User build
Peter's AR4 build
AR4 robot arm
- Model
- AR4
- Status
- In progress
The build, step by step
Follow the journey in CommunityChapter 1 路 Jul 19, 2025
AR4 with 7th Axis and easy transportation
After assembling the AR4 the first time i wanted to have also the 7th axis being added. And i had a couple of things in mind which i wanted to modify. Please let me share my ideas with you: - the "huge" external box for the electric with all the corresponding cable towards the robot (in the current version of the AR4-MK3 this already improved - great) - the 2 cable strips from the joint1 to the electric box - POC for easy transportation, e.g. for demonstration, trainings, etc. - The "huge" external box is now screwed on the 7th axis plate and contains the 6 stepper drivers, the teensy4.1 and the arduino uno. On top i mounted the solenoid valve for the air gripper. The stepper driver for the 7 axis is located in connection box of the base plate. /images/forum/media/f3a43b8ef56dfa82.avif And the power supply can be placed horizontal or vertical /images/forum/media/19928b377c37a34c.avif 2. For the 2 cable strips i thought it might be a good idea to drill a 15 mm diameter hole into the J1 spindle and lead the cables on the bottom of the J7 travel track plate into the switch cabinet. To reduce the amount of cable running through the whole they are merged on top of the J1 spindle. /images/forum/media/5a49e60b6a785046.avif /images/forum/media/d2754f308439070e.avif /images/forum/media/fa92328c550e1220.avif 3. For easy and secure transportation i made a transportation lock which can be screwed onto the base plate and vice versa the joint 5 is locked onto this. For grabbing now the whole plate a handle recess is milled out on each side. Not for transportation, but for locking the whole base plate on my cnc machine some eight 8mm holes with 100 mm distance are drilled into this base. /images/forum/media/0e6879174a53a92c.avif /images/forum/media/77e0ed4dadb4d8a5.avif /images/forum/media/44d0625d76ec6450.avif Happy roboting 馃槑
Comment on this stepChapter 2 路 Oct 13, 2026
7th axis cable chain, motor and driver
The cable chain is IGUS 045.20.028.0 (48 pcs = 624 mm) with the 0450.20.12PZ connection element set. The motor and driver are as Chris suggested in his guide: a Nema 17 59Ncm 2A stepper and a DM320T driver, open loop for now since I use the robot for learning and testing.
Chapter 3 路 Oct 13, 2026
AR4 with 7th axis and easy transportation
After assembling the AR4 the first time i wanted to have also the 7th axis being added. And i had a couple of things in mind which i wanted to modify. Please let me share my ideas with you: - the "huge" external box for the electric with all the corresponding cable towards the robot (in the current version of the AR4-MK3 this already improved - great) - the 2 cable strips from the joint1 to the electric box - POC for easy transportation, e.g. for demonstration, trainings, etc. - The "huge" external box is now screwed on the 7th axis plate and contains the 6 stepper drivers, the teensy4.1 and the arduino uno. On top i mounted the solenoid valve for the air gripper. The stepper driver for the 7 axis is located in connection box of the base plate. And the power supply can be placed horizontal or vertical 2. For the 2 cable strips i thought it might be a good idea to drill a 15 mm diameter hole into the J1 spindle and lead the cables on the bottom of the J7 travel track plate into the switch cabinet. To reduce the amount of cable running through the whole they are merged on top of the J1 spindle. 3. For easy and secure transportation i made a transportation lock which can be screwed onto the base plate and vice versa the joint 5 is locked onto this. For grabbing now the whole plate a handle recess is milled out on each side. Not for transportation, but for locking the whole base plate on my cnc machine some eight 8mm holes with 100 mm distance are drilled into this base. Happy roboting 馃槑
Chapter 4 路 Oct 13, 2026
7th axis in motion
How the 7th axis looks, sounds and works at Speed 100, Acceleration 70, Deceleration 70.
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