Skip's AR4 Robot Build

It seems you spent lots of time to do this beautiful cabinet. Looks great.

Make sure you get the latest STL files if you are building the latest AR4 robot. I didn't and had issues assembling J2. Once I downloaded the updated spacer all worked out perfectly. The only thing left on J2 is to pick up some longer screws. 34mm ones came with the kit and I need 40-45mm screws. Tomorrow I'll fix that. The top photo is with the wrong spacer. The lower one is the new updated one called "J2 Spacer YGS".

The basic AR4 Robot is now up and running. I had only a few mistakes to correct. One limit switch was stuck in the closed position, J2 and J3 encoder wires were swapped in the back of the robot, and last but not least was my PC was waiting for a darn Windows update! Kept messing with my USB ports causing all kinds of failures. That was the hardest to find.

Here's my 7th axis design. Had the 1.5" square aluminum extrusions laying around. Figured I'd put them to use. Bought the 500mm linear rails and ball screw as a set on Amazon. 3D printed parts in Yellow. Machined parts in Cyan. The one extrusion needs a slight relief cut for the coupler. Added a limit switch. Have about 347.5mm of travel. I used a 14"x6"x.375" piece of flat aluminum bar stock I picked up from a local metal supplier in their scrap area. Saved about 30% buying scrap and adjusting the design to fit the available materials.

Making progress on the 7th axis. I'll share the CAD files on GrabCad when done.

The 7th Joint is almost done. Time to stop for the Easter weekend. Need some more fasteners to complete it. The tape on the linear rails it temporary so the bearing blocks can't slide off. Did that already. Was not fun getting it back together. Once I have the flat head screws I'll need to loosen and adjust everything so there is no binding from one end to the other.

7th Axis models can be downloaded from GrabCAD.

https://grabcad.com/library/ar4-robot-track-assembly-7th-axis-1

Travel Track (7th axis) is mechanically assembled and adjusted. Very smooth and no backlash! Junction box is the last to get done. Then it's learning to program.

From a pile of parts to a completed 7 Axis AR4 Robot. Programming time now! Lots to learn.

Hi Skip, thanks for posting this. I learned a lot just by looking at your build and it was a pleasure to see your GrabCAD designs!

Used some wire labels to organize my wires. Will make it easier to move and not make mistakes hooking back up again.

Laser engraved panels help label the robot and controller connections.

A little video of my AR4 running a couple of sub programs. Home, Rest, and a couple of my own positions. All is working very well now. Really want to thank Chris Annin for all the support.

Thanks for posting your build progress. Really impressive! I would be curious to see how you end up storing in a case when you have that done.

Programming time now! Lots to learn.

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skysmotor.co.uk sells the following products online: high torque pancake stepper motor (https://www.skysmotor.co.uk/category-64-b0-Pancake-Stepper-Motor.html), servo motors, planetary gearbox and can be purchased online if required.

Here's what I'm thinking about. Using hinged side panels that fold down to become a stand. Will have some sort of brackets or blocks to fasten the panels together. Possibly legs to give it additional height. Top will attach to become a table area. This is just an idea. Still thinking of other ways.