A4 Kit
A4-1.0-KIT
This kit includes everything you need to build the A4 robot arm except the 3D printed parts. The USB B programming cable is also sold separately. If you have problems printing the parts, they can also be purchased separately.
Downloads/Links
A4 FreeCAD Assembly
A4 Manual
Parts List
Base
| Description |
Quantity |
Part Number |
| M4x25 screw |
8 |
SCREW-M4-25 |
| M4 nylon-insert locknut |
4 |
NUT-M4-NYLOCK |
| M4 nut |
4 |
NUT-M4 |
| Mega microcontroller |
1 |
CTRL-MEGA |
| M2.5x11 standoff |
4 |
STANDOFF-M2.5-11-NYLON |
| M2.5 nylon nut |
4 |
NUT-M2.5-NYLON |
| M2.5x6 nylon screw |
4 |
SCREW-M2.5-6-NYLON |
| A4 PCBA |
1 |
A4-PCBA |
Joint 0
| Description |
Quantity |
Part Number |
| M2 heat-set insert |
2 |
HEAT-SET-M2 |
| NEMA 17 27:1 Geared Stepper Motor |
1 |
MOTOR-STEP-17-27.1-1000 |
| M3x8 button head screw |
4 |
SCREW-M3-8-BH |
| M4x16 screw |
4 |
SCREW-M4-16 |
| M4 nylon-insert locknut |
4 |
NUT-M4-NYLOCK |
| 6mm clamping hub |
1 |
HUB-6 |
| Thrust bearing, 65mm ID 90mm OD |
1 |
THRUST-65-90 |
| M4 heat-set insert |
8 |
HEAT-SET-M4 |
| M4x10 set screw |
4 |
SCREW-M4-10-SET |
| M4 Nut |
4 |
NUT-M4 |
| #6x1/2 button head screw |
4 |
SCREW-6-1-2 |
| Home switch A |
1 |
PCBA-HOME-A-1.0 |
| M2x5 screw |
2 |
SCREW-M2-5 |
Joint 1
| Description |
Quantity |
Part Number |
| M2 heat-set insert |
2 |
HEAT-SET-M2 |
| M4x10 Screw |
4 |
SCREW-M4-10 |
| NEMA 17 27:1 Geared Stepper Motor |
1 |
MOTOR-STEP-17-27.1-1000 |
| M3x8 button head screw |
4 |
SCREW-M3-8-BH |
| 6mm clamping hub |
1 |
HUB-6 |
| Thrust bearing, 60mm OD 40mm ID |
1 |
THRUST-40-60 |
| #6x1/2 button head screw |
4 |
SCREW-6-1-2 |
| M4 heat-set insert |
6 |
HEAT-SET-M4 |
| M4x10 set screw |
4 |
SCREW-M4-10-SET |
| M4 Nut |
4 |
NUT-M4 |
| Home switch A |
1 |
PCBA-HOME-A-1.0 |
| M2x5 screw |
2 |
SCREW-M2-5 |
Joint 2
| Description |
Quantity |
Part Number |
| Humerus |
1 |
A4-HUMERUS-1.0 |
| M4x6 screw |
2 |
SCREW-M4-6 |
| M4x25 screw |
2 |
SCREW-M4-25 |
| M4 oversize washer |
2 |
WASHER-M4-O |
| M4 nylon-insert locknut |
7 |
NUT-M4-NYLOCK |
| NEMA 17 27:1 Geared Stepper Motor |
1 |
MOTOR-STEP-17-27.1-1000 |
| M3x8 button head screw |
4 |
SCREW-M3-8-BH |
| 15 tooth XL pulley |
2 |
PULLEY-XL-15 |
| M4x12 flathead screw |
2 |
SCREW-M4-12-F |
| M4-40 screw |
1 |
SCREW-M4-40 |
| M4x12 screw |
2 |
SCREW-M4-12 |
| M2 heat-set insert |
2 |
HEAT-SET-M2 |
| J2 shaft |
1 |
A4-J2-SHAFT-1.0 |
| M6 washer |
2 |
WASHER-M6 |
| Ball bearing, 6mm ID 19mm OD |
1 |
BALL-6-19-6 |
| 6mm clamping hub |
1 |
HUB-6 |
| Thrust bearing, 47mm OD 30mm ID |
1 |
THRUST-30-47 |
| #6x3/8 button head screw |
4 |
SCREW-6-3-8 |
| M4 heat-set insert |
6 |
HEAT-SET-M4 |
| M4x12 set screw |
4 |
SCREW-M4-12-SET |
| M4 Nut |
4 |
NUT-M4 |
| Home switch B |
1 |
PCBA-HOME-B-1.0 |
| M2x5 screw |
2 |
SCREW-M2-5 |
Joint 3
| Description |
Quantity |
Part Number |
| Radius |
1 |
A4-RADIUS-1.0 |
| M4x6 screw |
2 |
SCREW-M4-6 |
| M2 heat-set insert |
2 |
HEAT-SET-M2 |
| M4x12 screw |
2 |
SCREW-M4-12 |
| M4 nylon-insert locknut |
2 |
NUT-M4-NYLOCK |
| NEMA 11 27:1 geared stepper motor |
1 |
MOTOR-STEP-11-27.1-300 |
| M3x8 button head screw |
4 |
SCREW-M3-8-BH |
| 6mm clamping hub |
1 |
HUB-6 |
| Home switch A |
1 |
PCBA-HOME-A-1.0 |
| M2x5 screw |
2 |
SCREW-M2-5 |
Gripper
| Description |
Quantity |
Part Number |
| M4 heat-set insert |
2 |
HEAT-SET-M4 |
| #6x3/8 button head screw |
7 |
SCREW-6-3-8 |
| DC motor, 12V 26RPM 4.6Nm |
1 |
MOTOR-DC-12V-26RPM-4.6NM |
| M2.5x6 screw |
2 |
SCREW-M2.5-6 |
| 4mm clamping hub |
1 |
HUB-4 |
| M4x16 button head screw |
1 |
SCREW-M4-16-BH |
| M4 nylon-insert locknut |
1 |
NUT-M4-NYLOCK |
| Home switch B |
1 |
PCBA-HOME-B-1.0 |
| M2x5 screw |
2 |
SCREW-M2-5 |
