Parts finder
AR4 MK5 bill of materials mapped to the build path: which kit each piece ships in, and what step it belongs to.
01
Level the base casting, fit the J1 bearing stack, and stage the hall-effect homing.
Base casting / J1 housing
Qty 1
J1 main bearings
Qty set
J1 hall-effect sensor
Qty 1 · MK5 homing
J1 gearmotor (17HS15-1684D-EG10)
Qty 1
02
Bolt the shoulder link, seat the J2 gearbox, and route the motor leads into the base.
Shoulder link (J2)
Qty 1
J2 gearmotor (23HS22-2804D-YGS50)
Qty 1
J2 fasteners & pins
Qty set
J2 hall-effect sensor
Qty 1
03
Assemble the elbow, fit the HTD belt drive, and set belt tension per the MK5 manual.
Elbow link (J3)
Qty 1
HTD belt & pulleys (J3)
Qty 1
J3 gearmotor (17HS15-1684D-EG50)
Qty 1
J3 hall-effect sensor
Qty 1
04
Build the wrist stack, install microswitch homing, and verify flange concentricity.
Wrist housing & J6 flange
Qty 1
J4 gearmotor
Qty 1
J5 gearmotor
Qty 1
J6 gearmotor
Qty 1
Wrist microswitches
Qty 3
05
Mount the Teensy 4.1 path, DM drives, wiring harness, and 24 V distribution in the base.
Teensy 4.1 + carrier pieces
Qty 1
DM332T / DM320T drives
Qty 6
Base wiring & connectors
Qty 1
24 VDC supply (StepperOnline)
Qty 1
06
Print or buy PETG covers, fit spacers, optional clear side panels.
Cover & spacer set
Qty 1
Clear side panels (optional)
Qty 2
07
Mount a pneumatic or servo gripper, or any flange tool you design.
Pneumatic gripper kit
Qty 1 · Optional
Servo gripper kit
Qty 1 · Optional
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