AR4 (MK5) vs Thor
Cost, parts and difficulty side by side.
| AR4 (MK5) | Thor | |
|---|---|---|
| Cost | $1,200 to $2,300 | $300 to $450 |
| Difficulty | advanced | advanced |
| Parts | 94 | 61 |
| 3D printing | yes | yes |
| Kits available | 8 | 0 |
| Made by | Annin Robotics (Chris Annin) | Ángel LM (AngelLM) |
| Full list | AR4 (MK5) parts list | Thor 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.
Thor
Open source 3D printed six axis arm driven by NEMA 17 steppers and GT2 belts, controlled with G-code like a 3D printer.
The short answer
Thor costs less to start: about $300 against $1,200 in parts. Thor has the shorter parts list (61 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
Thor
- 1 x StepperOnline 17HS15-0404S NEMA 17 stepper
- 3 x StepperOnline 17HS13-0404S-PG5 NEMA 17 stepper with 5:1 planetary gearbox
- 3 x StepperOnline 17HS13-0404S1 NEMA 17 stepper
- 1 x MG995 hobby servo