AR2 6 axis robot arm https://github.com/Chris-Annin/AR2

by chris-annin Sep 27, 2017
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Great project!

A group I am a part of mounting a 3D print head to it and using it to print 'endcaps' for an airlock. It is for a competition to see who can build the best airlock for use on mars.

Does anyone know if it is precise enough to be used as a 3D printer? Does it have a good software interface? How big is its reach?

I'm going to be digging into this arm and a few more (along with my teammates) over the next couple of days but if people could point us in the right direction that would be helpful.


Hello, all project documentation and information has moved to www.anninrobotics.com where you can find all open source software and manuals. Please reach out to me through the website if you have any questions.

Chris Annin

I just read the manual which shows the reach, so I don't need to know that now. The precision looks great from the youtube video.

I am thinking now that using the travel track we could get the reach we need. We need at least 1.5 m in reach and want 1.8 m.

Next, I need to look into the software. I saw in the video that a program was made for it with a very nice interface. We are planning to use get our 3D files into g-code, and then translate the g-code into a language the robot and our print head will understand. Is this doable?


Hi there,
I'm interested in building a robot arm with my 3D printer. As I see, this one is more expensive than THOR and Moveo, but it seems to be more rigid and more precise than the others. Is this project just an expensive toy or can I do something useful with this robot arm?

If I build a robot, it should be able to act as a CNC machine (drawing, cutting cardboard, mill thin plywood or mill PCBs, laser engraver).

Is this possible with AR2? Is it rigid and precise enough? I saw some videos about AR2 and it seems to be really precise but I'm not sure if it could be useful for anything (only saw videos of grabbing things around, really impressive and lot of work but not a real task on desktop)

Hello Chris,

Thanks for this great project. I am embarking on building this robot arm using metal CNC for the parts. I hope to use it for as many purposes as I can, including removing prints from 3D printers, using it as a parts loader/unloader for CNC machining (tormach), using it for a tormach or small tabletop mini cnc mill tool changer, and I also really want to build a TIG or MIG welding attachment for this so that it can perhaps help me weld, as I am not that great at TIG welding. Has anyone to your knowledge attempted the TIG welding? and do you believe that it can be achieved with a High Frequency Start if the end effector is properly insulated? I'd love to hear your thoughts. Thanks for this awesome project. -Mike

how much filament did this use. also I am using abs carbon fiber filament does anyone now what infill I should use.

Helpful tip, Don't use these files on Thingiverse. Download the STEP files directly from Chris' github page. I printed using these files and the dimensions of the press-fit parts are significantly off. Maybe they were customized for Chris's printer specifically but there is a significant difference between the dimensions of the STEP files and the STL files here.

Take ID/OD measurements from your bearings and compare with the print file. Using the STEP files seemed to fix the issues. I'm going to have to re-print all the spindle parts at least... Wish I would have known!

Is there a reason the 4 pieces that make up the J1 base can't be printed as one? I have a 300x300 build plate. If possible, can you supply the .stl? I would certainly like to do it in no more than 2.

***Nevermind, just found the file in the github files. Maybe you should update thingiverse?

Hello Chris,
I'm printing mine on a high quality uPrint Plus. I'll add in the trays when I'm done. Also working on a exploded CAD view of the whole assembly. I'll post pictures when I'm done.

I'm stuck at one thing though. I see there is a "J2_arm_part_1.STL" but no Part 2. Is that an error or am I missing something?


sorry about that. I will try to update.

Hey. i want to use it in one of my machines. How much can it lift if its on full range?

Don't be lazy, if you watch the video provided at 6:30 he mentions it can lift up to 4 pounds.

come on guys. I really need to know.


Update on the arm.

70% done. I have to install the limit switches and print some guide for the cables.

Really like what you do.
I'm half-way through mine :)

A bit tough to find all the parts in Canada for a reasonable price. just missing some bits.

also, I print in pla+. not strong enough for the J2 drive spindle but I don't plan to do Lifting.

edit: added a 60t printable gear.

awesome, look forward to seeing your finished build. send pics or video when you can.

where do i get the air switch for the gripper and the tube for it and a air tank pls thank you

Ive added this to the bill of material on the project page.

Ist mir schon klar. Für die Steppermotoren ist D2 bis D13 zuständig. Habe aber einen Greifer ,mit Servomotor, und der geht nicht mit den analogen Pins da man damit keine PWM Signale erzeugen kann. Hab das jetzt in der INO-Datei geändert auf D48 bis D53 damit ich mein Servo steuern kann.
Gruß Matthias

Hallo Matthias,
Sieht sehr gut aus !!

Hallo, Sehr schöner Roboter. Bin dabei einen nachzubauen. Denke aber das A0-A7 nicht geeignet sind für Servos . Diese Ports sind meines Wissens nach nicht PWM fähig.Ansonsten warte ich auf die Stepper-motoren. Hab bis jetzt nur den Motor für Achse 1 und Achse 6. Bin begeistert von dem Spielzeug
Gruß aus Germany Matthias

hallo, ich verwende nicht die analogen pins, um die roboter-motoren zu steuern. Die Robotermotoren sind nur Schritt- und Dir-Ausgänge zu den Stepper-Treibern. A0-7 sind nur für Sie da, wenn Sie einen billigen Servogreifer oder einen anderen Servoaktuator haben, den das Programm steuern soll. lass es mich wissen, wenn das Sinn macht oder deine Fragen beantwortet, danke

Класс. Описание и видео! Подскажите с каким разрешением и каким заполнением % вы печатали детали?

Great job - specially with the documentation. I would suggest placing a link to your Github page so that people don't miss that great resource. Thanks for sharing.