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User build

Skip's AR4 build

AR4 robot arm

Built by Skip17 chapters
Model
AR4
Status
In progress

The build, step by step

Follow the journey in Community

  1. Chapter 1 · Jul 18, 2025

    USB panel mount adapters

    I'm just starting my AR4 build. In this build I wanted to change the way the USB cables connected to the controller. Here's what I decided to try out. Worked great on my CNC router project. I bought one for the Teensy and another for the Arduino. Micro USB 5 Pin Mount, 0.3 Meter Micro USB Male to Female Flush Mount Panel Mount Extension AUX Cable /images/forum/media/2b9b534579e1630e.avif https://www.amazon.com/DJC-Supply-Waterproof-Electronics-Mounting/dp/B09325PZWZ/ref=sr_1_6?crid=2NJND9GN4MLKZ&keywords=DJC%2B15.74%22%2BL%2Bx%2B11.81%22%2BW&qid=1675229486&sprefix=djc%2B15.74%2Bl%2Bx%2B11.81%2Bw%2Caps%2C98&sr=8-6&th=1

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  2. Chapter 2 · Jul 18, 2025

    Pneumatic gripper CAD models

    I shared CAD models on GrabCAD for those whom might want them. It contains the MHF2-8D1 gripper, press in air fittings, and 2 different finger designs with rubber pads. https://grabcad.com/library/ar4-robot-pneumatic-gripper-assembly-1 https://anninrobotics.vercel.app/media/oldsite-7ab0621b-32bc-5403-adc4-e8357169dee0?f=.webp

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  3. Chapter 3 · Jul 18, 2025

    Folding Cart Project

    Since I plan on taking My SR4 to the local schools and provide some demonstrations and/or simple robotic programming training. I neede to make it portable. Working good so far. Ultra quiet Air compressor fits inside the base. I still need to add the window on the Electronics Enclosure. Sould have bought the clear lid model. CAD Rendering /images/forum/media/2a1ce9385444a5dc.avif /images/forum/media/99b3f5fae94de262.avif /images/forum/media/85cdd60ebc590a44.avif /images/forum/media/2cbdc72d10e5960a.avif /images/forum/media/b33a17714b4edd76.avif /images/forum/media/f4b42662a0afdb62.avif

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  4. Chapter 4 · Jul 20, 2025

    Skip's AR4 Robot Build

    Finally got all the 3D printed parts done, Stepper package arrived, and bought the complete kit. I chose to assemble the controller first. Here's a few photos. I have a DIY CNC router to help me. Worked great making cutouts in the cabinet. I chose to use panel mounted USB jacks. Makes a clean cabinet. Wiring is next. https://anninrobotics.vercel.app/media/oldsite-687e7f28-8e99-5721-89b0-d32109c14f09?f=.webp https://anninrobotics.vercel.app/media/oldsite-324b77e8-7cb8-5287-a1b3-50d37bd8a40d?f=.webp https://anninrobotics.vercel.app/media/oldsite-a4523b7b-ead4-5a0f-a6d9-c113a75f98cf?f=.webp https://anninrobotics.vercel.app/media/oldsite-f68044dd-e271-58b7-8aa0-e951680e3da8?f=.webp /images/forum/media/ca1fdb8b1cb2a9e4.avif

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  5. Chapter 5 · Oct 13, 2026

    Basic AR4 up and running

    The basic AR4 Robot is now up and running. I had only a few mistakes to correct. One limit switch was stuck in the closed position, J2 and J3 encoder wires were swapped in the back of the robot, and last but not least was my PC was waiting for a darn Windows update! Kept messing with my USB ports causing all kinds of failures. That was the hardest to find.

  6. Chapter 6 · Oct 13, 2026

    Travel track assembled and adjusted

    Travel Track (7th axis) is mechanically assembled and adjusted. Very smooth and no backlash! Junction box is the last to get done. Then it's learning to program.

  7. Chapter 7 · Oct 13, 2026

    First programs running

    A little video of my AR4 running a couple of sub programs. Home, Rest, and a couple of my own positions. All is working very well now. Really want to thank Chris Annin for all the support.

  8. Chapter 8 · Oct 13, 2026

    Laser engraved connection panels

    Laser engraved panels help label the robot and controller connections.

  9. Chapter 9 · Oct 13, 2026

    Portable folding cart design

    Since I plan on taking My SR4 to the local schools and provide some demonstrations and/or simple robotic programming training. I neede to make it portable. Working good so far. Ultra quiet Air compressor fits inside the base. I still need to add the window on the Electronics Enclosure. Sould have bought the clear lid model. CAD Rendering

  10. Chapter 10 · Oct 13, 2026

    Wire labels to organize the wiring

    Used some wire labels to organize my wires. Will make it easier to move and not make mistakes hooking back up again.

  11. Chapter 11 · Oct 13, 2026

    7th axis progress

    Making progress on the 7th axis. I'll share the CAD files on GrabCad when done. The 7th Joint is almost done. Time to stop for the Easter weekend. Need some more fasteners to complete it. The tape on the linear rails it temporary so the bearing blocks can't slide off. Did that already. Was not fun getting it back together. Once I have the flat head screws I'll need to loosen and adjust everything so there is no binding from one end to the other.

  12. Chapter 12 · Oct 13, 2026

    7th axis design

    Here's my 7th axis design. Had the 1.5" square aluminum extrusions laying around. Figured I'd put them to use. Bought the 500mm linear rails and ball screw as a set on Amazon. 3D printed parts in Yellow. Machined parts in Cyan. The one extrusion needs a slight relief cut for the coupler. Added a limit switch. Have about 347.5mm of travel. I used a 14"x6"x.375" piece of flat aluminum bar stock I picked up from a local metal supplier in their scrap area. Saved about 30% buying scrap and adjusting the design to fit the available materials.

  13. Chapter 13 · Oct 13, 2026

    USB panel mount adapters

    I'm just starting my AR4 build. In this build I wanted to change the way the USB cables connected to the controller. Here's what I decided to try out. Worked great on my CNC router project. I bought one for the Teensy and another for the Arduino. Micro USB 5 Pin Mount, 0.3 Meter Micro USB Male to Female Flush Mount Panel Mount Extension AUX Cable

  14. Chapter 14 · Oct 13, 2026

    Printed parts done, controller assembled first

    Finally got all the 3D printed parts done, Stepper package arrived, and bought the complete kit. I chose to assemble the controller first. Here's a few photos. I have a DIY CNC router to help me. Worked great making cutouts in the cabinet. I chose to use panel mounted USB jacks. Makes a clean cabinet. Wiring is next.

  15. Chapter 15 · Oct 13, 2026

    Window in the electronics enclosure

    Since I didn't buy a enclosure with a clear lid I decided to add a window. Can show off the electronics and aid in troubleshooting as needed.

  16. Chapter 16 · Oct 13, 2026

    Completed 7-axis AR4

    From a pile of parts to a completed 7 Axis AR4 Robot. Programming time now! Lots to learn.

  17. Chapter 17 · Oct 13, 2026

    J2 fix: updated spacer from the latest STL files

    Make sure you get the latest STL files if you are building the latest AR4 robot. I didn't and had issues assembling J2. Once I downloaded the updated spacer all worked out perfectly. The only thing left on J2 is to pick up some longer screws. 34mm ones came with the kit and I need 40-45mm screws. Tomorrow I'll fix that. The top photo is with the wrong spacer. The lower one is the new updated one called "J2 Spacer YGS".

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