Updated Solidworks files. Added STL files. Added Assembly instructions for Kock Arm.

media/koch/README.md

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+# Alexander Koch Arm V1.1
+
+This folder the instructions to assembly a slightly modified version of the [Alexander Koch Arms](https://github.com/AlexanderKoch-Koch/low_cost_robot). 
+
+## Assembly Instructions
+
+### Leader Arm
+Video of the Assembly: #TODO: What is the best format to put this video? I'm thinking Youtube?
+
+1. Order all off the shelf parts from the BILL_OF_MATERIALS.md.
+2. Print all parts with a 3D printer.
+   1. Precision: 0.2mm minimum height layer
+   2. Material: PLA, ABS, PETG or other reasonably strong plastics.
+   3. Suggested: Prusa Mini+, Bambu P1, Ender3, etc.
+3.  Scan each motor. #TODO: Check this-- should I add more information?
+4.  Follower the video to in assembling the mechanical structure. #TODO(jess-moss): Should I add more info here?
+5.  Use the electrical diagram to wire the robot
+    1.  Using 6 Dynamixel motor cables, daisy chain each motor to the one after it. Tip: Each Dynamixel has two ports, but they are electrically identical.
+    2.  Get three male to female wires. Plug them into the D, V, and G of the PCB.
+    3.  Connect these to the motor cable of the first (shoulder rotation) Dynamixel with G being connected to Pin 1, V to Pin 2, and D to Pin 3. (Hint: The cable connector has a small 1, 2, and 3 on it so you can identify each pin).
+    4.  Plug in the PWR using the 5V power source, and connect the USB-C connector to your computers.
+
+![Leader Electrical Diagram](./Leader_Arm_Electrical_Diagram.png)
+
+### Follower Arm
+Video of the Assembly: #TODO: What is the best format to put this video? I'm thinking Youtube?
+
+1. Order all off the shelf parts from the BILL_OF_MATERIALS.md.
+2. Print all parts with a 3D printer.
+   1. Precision: 0.2mm minimum height layer
+   2. Material: PLA, ABS, PETG or other reasonably strong plastics.
+   3. Suggested: Prusa Mini+, Bambu P1, Ender3, etc.
+3.  Scan each motor. #TODO: Check this-- should I add more information?
+4. Follower the video to in assembling the mechanical structure. #TODO(jess-moss): Should I add more info here? 
+5.  Use the electrical diagram to wire the robot
+    1.  Use the 6 Dynamixel motor cables to daisy chain the four XL330 motors together and the two XL430 motors together. Do not connect the XL430 motor to the XL 330 motor.
+    2.  Get three male to female wires. Plug them into the D, V, and G of the PCB.
+    3.  Connect these to the motor cable of the first (shoulder rotation) Dynamixel XL430 with G being connected to Pin 1, V to Pin 2, and D to Pin 3. (Hint: The cable connector has a small 1, 2, and 3 on it so you can identify each pin).
+    4.  Get three more male to female wires. Plug them into the second port D, V, and G of the PCB.
+    5.  Connect the V to IN+ and G to IN- of the DC Converter.
+    6.  Connect the motor cable of the first Dynamixel XL330 (i.e. wrist extention rotation) by connecting Pin 1 to OUT- of the DC converter, Pin 2 connected to OUT+ of the DC converter and Pin 3 connected to D from the second port of the PCB. 
+    7.  Plug in the PWR using the 12V power source, and connect the USB-C connector to your computers.
+
+![Follower Diagram](./Follower_Arm_Electrical_Diagram.png)