Step 9: Install Left Ankle A and B Actuators

Flip the current assembly over such that the knee part is facing downward toward the surface and the 2 hollow portions of part 600_10C are facing upward toward the ceiling.

Place left ankle A actuator ID 5 and left ankle B actuator ID 6 on a flat surface with their shafts facing downward and ports near the top. Connect one connector of the 100 mm double-ended XT30 cable to the port on ankle A and the other connector to the port on ankle B.

Take left ankle A actuator EC-A4310-P2-36 (ID 5) and align it into the first hollow nearer to the knee on part 600_10C. The actuator shaft should be facing downward toward the floor. Make sure that the port and cable are aligned with the joint port cut-out between the two hollow portions.

Take left ankle B actuator EC-A4310-P2-36 (ID 6) and align it into the second hollow nearer to the ankle on part 600_10C. Make sure that the cable and ports of the actuator are on top of the cable from left ankle A actuator EC-A4310-P2-36 (ID 5) in the joint port cut out.

Bend the knee upward such that the ankle is facing the ceiling slowly. You should be seeing the 2 actuator shafts facing you right now.

Take 6 – M3x12 flat bolts and lightly tighten it through the 6 holes around the first hollow near to the knee on part 600_10C to align part 600_10C with the actuator underneath.

After the parts are aligned:

• remove each of the 6 – M3x12 flat bolts in a star formation,
• apply threadlocker,
• then tighten them back to secure Part 600_10C and the actuator together.

Take 6 – M3x12 flat bolts and lightly tighten it through the 6 holes around the second hollow near to the ankle on part 600_10C to align part 600_10C with the actuator underneath.

After the parts are aligned:

• remove each of the 6 – M3x12 flat bolts in a star formation,
• apply threadlocker,
• then tighten them back to secure Part 600_10C and the actuator together.