AR4 (MK5) vs PAROL6
Cost, parts and difficulty side by side.
| AR4 (MK5) | PAROL6 | |
|---|---|---|
| Cost | $1,200 to $2,300 | $750 to $1,150 |
| Difficulty | advanced | advanced |
| Parts | 94 | 62 |
| 3D printing | yes | yes |
| Kits available | 8 | 4 |
| Made by | Annin Robotics (Chris Annin) | Source Robotics (Petar Crnjak) |
| Full list | AR4 (MK5) parts list | PAROL6 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.
PAROL6
3D printed six axis desktop arm with industrial style belts, planetary gearboxes and open Python control software.
The short answer
PAROL6 costs less to start: about $750 against $1,200 in parts. PAROL6 has the shorter parts list (62 lines against 94). Both are rated advanced. 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
PAROL6
- 1 x StepperOnline 17HS08-1004S NEMA 17 stepper
- 3 x StepperOnline 17HS16-2004S1 NEMA 17 stepper
- 2 x StepperOnline 17HS24-2104S NEMA 17 stepper