AR4 Bookstacker

So I started this journey about 8 months ago.  My objective is to have a robot to place books into a box ready for shipment.  I first got a little robot off of Amazon for 1000 bucks, it was maybe worth 100.  I was able to get it to move a piece of paper from one location to another, so I knew I was onto something.  After looking for something more stable, I happened upon Annin Robotics and the marvelous AR4.  I spoke with my partner and ordered the kit and motor kit about 5 months ago.

It took a couple of weeks working in the evenings and 3d printing parts and the robot was built.  I then watched the programing videos and went to work.  I did run into several programming issues, I don’t know if these are limitations of the Annin software or not, but I can’t get past a couple of them.  I have found workarounds for most, though draws out programming and now operation.

The bookstacker is now working it’s happy little claw off.