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The AR4 build manual, animated in three dimensions.

An unofficial visual companion for building the Annin Robotics AR4, an open-source six-axis robot arm. It follows the AR4 Robot Manual v1.5 step by step, from the J1 base enclosure to the gripper, the wiring and calibration. The manual stays the authority for wiring diagrams, photographs and safety notes.

Open the build manual ↗Watch the Katana edit ↓
Arm
Annin Robotics AR4 · six axes
Follows
AR4 Robot Manual v1.5
Pages
30 · parts list to calibration
Reach
629 mm · payload 1.9 kg
Built with
Annin CAD · three.js · one HTML page

The manual

The AR4 robot arm drawn from its CAD with joints J1 to J6 marked
  1. 01

    Every step is drawn on Annin's own CAD: parts fly into place and numbered marks point at what each instruction touches.

  2. 02

    The finished arm moves on the same kinematics, joint limits and motor numbers the firmware uses. Tap a joint to sweep it.

  3. 03

    Calibration runs each joint to its limit switch at 4× speed with live step and encoder counts.

  4. 04

    Phone-first: one 1.6 MB page with a local copy of three.js and no third-party scripts.

ar4-build-manual.vercel.app: drag to turn, arrows to step

The film

Katana edit · AR4 aura · 0:21Cut with Higgsfield Katana from a screen recording of the manual, on the 55 beat-locked cuts of the Dark Aura preset: the white CAD flipped to black so the parts glow blue, fifteen parts flying in from the base to J6, the arm calibrating, and a slow-motion final reach.1080p · MP4 · with sound

On a phone and a desk

Four phone pages of the manual: J1 platform, J3 bearing cup, J5 belt and mechanical zero, calibration
Phone · J1 platform, J3 bearing cup, J5 belt and mechanical zero, calibration
Step 21 of the AR4 build manual: the J5 belt and mechanical zero, with numbered marks on the parts
Step 21 · J5 belt and mechanical zero
The finished AR4 on its board with the live joint readout, ready to run
Done · the arm tours its joints inside the firmware limits

Go and look

An independent project, not an Annin Robotics product. Where this page and the manual disagree, follow the manual. The source, the CAD export tools and the licences are on GitHub.