User build
Paul's AR4 build
AR4 robot arm
- Model
- AR4
- Status
- In progress
The build, step by step
Follow the journey in CommunityChapter 1 · Jul 19, 2025
Building an Optimized AR4MK2 Robot Arm with 3D Printing and Metric Bearings
For quite some time, my fascination with robotic motion systems has been a driving force behind my journey into the world of DIY manufacturing. Starting with humble projects like CNC machines and 3D printers, I gradually delved deeper into robotics and mechanical design. It wasn't long before my curiosity led me to explore more complex systems, particularly robotic arms. My introduction to the AR4 Robot platform came through Chris Annin's YouTube video showcasing the AR4MK2. The comprehensive documentation and open-source control software provided with the robot were game-changers, addressing the major hurdles I had encountered in previous attempts to build a robot arm. /images/forum/media/6ab340b42045db5f.avif In embarking on my own AR4MK2 build, I set out with three primary objectives: - Kinematic Replication: I aimed to replicate the kinematics of the AR4MK2 using the provided technical drawings to ensure compatibility with the software and motion system. - Cost Minimization: Keeping costs low was crucial for this project. - Metric Bearings Integration: Residing in Germany, I faced difficulty sourcing imperial bearings, so I focused on using metric bearings for all joints. Challenges and Solutions: Complex Assembly: The original design comprised numerous parts and screw connections, making assembly laborious. To streamline this, I consolidated multiple parts, such as merging the J1 turret platform and J2 turret housing. /images/forum/media/d7bbf95ed65741a0.avif Before /images/forum/media/acbc7e5b99af4159.avif Optimized Mechanical Demands: Certain components, like the J2 spindle, demanded precise dimensional accuracy which demanded it to be printed along the Z axis of my printer, which creates a weak point because the layer lines don’t follow the force flow. I reinforced this mechanical weak point by drilling thru holes in the design for internal steel reinforcement. /images/forum/media/2c82767061dce08e.avif Before /images/forum/media/c7cf59508cd4262c.avif Optimized Metal Parts Fabrication: Fabricating metal parts like the J4 main shaft posed challenges, especially since I lacked access to a lathe. I opted for readily available materials like ground welded stainless steel tubing as a replacement, simplifying the process significantly. Redesigning J5 and J6 Components: The original design of the J5 and J6 components presented printing and structural challenges. I redesigned these components to improve printability and durability. /images/forum/media/71a5a0cbebe9b826.avif Through these solutions, I overcame various hurdles in the build process, ultimately achieving a more streamlined and cost-effective AR4MK2 robot arm. This project not only deepened my understanding of robotics and mechanical design but also empowered me to contribute to the DIY robotics community. Stay tuned for more updates on my robotics endeavors, and feel free to reach out with any questions or insights you may have! Further Contend: I am working an a YouTube Video that goes in further detail of the Design. I am working on an option to make the STP Data available for others. /images/forum/media/52891f4354de65a7.avif /images/forum/media/ddbc19323ef0865c.avif /images/forum/media/6adafa412c129a18.avif
Comment on this stepChapter 2 · Jul 19, 2025
2nd POST: Building an Optimized AR4MK2 Robot Arm with 3D Printing and Metric Bearings
Hello, as in the first post described I created some YouTube Videos that describe the design choices of my robot build, I also created a git hub page for the STP data and Information of the Hardware I used. https://anninrobotics.com/community/robot-builds/building-an-optimized-ar4mk2-robot-arm-with-3d-printing-and-metric-bearings https://www.youtube.com/channel/UCfMKESgqHdqwIYbGkOQa4zA https://github.com/LucasMue/AR4_3D_M_Robot_Arm
Comment on this stepChapter 3 · Oct 13, 2026
Design videos and STP files
I created some YouTube videos that describe the design choices of my robot build, and a GitHub page with the STP data and information on the hardware I used: https://www.youtube.com/channel/UCfMKESgqHdqwIYbGkOQa4zA https://github.com/LucasMue/AR4_3D_M_Robot_Arm
Chapter 4 · Oct 13, 2026
Optimized AR4MK2 with 3D printing and metric bearings
For quite some time, my fascination with robotic motion systems has been a driving force behind my journey into the world of DIY manufacturing. Starting with humble projects like CNC machines and 3D printers, I gradually delved deeper into robotics and mechanical design. It wasn't long before my curiosity led me to explore more complex systems, particularly robotic arms. My introduction to the AR4 Robot platform came through Chris Annin's YouTube video showcasing the AR4MK2. The comprehensive documentation and open-source control software provided with the robot were game-changers, addressing the major hurdles I had encountered in previous attempts to build a robot arm. In embarking on my own AR4MK2 build, I set out with three primary objectives: - Kinematic Replication: I aimed to replicate the kinematics of the AR4MK2 using the provided technical drawings to ensure compatibility with the software and motion system. - Cost Minimization: Keeping costs low was crucial for this project. - Metric Bearings Integration: Residing in Germany, I faced difficulty sourcing imperial bearings, so I focused on using metric bearings for all joints. Challenges and Solutions: Complex Assembly: The original design comprised numerous parts and screw connections, making assembly laborious. To streamline this, I consolidated multiple parts, such as merging the J1 turret platform and J2 turret housing. Before Optimized Mechanical Demands: Certain components, like the J2 spindle, demanded precise dimensional accuracy which demanded it to be printed along the Z axis of my printer, which creates a weak point because the layer lines don’t follow the force flow. I reinforced this mechanical weak point by drilling thru holes in the design for internal steel reinforcement. Before Optimized Metal Parts Fabrication: Fabricating metal parts like the J4 main shaft posed challenges, especially since I lacked access to a lathe. I opted for readily available materials like ground welded stainless steel tubing as a replacement, simplifying the process significantly. Redesigning J5 and J6 Components: The original design of the J5 and J6 components presented printing and structural challenges. I redesigned these components to improve printability and durability. Through these solutions, I overcame various hurdles in the build process, ultimately achieving a more streamlined and cost-effective AR4MK2 robot arm. This project not only deepened my understanding of robotics and mechanical design but also empowered me to contribute to the DIY robotics community. Stay tuned for more updates on my robotics endeavors, and feel free to reach out with any questions or insights you may have! Further Contend: I am working an a YouTube Video that goes in further detail of the Design. I am working on an option to make the STP Data available for others.
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