chris-annin/ar2

6 axis stepper motor robot and control software - Gen2

AR2

6 axis stepper motor robot and control software

https://www.anninrobotics.com/

The AR2 is a small desktop robot that is modeled similar to an industrial 6 axis robot. This is a DIY project that can be built from 3D printed components or from machined aluminum components, uses low cost stepper motors and arduino controller.

This project includes:

• Bill of materials and instructions
• CAD files to 3D print components to build the robot
• Arduino sketch for stepper driver control
• Software to program and operate robot
• Kinematic model

All geared stepper motors and drivers are available from www.omc-stepperonline.com and all other misc. hardware are off-the-shelf items available from multiple sources (see the bill of materials info within each manual).

Startup & Calibration: Calibration Video

Programming: Programming Video

How the math works: Kinematic Videos

Please review all of the videos on programming and calibration, I will try to answer as many emails as I can: [email protected]

Its important to me that this project is free and available to everyone but any donations that can help with all that has gone into it would be hugely appreciated. Thank you very much.

ar2's Issues

Missing screw holes in Base support part 1 and 2

Hi Chris_Annin.
I just joined this "little" project. :)
The M4 holes in the Base support part 1 and 2 are missing, or should one drill them?
The M4 holes are shown in the BOM pdf on page 3.

File names:
J1 base support spacer part 1 2017.09.18
J1 base support spacer part 2 2017.09.18

Best regards and THAN YOU for sharing this/
Dahniel

Great work, I have a question on 3d print version.

Hello Chris,
Thanks for your great job, especially the assemble document, it is very clear.
Now I'm planning to make one, I can only make a 3d print version, and I have some questions.
did you used 3d printed j2 spindle ,j3 spindle and j6 drive post on your plastic version?
if so, what material did you used, pla or abs?
is it strong enough to use pla? I only have pla filament in hand currently.

3D print files

Hi Chris, I am just wondering if you can supply me with .stl files instead of the .sldprt file. Can you send me stl files for everything. This would be greatly appreciated, and if you would also consider uploading them to github that would be amazing.

       lightning2236

Linux

Hi could you tell me how to get your software to run on Ubuntu linux

monoprice speaker wire + aviation plugs mystery

Hi!

I see in the wiring harness documentation it states to get 20 avaiation plugs and 100ft of 18ga speaker wire. Later in the document it shows where to attach one side of the plugs. I don't see any mention of the other end or the speaker wire. What am I missing? I got similar cable and plugs to put together here and they are proving very hard to assemble.

Thanks!

How are you reducing play in the planetary gearboxes?

I received gearboxes from omc-stepperonline.com that claim 1 degree of play. in practice it feels like more, but that might be my printer tolerances on this similar robot: https://www.instagram.com/p/Ba68yt6AKv8/?taken-by=imakerobots

How are you reducing backlash/play? Thanks!

Public support for AR2 project

I have decided to help with the accessibility of this project for others, as I am making this project myself. I will post any updates here in the hopes that I can reach more people, and limit the total required human effort to build a robotic arm. My ultimate goal is to lower the cost of robotics and enable it to become more of a tool that everyone can benefit from.

I will be making this out of aluminum. I have made a robotic torso that will hold 2 arms, J1 may be powered by wheelchair motors with gearboxes encoders mounted in place of stepper motors. This is because I already have the electrical control hardware, and because my modification is designed to work vertically.

In the meantime, I have organized a parts list for others to use.
Parts: http://a.co/4qjpU1v
Wiring: http://a.co/dorwtcY

Excel typo?

Not really an issue. Maybe i'm missing something so please correct me if i'm wrong.

In the excel spreadsheet and on the inverse kinematic section, cell N3 says degrees. should't it say mm or delta mm?

Aluminium part files

Hi Chris, I've been following your project for some time now and it's quite amazing.
Recently i finished a metal CNC and i wanted to try a few of the aluminium parts.
Do you plan to share them ?
thanks,
Paul

Great job, but need more improvement.

Dear Chris-Annin,
First, thank you for your effort and mind of open source.
Follow you instruction I made my our robot here.
https://www.youtube.com/watch?v=07j2JT214VU
Because motion control by Arduino, 6 axis cannot move at the same time (because of single thread in uC).
I'm replacing Arduino by PI 2 (real-time kernel patch, multiple threads supported) for motion control, so I can control 6 axis and other tasks at the same time.
Thank you and I will come back here.
Nice to meet you.

gripper

I do not understand how the gripper works. It is a pneumatic gripper. Does it work with air? Thank you.

Could you add more comments in sketch_Annin_Robot.ino ?

Hi.Chris_Annin.
I'm reading arduino code,but it is too difficult to me to comprehend somewhere in short time.especially in code line 831 ////CALC SPEEDS///// ,/////DRIVE MOTORS/////. I want to know how it works,then I can make every stepper works on the same speed with different pulse.
I'm from China and interesting in this project,and learning it.I just hope everyone can understand it rapidly and practice.
Best regards
liliping

Screen Size on Notebook

Hi Chris

Do you have an idea why my screen size on my notebook does not fit proberly (see attached file)

Best regards

Marcel

5 axis downgrade

Hello, I'm sorry for the stupid question. I'm new here and in control robot arm. It is possible to use this software for a 5-axis robot arm. Or can the 6th axis be disabled in the software? Thank you very much for your answer. Zdenek, Brno, CZ

callibration issue

hello! when I set steps for j1 to 60000, robot turn a litle and stops. may be overflow?
my robot have 60000 steps.. how to fix it?

CAD Files for new Version

Hi,
At first many thanks for your new version.
Would you provide the CAD files for the new 3D printed version?
We need them to built your robot within a school project at a german school for automation technologies.

Thanks in advance.

Go To Fine Calibration Position Button

The button on the new version 1.4 is not executing a move to position like in the 1.1 software.

Travel Track limit switch

Cant find it in wiring shematic, would be possible to implement and also in the homing routine?

Customer 6 axis robotic arm

hello I have my own 6axis robotic arm,I put my DH parameter in AR2 calibration,it can move JX and xyz Coordinate。But when i only try move the X,i find that the robotic arm will be raise.I have watch your youtube,you have the similar video,but the for J4-J6 DH parameter is not clear. I guess that my DH parameter is wrong.but i can't find where is wrong.I will appreciate that you can help me.

Excel bug?

In the Kinematic Model excel file, Cell Q8 refers to Cell B8, which is a Forward Kinematic input (J5 Angle). Shouldn't everything in the "Forward kinematics" section (other than DH Params, tool frame and world frame) be irrelevant to the IK section?

About step motor voltage.

Hi Chris,
I noticed in Electrical Enclusure.pdf, you choose DM542T for axis 6 and DM320T for axis 4.
as I googled, spec of 11hs20-0674s-pg14 , operating voltage is 6.2V , and for 14hs13-0804s-pg19, operating voltage is 5.5V, is it ok to apply 18~24V to them?

J1 Driven Sprocket

STEP-files for 3D-printed version

Hi,
could you also provide the STEP files for the 3D-printed version?
I've noticed some differences between the .stl files of the 3D-printed version and the step files (aluminum version, I guess?).

Thank You!

Import error

Hi Chris,

Thank you for pulling and sharing this good work together. I am on windows 10 and using anaconda with python 3.6. I am getting an error I am not sure how best to fix.
The error is:
**AR2.py", line 4759, in SaveAndApplyCalibration** J1NegAngLim = int(J1NegAngLimEntryField.get()) ValueError: invalid literal for int() with base 10: ''
I have tried a map(int, xxx) fix but does not work on the lines with float -
J1DegPerStep = float((J1PosAngLim - J1NegAngLim)/float(J1StepLim))

Any suggestion would be helpful.
Thank you

3D cad file

Very nice project

Can you send me step file , because my 3d printer can't printing more than 200mm, i need step file to split more part have dimension less than 200 mm

Thanks you

motor driver

Hello Annin I am very interested in your robot.
I want to rebuild the AR2.
Currently I can not find the motor driver board (st-6600) on the internet.
Since I am very new to this field, I do not know what I can take instead.
Is it possible to install the digital motor drivers?
I would be extremely happy if you answered me.