To assemble one robot joint you'll need for following printed parts:

Almost every part is unique, except for the two outer supports (those keyhole shaped parts with the 8 holes in a circle). You will also need a few extra pieces of hardware:

These are (with Amazon links):

• 2x 6808 bearings
• 4x 6803 bearings
• 4x M3 40mm screws
• 3x M2 6mm screws
• 1x M2 4mm screw
• 8x 2.5mm x 25mm steel dowel pins
• 24x M3 nylon washers

You also need a motor. I'm using these:

• 360KV 5010 Brushless motors