Specifications
Industrial numbers on a desk.
Reach, payload, and repeatability from the MK5 build manual. Joint motors are the StepperOnline AR4-MK4/5 package. Drawings and wiring live in the free PDF.
- Axes
- 6 DOF
- Reach
- 24.75 in
- Payload
- 4.15 lb
- Repeatability
- 0.25 mm
- Mass
- 27 lb
- Power
- 198 W
Articulated industrial kinematics
62.9 cm from J1 center to flange
1.9 kg rated
Closed-loop encoder feedback
12.25 kg, aluminum structure
8.25 A max at 24 VDC
Joint table
| Joint | Role | Motor | Driver | Home | Range |
|---|---|---|---|---|---|
| J1 | Base | 17HS15-1684D-EG10 | DM332T | Hall effect | ±170° |
| J2 | Shoulder | 23HS22-2804D-YGS50 | DM332T | Hall effect | ±90° |
| J3 | Elbow | 17HS15-1684D-EG50 | DM332T | Hall effect | −10° to +150° |
| J4 | Wrist roll | 11HS20-0674D-EGS16 | DM320T | Microswitch | ±180° |
| J5 | Wrist pitch | 17E19S1684MB4-200RS | DM320T | Microswitch | ±120° |
| J6 | Tool roll | 14HS11-1004D-EGS20 | DM320T | Microswitch | ±180° |
Move the model
Teach pendant
Jog the six axes
Revision history
01
AR2
First major release. Open-loop steppers, Arduino Mega, external enclosure, chain-and-sprocket on J3.
02
AR3
Teensy 3.5, CUI encoders for closed loop, dual-shaft motors, L-series belt on J3.
03
AR4-MK1
Teensy 4.1. Integrated motor encoders replace the add-on CUIs.
04
AR4-MK2
Electronics move into the base. Smaller DM332T drives. EG-series gearmotors on J1–J3.
05
AR4-MK3
EG motors on J4 and J6. HTD belt on J3. First aluminum part changes (J6 housing).
06
AR4-MK4
Higher-precision gearboxes and motor body changes. Dedicated upgrade path from earlier arms.
07
AR4-MK5
Hall-effect homing on J1–J3. New build manual and full DH kinematic sheets. Software keeps moving; the arm is done.