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@@ -11,24 +11,24 @@ Note: The follower and leader arm for this teleoperation setup will have the sam
#### Parts For Two Arms (Standard Teleoperation Setup):
| Part | Amount | Unit Cost (US) | Buy US | Unit Cost (EU) | Buy EU |
|---|---|---|---|---|---|
| STS3215 Servo<sup>[1](#myfootnote1)</sup> | 12 | $15 | [Alibaba](https://www.alibaba.com/product-detail/6PCS-7-4V-STS3215-Servos-for_1600523509006.html) | 14€ | [Alibaba](https://www.alibaba.com/product-detail/6PCS-7-4V-STS3215-Servos-for_1600523509006.html) |
| Motor Control Board | 2 | $5 | [Waveshare](https://www.waveshare.com/bus-servo-adapter-a.htm) - [Amazon](https://www.amazon.com/Control-Circuit-Suitable-Supports-Controlling/dp/B0CKT8BN73/ref=asc_df_B0CKT8BN73/) | 4€ | [Waveshare](https://www.waveshare.com/bus-servo-adapter-a.htm)-[Amazon](https://www.amazon.fr/-/en/dp/B0CJ6RYC9J/ref=sr_1_3)|
| USB-C Cable 2 pcs | 1 | $7 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) | 7€ | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) |
| STS3215 Servo<sup>[1](#myfootnote1)</sup> | 12 | $14 | [Alibaba](https://www.alibaba.com/product-detail/Educational-Robot-Arm-7-4V-20Kg_1600624265011.html) | 13€ | [Alibaba](https://www.alibaba.com/product-detail/Educational-Robot-Arm-7-4V-20Kg_1600624265011.html) |
| Motor Control Board | 2 | $11 | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | 12€ | [Amazon](https://www.amazon.fr/-/en/dp/B0CJ6TP3TP/)|
| USB-C Cable 2 pcs | 1 | $7 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) | 7€ | [Amazon](https://www.amazon.fr/dp/B07BNF842T/) |
| Power Supply<sup>[2](#myfootnote2)</sup> | 2 | $10 | [Amazon](https://www.amazon.com/Facmogu-Switching-Transformer-Compatible-5-5x2-1mm/dp/B087LY41PV/) | 13€ | [Amazon](https://www.amazon.fr/-/en/dp/B01HRR9GY4/) |
| Table Clamp 2pcs | 2 | $9 | [Amazon](https://www.amazon.com/Mr-Pen-Carpenter-Clamp-6inch/dp/B092L925J4/) | 8€ | [Amazon](https://www.amazon.fr/-/en/dp/B08HZ1QRBF/)|
| Screwdriver Set<sup>[3](#myfootnote3)</sup> | 1 | $6 | [Amazon](https://www.amazon.com/Precision-Phillips-Screwdriver-Electronics-Computer/dp/B0DB227RTH) | 7€ | [Amazon](https://www.amazon.fr/-/en/dp/B0BNQBNFFJ/?th=1) |
| Total |---| $244 |---| 232€ |---|
| Table Clamp 4pcs | 1 | $18 | [Amazon](https://www.amazon.com/WORKPRO-Clamps-Woodworking-One-Handed-Spreader/dp/B0CQYDJWS8/) | 21€ | [Amazon](https://www.amazon.fr/dp/B08HW9VFM8/)|
| Screwdriver Set<sup>[3](#myfootnote3)</sup> | 1 | $6 | [Amazon](https://www.amazon.com/Precision-Phillips-Screwdriver-Electronics-Computer/dp/B0DB227RTH) | 10€ | [Amazon](https://www.amazon.fr/dp/B08ZXVMVYD/) |
| Total |---| $241 |---| 244€ |---|
#### Parts for One Arm:
| Part | Amount | Unit Cost (US) | Buy US | Unit Cost (EU) | Buy EU |
|---|---|---|---|---|---|
| STS3215 Servo<sup>[1](#myfootnote1)</sup> | 6 | $15 | [Alibaba](https://www.alibaba.com/product-detail/6PCS-7-4V-STS3215-Servos-for_1600523509006.html) | 14€ | [Alibaba](https://www.alibaba.com/product-detail/6PCS-7-4V-STS3215-Servos-for_1600523509006.html) |
| Motor Control Board | 1 | $5 | [Waveshare](https://www.waveshare.com/bus-servo-adapter-a.htm) - [Amazon](https://www.amazon.com/Control-Circuit-Suitable-Supports-Controlling/dp/B0CKT8BN73/ref=asc_df_B0CKT8BN73/) | 4€ | [Waveshare](https://www.waveshare.com/bus-servo-adapter-a.htm)-[Amazon](https://www.amazon.fr/-/en/dp/B0CJ6RYC9J/ref=sr_1_3)|
| USB-C Cable 2 pcs | 1 | $7 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) | 7€ | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) |
| STS3215 Servo<sup>[1](#myfootnote1)</sup> | 6 | $14 | [Alibaba](https://www.alibaba.com/product-detail/Educational-Robot-Arm-7-4V-20Kg_1600624265011.html) | 13€ | [Alibaba](https://www.alibaba.com/product-detail/Educational-Robot-Arm-7-4V-20Kg_1600624265011.html) |
| Motor Control Board | 1 | $11 | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | 12€ | [Amazon](https://www.amazon.fr/-/en/dp/B0CJ6TP3TP/)|
| USB-C Cable 2 pcs | 1 | $7 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) | 7€ | [Amazon](https://www.amazon.fr/dp/B07BNF842T/) |
| Power Supply<sup>[2](#myfootnote2)</sup> | 1 | $10 | [Amazon](https://www.amazon.com/Facmogu-Switching-Transformer-Compatible-5-5x2-1mm/dp/B087LY41PV/) | 13€ | [Amazon](https://www.amazon.fr/-/en/dp/B01HRR9GY4/) |
| Table Clamp 2pcs | 1 | $9 | [Amazon](https://www.amazon.com/Mr-Pen-Carpenter-Clamp-6inch/dp/B092L925J4/) | 8€ | [Amazon](https://www.amazon.fr/-/en/dp/B08HZ1QRBF/)|
| Screwdriver Set<sup>[3](#myfootnote3)</sup> | 1 | $6 | [Amazon](https://www.amazon.com/Precision-Phillips-Screwdriver-Electronics-Computer/dp/B0DB227RTH) | 7€ | [Amazon](https://www.amazon.fr/-/en/dp/B0BNQBNFFJ/?th=1) |
| Total |---| $127 |---| 123€ |---|
| Screwdriver Set<sup>[3](#myfootnote3)</sup> | 1 | $6 | [Amazon](https://www.amazon.com/Precision-Phillips-Screwdriver-Electronics-Computer/dp/B0DB227RTH) | 10€ | [Amazon](https://www.amazon.fr/dp/B08ZXVMVYD/) |
| Total |---| $127 |---| 128€ |---|
## Printing the Parts
A variety of 3D printers are acceptable to print the parts necessary of the follower and leader arm. Follow the steps below to ensure a good print.
@@ -36,7 +36,7 @@ A variety of 3D printers are acceptable to print the parts necessary of the foll
1. Choose a printer: The STL files provided ready to print on many FDM printers. Below are the tested and suggested settings though others may work.
1. Material: PLA
2. Nozzle Diameter and Precision: 0.4mm nozzle diameter at 0.2mm layer height or 0.6mm nozzle at 0.4mm layer height.
3. Infill Density: 20%
3. Infill Density: 13%
4. Sample Printers: [Prusa Mini+](https://www.prusa3d.com/product/original-prusa-mini-semi-assembled-3d-printer-4/), [UP Plus 2](https://shop.tiertime.com/product/tiertime-up-plus-2-3d-printer/), [Ender3](https://www.amazon.com/Comgrow-Creality-Ender-Aluminum-220x220x250mm/dp/B07BR3F9N6/).
2. Set up the printer
1. Setup and Takedown