AR4 (MK5) vs Koch v1.1
Cost, parts and difficulty side by side.
| AR4 (MK5) | Koch v1.1 | |
|---|---|---|
| Cost | $1,200 to $2,300 | $477 to $560 |
| Difficulty | advanced | intermediate |
| Parts | 94 | 13 |
| 3D printing | yes | yes |
| Kits available | 8 | 1 |
| Made by | Annin Robotics (Chris Annin) | Jess Moss (after Alexander Koch's low-cost robot) |
| Full list | AR4 (MK5) parts list | Koch v1.1 parts list |
AR4 (MK5)
Desktop six axis arm with machined aluminum links, geared closed loop steppers and a Teensy controller, built from kits or self-sourced parts.
Koch v1.1
Dynamixel-based leader and follower arm pair, the first LeRobot reference arm; pricier than SO-101 but uses ROBOTIS servos.
The short answer
Koch v1.1 costs less to start: about $477 against $1,200 in parts. Koch v1.1 has the shorter parts list (13 lines against 94). AR4: The AR4 manual gives conflicting motor part numbers (BOM vs DIP switch table). Check the motor list in Mistakes builders make before ordering.
Motors and servos
AR4
- 1 x StepperOnline 17HS15-1684D-EG10-AR4 geared stepper
- 1 x StepperOnline 23HS22-2804D-YGS50-AR4 geared stepper
- 1 x StepperOnline 17HS15-1684D-EG50-AR4 geared stepper
- 1 x StepperOnline 11HS20-0674D-EGS16-AR4 geared stepper
- 1 x StepperOnline linear stepper for J5 (17E19S1684MB4-200RS-AR4 in the current package)
- 1 x StepperOnline 14HS11-1004D-EGS20-AR4 geared stepper
Koch v1.1
- 6 x Dynamixel XL330-M077-T
- 2 x Dynamixel XL430-W250-T
- 4 x Dynamixel XL330-M288-T
- 2 x ROBOTIS FPX330-H101 hinge frame and idler set (4 pcs)