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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 | $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) |
| 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) |
| 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 |---| $229 |---| 220€ |---|
| Total |---| $244 |---| 232€ |---|
#### Parts for One Arm:
| Part | Amount | Unit Cost (US) | Buy US | Unit Cost (EU) | Buy EU |
|---|---|---|---|---|---|
| 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) |
| 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) |
| 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 |---| $121 |---| 117€ |---|
| Total |---| $127 |---| 123€ |---|
## 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.
@@ -87,5 +87,5 @@ Check out this Handy [URDF viewer](https://gkjohnson.github.io/urdf-loaders/).
## Footnotes
<a name="myfootnote1">1</a>: The STS3215 arm comes in two sizes. The 7.4V has a stall torque of 16.5kg.cm at 6V (and likely slightly less for a 5V power supply). The 12V version has a stall torque of 30kg.cm. While we found the 7.4V to be sufficient, if you would like more powerful motors you can buy the 12V version [here](https://www.alibaba.com/product-detail/6PCS-12V-30KG-STS3215-High-Torque_1601216757543.html). Note if you do this, you will also have to buy a 12V 5A+ power supply instead of a 5V one, but all other components will remain the same.\
<a name="myfootnote2">2</a>: You can also use an adjustable laboratory power supply with leads.\
<a name="myfootnote3">3</a>: You do not need to use this exact screwdriver set, but it is highly recommended to have phillips head screw driver sizes #0 and #1 for easiest screw installation and removal. These are all standard sizes which will likely appear in most small screwdriver sets.\
<a name="myfootnote3">3</a>: You do not need to use this exact screwdriver set, but it is highly recommended to have phillips head screw driver sizes #0 and #1 for easiest screw installation and removal. These are both standard sizes which will likely appear in most small screwdriver sets.\
<a name="myfootnote4">4</a>: You do not need to buy these exact parts, but a glue stick and putty knife are almost always necessary for a good 3D print. The glue prevents parts from sticking to the print bed, and the putty knife helps scrape parts from the print bed. However, feel free to check with your specific printer instructions for if these parts are necessary.