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Devinda's AR4 build

AR4 robot arm

Built by Devinda Dharmawardene3 chapters
Model
AR4
Status
In progress

The build, step by step

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  1. Chapter 1 路 Jul 19, 2025

    I actually just super glued it to the gripper hehe. I would recommend 3d printing a holder instead.

    Hey y'all. I just got my AR4 MK2 online last Friday. Glad to officially become a part of the community! The build was definitely a long process but I'm glad I got I got to see a lot of excellent decision ideas along the way. (Preloading each joint to take away play. Different bearing selections. Using the green Loctite for the first time. Introduction to GX connectors, braided cable sleeves, CAT connector wiring. Etc.) Here's my first real program that went beyond flailing the arm: https://www.youtube.com/watch?v=5s9KXkq78Ro ------------------------------------------------------------------------------------------------------- Regarding the program: I actually intended to use jumps and register logic. Unfortunately The HMI software, both 4.4 and 4.3.1 got stuck at any jump statement. I ended up just creating a parent program to call my target program 6 times. If anyone knows, can y'all point me towards how I might get jump statements to work? Please see program attached! _____________________________________________________________ Also, if there's some type of Discord community, I would love to join y'all. Despite the numerous schools and DIYers that have bought this arm, I felt the amount of YouTube videos on this was kinda limited. And that's basically the only place I know to chat with AR4 people. 馃槢

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  2. Chapter 2 路 Oct 13, 2026

    Sanding, deburring and reaming parts

    I did have to do a little bit of sanding, deburring, and reaming to make some things fit. The 3mm rods gave me a ton of trouble; the burr from the set screw holes made them very hard to insert (I bent a rod and slightly damaged the machined part trying). Luckily, a 3mm reamer was able to clean everything up nicely.

  3. Chapter 3 路 Oct 13, 2026

    AR4 MK2 online

    I just got my AR4 MK2 online. The build was definitely a long process, with a lot of excellent design ideas along the way: preloading each joint to take away play, different bearing selections, using green Loctite for the first time, and an introduction to GX connectors, braided cable sleeves and CAT connector wiring. Here's my first real program: https://www.youtube.com/watch?v=5s9KXkq78Ro

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