AR2 to AR4 (latest) upgrade
Hi All, I have a half built (but abandoned) AR2 from Sept 2018 - using the machined kit - and would like to upgrade it and complete it to the latest and greatest AR4 version.
Has any one been through this and can offer advise/details of the new parts I would need to purchase or is it a case of going step by step though all the different version manuals identifying all the changes step by step?
I am particularly concerned about any changes to the aluminium machined components, though I have a lathe and mill so if they are modifiable I could do that myself (and obviously re-print any 3d printed parts).
I think this is going to be expensive since I believe it will need all new motors/gearboxes and microcontrollers?
Many thanks
Nick
The AR2 was first major release of the project. The motors were open loop - no encoders. The main control board was an Arduino Mega, this model had a separate control enclosure. The J3 drive was a chain and sprocket.
The AR3 update moved to a Teensy 3.5 control board and added CUI encoders for closed loop operation. The motors were changed to dual shaft motors. The J3 drive was changed from a chain and sprocket to an L series belt and pulley.
The AR4 updated to the use of a teensy 4.1 control board and the externally added CUI encoders were eliminated and the motors now came with integrated encoders.
The AR4-MK2 changed from having an external control box or enclosure to having all the electronics mounted in the base of the robot. The drives changed from the larger DM542T to the smaller DM332T. The J1, J2, and J3 motors were updated to the tighter tolerance EG series gearmotors.
The AR4-MK3 updated the J4 and J6 motors to the tighter tolerance EG series gearmotors. The J3 drive updated to HTD series belt and pulleys. This is the first update where any of the aluminum parts changed - the J6 housing and J6 motor mount were updated to accommodate the new motor.
If you would like to update from the AR2 to the latest version I have a J6 housing and gripper mount kit to replace the 2 changed aluminum parts and then there is an HTD belt update kit available. You would need to update your motors and drivers kit from Stepperonline. You would need to print the new base enclosure. I would also recommend a new electronics kit as it will have the new Teensy 4.1 board and a number of other updated electronics components. Make sure to follow the build manual for the latest MK3 as well as the latest software version 6.0.
Please let me know if I missed anything or if you have any other questions.
Chris Annin Thank you Chris
Chris Annin thank you - this is a great summary of changes that answers some questions I had as well
Hi Nicholas, I did a conversion AR3->AR4 MK2 last year and I had to machine new parts and buy the new motors + controller kit. If you need any new parts machined let me know, I just finished building a new AR4-MK3.
Thanks Pierre-Alexandre Girard , I will see how I get on, and shout if I need help.