User build
JannH's AR4 build
AR4 robot arm
- Model
- AR4
- Status
- In progress
The build, step by step
Follow the journey in CommunityChapter 1 · Jul 20, 2025
AR4 MK3 in Finland
Hi! Finished my build of the AR4 MK3 in Finland some time ago. Even recoded the time the build took me, 52.5 hours of slow, careful and deliberate work. Ros2 is working thanks to ycheng @ https://github.com/ycheng517/ar4_ros_driver/ Below's a sample with Chris' software (object recognition) and one with ros 2 collision aware IK. /images/forum/media/d10ad06ad8efd5fe.mp4 https://cqpppstrkbfubfnjwcuc.supabase.co/storage/v1/object/public/community-media/legacy/49436724-AR4-MK3-in-Finland_2.mp4
Comment on this stepChapter 2 · Oct 13, 2026
J2 gearbox fit
Hi, I'm having an issue where the J2 gearbox motor housing is too far from the J2 tension ring when the motor mount is flush to the platform. The manual says 1mm, which is pretty much when the housing would hit the J2 bearing set screws. Now the distance is more like 3-4 mm. Only thing I could think of is that the J2 motor isn't going in far enough into "J2 spacer YGS" or that the spacer's too thick. (Or I've made a bigger error in some previous phase.) How much of the motor should there be outside of the spacer (now 13.4mm) ? How thick should the spacer be?
Chapter 3 · Oct 13, 2026
Limit switches on the linear track and J2
A few pictures of the limit switches on the linear track and J2.
Chapter 4 · Oct 13, 2026
Finished AR4 MK3 in Finland
Finished my build of the AR4 MK3 in Finland. I recorded the time the build took me: 52.5 hours of slow, careful and deliberate work. ROS 2 is working thanks to ycheng's driver (https://github.com/ycheng517/ar4_ros_driver/). Samples with Chris' software (object recognition) and with ROS 2 collision aware IK.
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