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General Discussion

Custom arm

Hi everyone

Am designing a custom arm like the ar4 with the same electronique etc … the only difference is in the size and the joint distance

I was asking if i can easy modifiy in the control software to get it work or i should do more work , am not expert in this field

Thanks in advance

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  • 2 comments

Chris Annin

Hello, yes you can. You would need to wire your robot similarly to the AR4, specifically the step and dir inputs. You can modify the motor directions, position limits, steps per degree, and DH params on the kinematics tab. There is a document on the downloads page outlining the calculation of the step/deg setting for the AR4 - you can use this as an example for your robot. For your robot specific arm lengths I would recommend adjusting the DH-d and DH-a values to match your robot. You can review this video on kinematics to understand the link length you need to modify for these settings. https://youtu.be/FNuiNmoqaZM?si=SRdEqS9ghKyoK8YM&t=2169

Diae el haq Yacoubi

Chris Annin thanks a lot i will take a look