Auto-assembled, not yet reviewed

AR4 (Annin Robotics)

Low-cost 6-DoF desktop arm (non-commercial license) with a community ROS 2 driver.

  • Annin Robotics Open Source Non-Commercial License 1.1NC
  • robot arm6 DoF
  • cost not published
Reproducibility60/100Partial source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
AR4 (Annin Robotics) 6-DoF robot arm, 3D render from ar_macro.xacro
main assembly 3D · ar_macro.xacro

About AR4 (Annin Robotics)

The AR4 is a low-cost 6-DoF desktop robot arm from Annin Robotics, driven by stepper motors with a Teensy and Arduino based controller. Annin publishes the build manual with the bill of materials, the print files and the software; a community ROS 2 driver adds URDF descriptions, a ros2_control hardware interface, a MoveIt config, Gazebo simulation and Teensy and Arduino Nano firmware. The 3D view shows the arm from the ROS driver's MK3 meshes, without fasteners, bearings, electronics or grippers. The AR4 hardware and software are under the Annin Robotics Open Source Non-Commercial License, which forbids commercial use; the community ROS 2 driver is MIT.

Licenses

Hardware
Annin Robotics Open Source Non-Commercial License 1.1NC
Software
MITcommunity ROS 2 driver
Docs
Not published

Degrees of freedom

6 DoF arm 6

Breakdown source

Serial armsource

How to build AR4 (Annin Robotics)

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions. Upstream step marks a step taken from the linked guide.

  1. Source the AR4 hardware

    Download the STL print files and the build manual, which contains the bill of materials, from Annin Robotics. Print the covers and spacers, print the structural components or buy the aluminium parts kit, and order the motors, drivers and power supply package from Stepperonline.

    Upstream stepanninrobotics.com/wp-content/uploads/2026/07/AR4-MK5-Robot-M...

  2. Assemble the arm

    Follow the Annin Robotics build guide to assemble the six axes, drives and the Teensy-based controller.

    Motari summaryanninrobotics.com/downloads

  3. Flash the firmware

    Upload the Teensy and Arduino Nano sketches from the driver repo to the controller boards.

    Upstream stepgithub.com/ycheng517/ar4_ros_driver/blob/4b88db1c924515f7ce3...

  4. Install the ROS 2 driver

    Build the ar4_ros_driver workspace, bringing up the ros2_control hardware interface and URDF.

    Motari summaryanninrobotics.com/downloads

  5. Plan with MoveIt

    Launch the MoveIt config (and optional Gazebo sim), calibrate joint offsets, then plan and execute motions.

    Motari summaryanninrobotics.com/downloads
Print timenot published
Assembly timenot published

Wiring, power and firmware are safety-relevant and shown for reference only. Check them against the source before building.

AR4 (Annin Robotics) bill of materials

7 rows

Cost to build

The sources do not publish a cost total. The rows below are what they list, without a sum.

AR4 (Annin Robotics) parts, as the source lists them. Prices are the source's, not checked against vendors.

AR4 (Annin Robotics) bill of materials
PartQtySpecSourceConfidence
Structural component set27 structural components listed in the official AR4-MK3 manual
1J1 base/turret/spindle/platform, J2 turret/arm/spindle/tension ring, J3/J4/J5/J6 housings, shafts, mounts, belt carrier, bearing posts, gripper mount and related structural pieces
3D print yourself / machine / Annin Robotics kitprice not listedOfficial AR4-MK3 Robot Manual PDF
high
Hardware component setbearings, shafts, bushings, pulleys, belts and keystock section
132009/30206/30204/30203 taper bearings, AXK3552/AS3552 thrust bearing, NTA/TRA/TRD thrust parts, B1616/HK1612 bearings, 3 mm shafts, brass bushings, 688Z bearing, XL/HTD belts, XL/HTD pulleys and 8 mm keyed shaft
you source it / Annin Robotics kitprice not listedOfficial AR4-MK3 Robot Manual PDF
high
Machine screw and fastener setmanual fastener table lists screw/nut/washer quantities
1#6 thread-form screws plus M2.5, M3, M4, M6 and M8 screws, set screws, nuts and washers in the quantities listed by the manual
you source it / Annin Robotics kitprice not listedOfficial AR4-MK3 Robot Manual PDF
high
Electrical component setwire, cable, switches, fan, connectors and controller hardware
120 AWG silicone wire, continuous-flex and standard CAT5 cable, braided sleeve, gland nuts, RJ-45 and USB-C keystone jacks, limit switches, DC jack, rocker switch, 24 V fan, terminal block, Teensy 4.1 with breakout, GX16-4 plug and push button
you source it / Annin Robotics kitprice not listedOfficial AR4-MK3 Robot Manual PDF; ROS driver also includes Teensy and Arduino Nano firmware
high
3D printed covers and spacerscovers, spacers, stops, brackets and print-assist tool
1J1 base enclosure parts, J2/J5 covers and spacers, logos, stops, J4 motor spacer/timing hub/limit mount, J5 bearing post spacer/motor bracket/carrier bump stop, J6 limit parts and CF Cat6 jacket stripper
3D print yourselfprice not listedOfficial AR4-MK3 Robot Manual PDF
high
Stepperonline motor setsix axis motors from the manual's Stepper Motors & Drivers section
1J1 17HS15-1684D-EG10-AR4, J2 23HS22-2804D-YGS50-AR4, J3 17HS15-1684D-EG50-AR4, J4 11HS20-0674D-EGS16-AR4, J5 17LS19-1684E-200G-AR4, J6 14HS11-1004D-EGS20-AR4
Stepperonlineprice not listedOfficial AR4-MK3 Robot Manual PDF
high
Stepperonline driver and power packagemanual lists axis driver models and points to a discounted Stepperonline package
1DM332T digital stepper drivers x3 for axes 1-3, DM320T digital stepper drivers x3 for axes 4-6, and ST-M3 J4 motor bracket; power supply included in the Stepperonline package link referenced by the manual
Stepperonlineprice not listedOfficial AR4-MK3 Robot Manual PDF
high

Rows from the source's own parts list 4

README.md@4b88db1pdf

Source rowQtyPrice and vendorLine
AR4-MK3 manual BOM scope
anninrobotics.comno price listed
L3
Structural and hardware component sections
section quantities listed in official manual
anninrobotics.comsource-listed; price not parsed
L38
Fastener, electrical, covers and spacers sections
section quantities listed in official manual
anninrobotics.comsource-listed; price not parsed
L38
Stepperonline motors and drivers
six motors, six drivers, one J4 motor bracket
anninrobotics.comomc-stepperonline.comsource-listed; price not parsed
L81

AR4 (Annin Robotics) source files

14 files

Files stay in the upstream repository under their own licenses; these links open them there. The 3D model on this page is Motari's conversion of the file named under Simulation.

AR4 (Annin Robotics) in simulation

Robot description files a simulator or CAD tool can load, linked at the commit they were found.

The 3D specimen on this page is converted from annin_ar4_description/urdf/ar_macro.xacro at 4b88db1.

Builds of AR4 (Annin Robotics)

0 reviewed

No reviewed builds of AR4 (Annin Robotics) yet.

A build log records the evidence (photos, a video, your repository), what the build cost, how long it took and what you changed. Each one is checked by Motari (until a maintainer claims this page) before it shows here, and reviewed builds count toward the reproducibility score.

Sources and provenance

Sources

Last push to ycheng517/ar4_ros_driver: 2026-04-04 (checked 2026-10-01)

How this page was made

Assembled from public sources on 2026-06-04, not yet reviewed by the maintainer. Each figure links to where it is stated; a value the sources do not state reads "not published". Last source review: official MK3 manual ed5e503b + ROS driver 4b88db1.

Original files stay intact and separately licensed; Motari adds only the summary on this page. Maintainer? Request a correction or removal.

Badge for the README

Maintain AR4 (Annin Robotics)? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 60/100

Markdown
[![Motari reproducibility score for AR4 (Annin Robotics)](https://motari.io/api/v1/badge/annin-ar4)](https://motari.io/r/annin-ar4)
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<a href="https://motari.io/r/annin-ar4"><img src="https://motari.io/api/v1/badge/annin-ar4" alt="Motari reproducibility score for AR4 (Annin Robotics)" height="20"></a>

Not fully met yet: cad / mesh present (partial), bom evidence (partial), oshw-compatible license. The score is read from the project's own sources, so publishing what is missing is what raises it. A score of 90 or more needs a reviewed build. How the score is computed