Arduino for data acquisition

I have to implement a system which reads two analog input voltages and outputs three analog output voltages; all voltages between -10 to +10 volts.

I’m new to Arduino and have several questions. Which board should I choose? Can I avoid the use of a DAC? If not, which DAC chip can I use? How do I get the full desired output range of -10 to +10?

Thanks in advance.

How many samples per second?

The arduino and every other processor only works on single rail voltages.
So to deal with split rail voltages you have to either convert them to single rail or use external A/D and D/A chips.
You will need to use an op amp to convert the 0 to 5V output of an arduino into +/- 10V

Thanks for the reply. So as I gather, this is not possible without some external circuitry/shields.

Samples per second is not that critical right now. I think 1K-2K would do.

Can you suggest any A/D or D/A chips that can do this sort of conversion?

Can you suggest any A/D or D/A chips that can do this sort of conversion?

Here are some A/Ds that have split rail supplies

Many thanks.