User build
Philippe's AR4 build
AR4 robot arm
- Model
- AR4
- Status
- In progress
The build, step by step
Follow the journey in CommunityChapter 1 · Jul 18, 2025
AR4 on wheels in Quebec City - Canada
Hi there, I just want to share this with you. The idea was to modify the original design in order to build a robot that would fit the following requirements: 1) can be transported in a suitcase 2) can be installed on any table, without fixtures 3) can be installed on a mobile robot base (Magni) Requirement #1 is a work in progress. The biggest ruggedized tool transportation box (De Walt) is still too small. Here is the benchtop version (all controls are on the blue plate, the PSU is external). The grid has been created using a laser. /images/forum/media/a6e0267366d7a5f8.avif Here is the mobile version. There are still a lot of work to do here and here are some topics to solve: 1) energy: one option would be to install a second battery, I don't think it is possible to share the existing one 2) software: Magni runs ROS. One option would be to connect the two controllers (Teensy and Arduino) to the Magni board... Another option: use virtual COM ports over WiFi ... 3) balance. Maybe we need some weight on the back to keep it stable. 4) how far the arm can go and can we reach object on the ground ? /images/forum/media/e6bac1e4d0c41a03.avif https://anninrobotics.vercel.app/media/oldsite-849e92d9-2588-56fd-a2bf-5a03a8696ba4?f=.webp
Comment on this stepChapter 2 · Oct 13, 2026
AR4 on wheels in Quebec City
Hi there, I just want to share this with you. The idea was to modify the original design in order to build a robot that would fit the following requirements: 1) can be transported in a suitcase 2) can be installed on any table, without fixtures 3) can be installed on a mobile robot base (Magni) Requirement #1 (https://anninrobotics.com/forum/search/~num~1) is a work in progress. The biggest ruggedized tool transportation box (De Walt) is still too small. Here is the benchtop version (all controls are on the blue plate, the PSU is external). The grid has been created using a laser. Here is the mobile version. There are still a lot of work to do here and here are some topics to solve: 1) energy: one option would be to install a second battery, I don't think it is possible to share the existing one 2) software: Magni runs ROS. One option would be to connect the two controllers (Teensy and Arduino) to the Magni board... Another option: use virtual COM ports over WiFi ... 3) balance. Maybe we need some weight on the back to keep it stable. 4) how far the arm can go and can we reach object on the ground ?
Chapter 3 · Oct 13, 2026
ROS 2 control with MoveIt
My AR4 is now ROS 2 controlled. Calibration works, and path planning and execution using MoveIt work well. The Intel camera is detected and hand-eye calibration is OK; hand-eye validation is the next thing to solve.
Comments
No comments yet.