Wire a single Sonos device to the Orbi hub. In your case, it sounds like the Arc to the Orbi router. 

Sonos speakers require a certain amount of cross communication. Many mesh systems split up the network into separate subnets, across which the Sonos devices can’t communicate. You’re much better off running in what Sonos calls ‘wired/Boost’ mode, in which one Sonos device is connected to the router.

You may want to read the standard and boost modes FAQ. 

I don’t know specifically about Orbi, but you certainly could wire speakers to each satellite, but I wouldn’t be confident about it working consistently.