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AR4 Robot REV HISTORY
The AR2 was the 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-MK1 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.
The AR4-MK4 updated to a larger base enclosure utilizing a 2×12 terminal board instead of the previous 3 post terminal block. The servo gripper control board was moved into the base enclosure eliminating the need for an external gripper enclosure and added the ACS712 current sensor to protect the gripper from overheating. This update also updated the J5 limit switch to a KW12 switch.
