dESKTOP rOBOT ARM

The AR4 robotic arm is a desktop 6-axis robot that is small, powerful and cost-effective. With an end load of 1.9kg, a 629mm arm span, and a global accuracy of 1mm, AR4 integrates the robotic arm, electrical system, and robot motion control into a single unit, and can communicate with other devices through a microUSB serial port for receiving coordinates and motion commands to perform actions, making it simple to operate and easy to get started.
It can be used in the education industry, light industry, service industry and other scenarios. Common applications include automated gripping, automated machining, mounting, welding, painting, grinding, inspection, remote TCP, etc.

Features

Solid & Durable Structure

The body of the robotic arm is composed of CNC aluminum alloy, and the shell is made of 3D printed PLA.

Open Source Control Software

Provide a set of open source robotic arm control software, which can be developed twice.

ROS System Communication

Build a complete moveit operation and control program to facilitate R&D (motion planning, obstacle avoidance, visual grasping algorithms, etc.) and applications.

Multiple Operation Modes

Programmable, teachable and joystick control of the robot arm

Complete Forward & Reverse Kinematics

Motion control is done by Teensy 4.1 board, which can be optimized according to the needs through arduino IDE.

* The electrical connector of the robotic arm is DC5.5 socket, the power supply voltage is 19.6~25.2V, the maximum current of the device is 10A, the rated current is 6A.Requirements: stable power supply, basic over-current, short-circuit, charge/discharge protection.

Download Intro

Video

Compent

ABOUT US

Closed Loop
Stepper Motor

Drive motor employs a 57 closed-loop stepper motor for faster and smoother operation, incorporating an encoder for closed-loop feedback, effectively eliminating stepping issues.

Specs

Machinery
Packaging Dimensions	W500×D500×H500mm	Packaging weight	16kg
Robot Dimensions	W350×D240×H430mm	Robot weight	14kg
Front Extension Arm Spread	629mm	End Load	2kg
Global Accuracy	1mm	Repeatability	2mm
Power	198W
Electronic
Control Card	Teensy4.1Control of robotic arm movement	Auxiliary control	Arduino Nano8-channel relay control peripheral
Driver Power Supply	220V Input 19.6~25.2V Output	Drive motors	Closed Loop Stepper Motor 5rpm
Software
Control	AR4（Windows）	Third Party	ROS（Ubuntu）

Shiping List

No.	Name	Description	Quantity
1	Robotic Arm Body	/	1 PCS
2	Six-axis control system	/	1 PCS
3	Motor Drive System	/	1 PCS
4	MicoUSB communication cable	1 meter	2 PCS
5	Power adapter	24V 10A DC Power Supply	1 PCS
6	Remote control teach pendant	XBOX Gamepad	1 PCS
7	Interface application software (with source code)	/	1 PCS
8	AR4 Embedded System Program Source Code	teensy4.1+Arduino Nano source code	1 PCS
9	ROS Control Program Source Code	Control, simulation, etc.	1 PCS
10	Robotic arm operation tutorial	Operation manual + operation video	1 PCS
11	Parameter description of robotic arm	Product fixing holes, actuator flange, installation drawings, etc	1 PCS
12	Control command description	/	1 PCS
13	Simplified Solid Model	/	1 PCS

Deatail

Structure

Electrical Composition

The electrical system of the robot arm consists of a power conversion and controller, a FOC motor driver, a high-precision magnetic encoder, and connecting cables;

Installation dimensions

Arm fixing hole: Please fix the arm base before use to avoid the arm tipping over due to gravity.

Mounting flange for robotic arm gripper