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

BILL_OF_MATERIALS.md

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+# Bill Of Materials (BOM)
+
+
+## Alexander Koch arms
+
+### Follower and Leader arm
+
+| Part | Amount | Unit Cost (US) | Buy US | Unit Cost (EU) | Buy EU | Unit Cost (UK) | Buy UK |
+|---|---|---|---|---|---|---|---|
+| Dynamixel XL430-W250-T |  2 | $50 | [Robotis](https://www.robotis.us/dynamixel-xl430-w250-t) | 57-61€ | [MyBotShop](https://www.mybotshop.de/DYNAMIXEL-XL430-W250-T)-[GenRobots](https://www.generationrobots.com/en/402823-dynamixel-xl430-w250-t-servomotor.html) | £47 | [RoboSavvy](https://robosavvy.co.uk/dynamixel-xl430-w250-t.html)
+| Dynamixel XL330-M288-T |  4 | $24  | [Robotis](https://www.robotis.us/dynamixel-xl330-m288-t) | 40-46€ | [MyBotShop](https://www.mybotshop.de/DYNAMIXEL-XL330-M288-T)-[GenRobots](https://www.generationrobots.com/en/403817-dynamixel-xl330-m288-t-servo-motor.html) | £27 | [RoboSavvy](https://robosavvy.co.uk/robotis-dynamixel-xl330-m288-t.html) |
+| Dynamixel XL330-M077-T | 6 | $24 | [Robotis](https://www.robotis.us/dynamixel-xl330-m077-t) | 40-46€ | [MyBotShop](https://www.mybotshop.de/DYNAMIXEL-XL330-M077-T)-[GenRobots](https://www.generationrobots.com/en/403818-dynamixel-xl330-m077-t-servo-motor.html) | £27 | [RoboSavvy](https://robosavvy.co.uk/robotis-dynamixel-xl330-m077-t.html) |
+| XL330 Frame and Idler Wheel 4pcs set |  2 | $10 | [Robotis](https://www.robotis.us/fpx330-h101-4pcs-set) | 12€ | [GenRobots](https://www.generationrobots.com/en/403860-FPX330-H101-hinge-frame-and-idler-set-dynamixel-xl330.html) | £10 |  [RoboSavvy](https://robosavvy.co.uk/fpx330-h101-4pcs-set.html) |
+| XL430 Idler Wheel set | 1 | $7 | [Robotis](https://www.robotis.us/hn11-i101-set) | 9€ | [GenRobots](https://www.generationrobots.com/en/403206-hn11-i101-horn-set.html) | £7 | [Robosavvy](https://robosavvy.co.uk/hn11-i101-set.html)|
+| Waveshare Serial Bus Servo Driver Board | 2 | $10 | [Amazon](https://a.co/d/7C3RUYU) | 6€ | [Eckstein](https://eckstein-shop.de/WaveShare-Serial-Bus-Servo-Driver-Board-for-ST-SC-Serial-Bus-Servos-EN) | £8 | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/)|
+| Voltage Reducer | 1 | $14 | [Amazon](https://www.amazon.com/EPLZON-Converter-5V-5-3V-Transformer-Regulator/dp/B09R4DBZJK) | 7€ | [Amazon](https://www.amazon.fr/ICQUANZX-Converter-Transformer-Voltage-Regulator/dp/B07RGB2HB6) | £11 | [Amazon](https://www.amazon.com/EPLZON-Converter-5V-5-3V-Transformer-Regulator/dp/B09R4DBZJK) |
+| 12V Power Supply | 1 | $12 | [Amazon](https://a.co/d/40o8uMN) | 15-36€ | [Amazon](https://www.amazon.fr/LEDMO-Alimentation-Adaptateur-Transformateurs-Chargeur/dp/B07PGLXK4X)-[GenRobots](https://www.generationrobots.com/en/400866-smps-charger-for-bioloid-and-dynamixel-robotis.html) | £9 | [Amazon](https://a.co/d/40o8uMN) |
+| 5V Power Supply | 1 | $6 | [Amazon](https://a.co/d/5u90NVp) | 9€ | [Amazon](https://www.amazon.fr/LEYF-Alimentation-Universelle-Adaptateur-Enfichable/dp/B09NGVWBSY) | £4 | [Amazon](https://a.co/d/5u90NVp)|
+| Jumper Wires 3*40 pcs set (M-M, M-F, F-F) | 1 | $7 | [Amazon](https://a.co/d/hQfk2cb) | 9€ | [Amazon](https://www.amazon.fr/AZDelivery-Jumper-Cavalier-C%C3%A2ble-Arduino/dp/B074P726ZR) | £5 | [Amazon](https://a.co/d/hQfk2cb) |
+| Table Clamp 2pcs set | 1 | $9 | [Amazon](https://www.amazon.com/Mr-Pen-Carpenter-Clamp-6inch/dp/B092L925J4/?th=1) | n/a | n/a | £7 | [Amazon](https://www.amazon.com/Mr-Pen-Carpenter-Clamp-6inch/dp/B092L925J4/?th=1) |
+| Table Clamp 4pcs set | 1 | n/a | n/a | 14€ | [Amazon](https://www.amazon.fr/CAUTIOUS-Serre-Joint-R%C3%A9glable-Serre-Joints/dp/B0CJMB3SKH) | n/a | n/a |
+| 1.5mm Star/Cruciform Screwdriver 2pcs set | 1 | n/a | n/a | 7€ | [Amazon](https://www.amazon.fr/sourcing-map-Cruciforme-%C3%89lectroniques-R%C3%A9paration/dp/B0BQ69J2QF) | n/a | n/a |
+| 1.5mm Star/Cruciform Screwdriver included in set | 1 | $6 | [Amazon](https://www.amazon.com/Choice-9-Piece-Precision-Screwdriver-Phillips/dp/B0747DYJJR) | n/a | n/a | £5 | [Amazon](https://www.amazon.com/Choice-9-Piece-Precision-Screwdriver-Phillips/dp/B0747DYJJR) |
+| USB C-A or C-C 2pcs set | 1 | $9 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/) | 7€ | [Amazon](https://www.amazon.fr/-/en/dp/B0CKPDZ3SK/) | £7 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/)|
+| Total | | $450 | | 618€ | | £455 | |
+
+
+### Follower arm only
+
+| Part | Amount | Unit Cost (US) | Buy US | Unit Cost (EU) | Buy EU | Unit Cost (UK) | Buy UK |
+|---|---|---|---|---|---|---|---|
+| Dynamixel XL430-W250-T |  2 | $50 | [Robotis](https://www.robotis.us/dynamixel-xl430-w250-t) | 57-61€ | [MyBotShop](https://www.mybotshop.de/DYNAMIXEL-XL430-W250-T)-[GenRobots](https://www.generationrobots.com/en/402823-dynamixel-xl430-w250-t-servomotor.html) | £47 | [RoboSavvy](https://robosavvy.co.uk/dynamixel-xl430-w250-t.html)
+| Dynamixel XL330-M288-T |  4 | $24  | [Robotis](https://www.robotis.us/dynamixel-xl330-m288-t) | 40-46€ | [MyBotShop](https://www.mybotshop.de/DYNAMIXEL-XL330-M288-T)-[GenRobots](https://www.generationrobots.com/en/403817-dynamixel-xl330-m288-t-servo-motor.html) | £27 | [RoboSavvy](https://robosavvy.co.uk/robotis-dynamixel-xl330-m288-t.html) |
+| XL330 Frame and Idler Wheel 4pcs set |  1 | $10 | [Robotis](https://www.robotis.us/fpx330-h101-4pcs-set) | 12€ | [GenRobots](https://www.generationrobots.com/en/403860-FPX330-H101-hinge-frame-and-idler-set-dynamixel-xl330.html) | £10 |  [RoboSavvy](https://robosavvy.co.uk/fpx330-h101-4pcs-set.html) |
+| XL430 Idler Wheel set | 1 | $7 | [Robotis](https://www.robotis.us/hn11-i101-set) | 9€ | [GenRobots](https://www.generationrobots.com/en/403206-hn11-i101-horn-set.html) | £7 | [Robosavvy](https://robosavvy.co.uk/hn11-i101-set.html)|
+| Waveshare Serial Bus Servo Driver Board | 1 | $10 | [Amazon](https://a.co/d/7C3RUYU) | 6€ | [Eckstein](https://eckstein-shop.de/WaveShare-Serial-Bus-Servo-Driver-Board-for-ST-SC-Serial-Bus-Servos-EN) | £8 | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/)|
+| Voltage Reducer | 1 | $14 | [Amazon](https://www.amazon.com/EPLZON-Converter-5V-5-3V-Transformer-Regulator/dp/B09R4DBZJK) | 7€ | [Amazon](https://www.amazon.fr/ICQUANZX-Converter-Transformer-Voltage-Regulator/dp/B07RGB2HB6) | £11 | [Amazon](https://www.amazon.com/EPLZON-Converter-5V-5-3V-Transformer-Regulator/dp/B09R4DBZJK) |
+| 12V Power Supply | 1 | $12 | [Amazon](https://a.co/d/40o8uMN) | 15-36€ | [Amazon](https://www.amazon.fr/LEDMO-Alimentation-Adaptateur-Transformateurs-Chargeur/dp/B07PGLXK4X)-[GenRobots](https://www.generationrobots.com/en/400866-smps-charger-for-bioloid-and-dynamixel-robotis.html) | £9 | [Amazon](https://a.co/d/40o8uMN) |
+| Jumper Wires 3*40 pcs set (M-M, M-F, F-F) | 1 | $7 | [Amazon](https://a.co/d/hQfk2cb) | 9€ | [Amazon](https://www.amazon.fr/AZDelivery-Jumper-Cavalier-C%C3%A2ble-Arduino/dp/B074P726ZR) | £5 | [Amazon](https://a.co/d/hQfk2cb) |
+| Table Clamp | 1 | $6 | [Amazon](https://a.co/d/4KEiYdV) | n/a | n/a | £5 | [Amazon](https://a.co/d/4KEiYdV) |
+| Table Clamp 4pcs set (1 needed)| 1 | n/a | n/a | 14€ | [Amazon](https://www.amazon.fr/CAUTIOUS-Serre-Joint-R%C3%A9glable-Serre-Joints/dp/B0CJMB3SKH) | n/a | n/a |
+| 1.5mm Star/Cruciform Screwdriver 2pcs set (1 pc needed) | 1 | n/a | n/a | 7€ | [Amazon](https://www.amazon.fr/sourcing-map-Cruciforme-%C3%89lectroniques-R%C3%A9paration/dp/B0BQ69J2QF) | n/a | n/a |
+| 1.5mm Star/Cruciform Screwdriver included in set | 1 | $6 | [Amazon](https://www.amazon.com/Choice-9-Piece-Precision-Screwdriver-Phillips/dp/B0747DYJJR) | n/a | n/a | £5 | [Amazon](https://www.amazon.com/Choice-9-Piece-Precision-Screwdriver-Phillips/dp/B0747DYJJR) |
+| USB C-A or C-C 2pcs set (1 pc needed) | 1 | $9 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/) | 7€ | [Amazon](https://www.amazon.fr/-/en/dp/B0CKPDZ3SK/) | £7 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/)|
+| Total | | $277 | | 360€ | | £269 | |
+
+### Leader arm only
+
+| Part | Amount | Unit Cost (US) | Buy US | Unit Cost (EU) | Buy EU | Unit Cost (UK) | Buy UK |
+|---|---|---|---|---|---|---|---|
+| Dynamixel XL330-M077-T | 6 | $24 | [Robotis](https://www.robotis.us/dynamixel-xl330-m077-t) | 40-46€ | [MyBotShop](https://www.mybotshop.de/DYNAMIXEL-XL330-M077-T)-[GenRobots](https://www.generationrobots.com/en/403818-dynamixel-xl330-m077-t-servo-motor.html) | £27 | [RoboSavvy](https://robosavvy.co.uk/robotis-dynamixel-xl330-m077-t.html) |
+| XL330 Frame and Idler Wheel 4pcs set | 1 | $10 | [Robotis](https://www.robotis.us/fpx330-h101-4pcs-set) | 12€ | [GenRobots](https://www.generationrobots.com/en/403860-FPX330-H101-hinge-frame-and-idler-set-dynamixel-xl330.html) | £10 |  [RoboSavvy](https://robosavvy.co.uk/fpx330-h101-4pcs-set.html) |
+| Waveshare Serial Bus Servo Driver Board | 1 | $10 | [Amazon](https://a.co/d/7C3RUYU) | 6€ | [GenRobots](https://eckstein-shop.de/WaveShare-Serial-Bus-Servo-Driver-Board-for-ST-SC-Serial-Bus-Servos-EN) | £8 | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) |
+| 5V Power Supply | 1 | $6 | [Amazon](https://a.co/d/5u90NVp) | 9€ | [Amazon](https://www.amazon.fr/LEYF-Alimentation-Universelle-Adaptateur-Enfichable/dp/B09NGVWBSY) | £4 | [Amazon](https://a.co/d/5u90NVp)|
+| Jumper Wires 3*40 pcs set (M-M, M-F, F-F) | 1 | $7 | [Amazon](https://a.co/d/hQfk2cb) | 9€ | [Amazon](https://www.amazon.fr/AZDelivery-Jumper-Cavalier-C%C3%A2ble-Arduino/dp/B074P726ZR) | £5 | [Amazon](https://a.co/d/hQfk2cb)|
+| Table Clamp | 1 | $6 | [Amazon](https://a.co/d/4KEiYdV) | n/a | n/a | £5 | [Amazon](https://a.co/d/4KEiYdV) |
+| Table Clamp 4pcs set | 1 | n/a | n/a | 14€ | [Amazon](https://www.amazon.fr/CAUTIOUS-Serre-Joint-R%C3%A9glable-Serre-Joints/dp/B0CJMB3SKH) | n/a | n/a |
+| 1.5mm Star/Cruciform Screwdriver 2pcs set | 1 | n/a | n/a | 7€ | [Amazon](https://www.amazon.fr/sourcing-map-Cruciforme-%C3%89lectroniques-R%C3%A9paration/dp/B0BQ69J2QF) | n/a | n/a |
+| 1.5mm Star/Cruciform Screwdriver included in set | 1 | $6 | [Amazon](https://www.amazon.com/Choice-9-Piece-Precision-Screwdriver-Phillips/dp/B0747DYJJR) | n/a | n/a | £5 | [Amazon](https://www.amazon.com/Choice-9-Piece-Precision-Screwdriver-Phillips/dp/B0747DYJJR)
+| Total | | $189 | | 297€ | | £199 | |

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)