AR4 (Annin Robotics)

The AR4 is a low-cost, open-source 6-DoF desktop robot arm from Annin Robotics, driven by stepper motors with a Teensy/Arduino-based controller. This catalog entry is anchored on the official Annin AR4-MK3 manual for BOM grouping and on the ROS 2 driver source for URDF descriptions, ros2_control hardware interface, MoveIt config, Gazebo simulation and Teensy/Arduino Nano firmware. Motari's renderable visual is generated from the ROS-driver URDF/STL MK3 arm meshes; it is not a full mechanical CAD assembly with every purchased fastener, bearing, electronic component, or optional gripper.

What you get

• A standardized, machine-readable robot schema derived from the source repo.
• A primary assembly 3D asset is available from annin_ar4_description/urdf/ar_macro.xacro.
• Source-backed bill-of-materials evidence is linked with per-part provenance where available. Prices marked estimated are not yet verified against a vendor.
• A transparent reproducibility score so buildability is a sortable, first-class property.
• Cross-links to the source repo, datasets, models, and forks.

Source

Canonical source: ycheng517/ar4_ros_driver. Original files stay intact and separately licensed under MIT; Motari adds a separate, adjacent metadata layer.