AR4 (MK5) vs Moss v1
Cost, parts and difficulty side by side.
| AR4 (MK5) | Moss v1 | |
|---|---|---|
| Cost | $1,200 to $2,300 | $288 to $360 |
| Difficulty | advanced | beginner |
| Parts | 94 | 9 |
| 3D printing | yes | yes |
| Kits available | 8 | 0 |
| Made by | Annin Robotics (Chris Annin) | Jess Moss |
| Full list | AR4 (MK5) parts list | Moss v1 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.
Moss v1
Metal-bracket STS3215 leader and follower arms for LeRobot; still supported but deprecated in favor of SO-100/SO-101.
The short answer
Moss v1 costs less to start: about $288 against $1,200 in parts. Moss v1 has the shorter parts list (9 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
Moss v1
- 12 x Feetech STS3215 7.4V (C001, 1/345)
- 2 x 5V power supply