pleasure. thank you!

[@Adam-wn6mk]

Completely blown away mate, ive found your channel researching the build of a 4/5th axis for my self built cnc router and I now have a new project hahaha thank you for this. Can I ask you how rigid is the arm... if you mounted say a dremel or similar on it could you make it carve timber? I know dimensionally it would probably not be very accurate but more for artistic pieces, you would probably need to program a way for it to probe the stock before it starts carving too or is the learning you were showing how thats normally done? Sorry about all the questions and please keep doing what youre doing!

[@anninrobotics]

Thank you very much, I haven't done anything with a dremel or carving yet, I think if it was a small Dremel and lightweight enough the robot would do fine. The robot would need to be able to interpret G-Code to run a program like that which should work with robo DK once the post-processor is up and running, but I have a little more work to do on that.

[@Adam-wn6mk]

@@anninrobotics Ok awesome ive subscribed to see how it all goes, I know my dremel comes with a flex head attachment so the main unit is a metre or so away from the end which would probably save a lot of weight hanging off the end if that becomes a problem but also a dremel is hardly ideal and if it all goes well you would need a spindle of some sort... I saw the pocket NC cnc comes with an air driven spindle which would probably be lighter than a brushless type. Anyways I love your work seeing this sort of thing is inspiring as hell I think im going to try cutting out the parts from HDPE which a local scrapyard has a mountain of for pennies and see how it goes. Thanks again

[@JM_Tushe]

I can't thank you enough for making this amazing project open source. 🙏
By the way, any advice to help me understand how to solve the inverse kinematics? I'm good with a 3-axis robot but a 6-axis is just completely unknown to me lol And the books I've checked just break down the direct kinematics.

[@anninrobotics]

I have some videos on my channel I made on the kinematics. They are from a while back on the Ar2 but they might be helpful

[@rondlh20]

WOW, amazing job, thanks so much!

What is the max load and repeatability of the robot and who makes the aluminum parts that they only cost 580 dollars

[@anninrobotics]

hello max load is 1.9kg, reach is 62.9cm, repeatability is tested at .2mm and I have a great machinist I work with who is located overseas but does a great job in creating the parts at low cost for us.

[@EitherEngenheiroBr]

Hi Chris, I'm using AR2 software with arduino mega as you said for me in another commentary is working very well thank you By the way, but i would like to know how can I save my files, and which file I can save my projects with the position and all work the robot have to do. Thank you again.

[@EdwinFairchild]

i tihnk this will be my Christmas present to myself. How are things looking on the component availability side? Like the motor kit for example would it be feasible to order and get all of that shipped in this lifetime?

[@anninrobotics]

Yes I have everything in stock and stepperonline hasn't had any issues that I know of shipping the motor kits. thank you.

[@telum2265]

Stellar work Thx

[@tommarshall3034]

Great to see the addition of circular and arc moves. You mentioned splines, do you have plans to add this capability?
Any thoughts on how path accuracy and repeatability compare with move to position repeatability?

[@KyrychenkoAnton]

The price is unbelievable for what you get, and I truly applause you sir to open source the project, and I tipping my hat to you. May I ask about gear reduction and cycloidal drive - is there some considerations why simple geared reductors better - its the speed or price considerations (those may get quite pricey I know hehe). Looking into purchasing one in future to test my sla 3d printing "autonomous" setup I have in mind, cheers!

[@anninrobotics]

Hello, the current gearboxes are lower cost planetary drives. I'd love to use harmonic drives but trying to keep the project affordable for most people.

[@KyrychenkoAnton]

@@anninrobotics sure, totally understandable, thx

[@alefgrigorio6394]

Thanks you,

[@brentduplessis8243]

Hey man, what would you say the pay load if the robot is and if the pay load that the arm can handle is not enough how could one increase the size of the parts etc in the proper way

[@anninrobotics]

Hello. The payload is 1.9kg

[@pengfeiDu83]

Hi Chris, I am trying to use the AR4 python code, however the part of the code related to the camera part seems working on windows only. Is there a code written for linux? Thanks alot.

[@anninrobotics]

I dont have anything specifically for linux but I'll try to take a look at that as soon as I get a chance.

[@nandakumarm4867]

What is the overall speed of this ARM

[@atti1120]

This is so cool, i dont know much about these things, im getting into it due to how pricey some options are. I want to use it for laborstory automation.
How precise and accurate is this fellow? Im not sure exactly what i mean by precision and accuracy, but maybe someone can give me an idea.
Best

[@anninrobotics]

Thank you. Its quite repeatable. no issues doing the same task over and over. It is a low cost robot with planetery gear boxes and not quite the same realm as a $40K industrial robot with harmonic gearboxes but it does really well considering.

[@atti1120]

@@anninrobotics that's great. I looked through your website and read 0.2mm precision, sounds very good for a lot of different tasks especially at the cost. Also I like the small footprint. IMO for a lot of biotech laboratory automation it seems, rare that you need long ranges and heavy payloads. I think precision and accuracy is important though. I've shown my boss your website and robot in case we will need it at some point, (right now we are implementing other stuff). Hope to get to work with one or more 😁

[@Morris_MK]

How much would building this nice robot cost?

[@kvlcmeyigunlu7958]

Hi Chris. Can I use arduino board instead of useing teensy board? I can't find teensy here in turkey.

[@anninrobotics]

you can use the duo board but you will have to remove the encoder library and run in open loop mode as the arduino board will not run the encoder library and the performance will not be as good. I do have the electronics kit which has the teensy board if that helps.

[@3DPM28]

Can this AR4 be programmed to run a file when when you press a button/switch it will run that program without having to run off the program? Also could you control the robot by a wireless controller? If so will it be able to record the motion to repeat it later on its own, as in making a program file to repeat? Thank you for your time.

[@RajaKumar-jy2nb]

really appreciate it

[@pinolux21]

is it free software? Excellent work!

[@espresso-shot]

Just curious, why Teensy4.1 over other microcontrollers currently on the market?
Also, any chance the control software could be run on raspberry pi instead of windows?

[@anninrobotics]

The Teensy 4.1 has the fastest processor, at least it was at the time for running the robot kinematics and it also has a loader for using the Arduino IDE which makes it a bit easier. Yes I've had several people around the python source code on a Raspberry Pi I haven't done it myself yet but I plan to

[@evren.builds]

Hey amazing project ^^ Great to see al your work come together in such a nice package.
Do the reducers have backlash? If so how many degrees?

[@whyldthing86]

I wonder if this can be turned into a 3D printer.