Step 9: Install Right 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 500_10C are facing upward toward the ceiling.

Place right ankle A actuator ID 11 and right ankle B actuator ID 12 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 right ankle A actuator EC-A4310-P2-36 (ID 11) and align it into the first hollow nearer to the knee on part 500_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 right ankle B actuator EC-A4310-P2-36 (ID 12) and align it into the second hollow nearer to the ankle on part 500_10C. Make sure that the cable and ports of the actuator are on top of the cable from right ankle A actuator EC-A4310-P2-36 (ID 11) 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 500_10C to align part 500_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 500_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 500_10C to align part 500_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 500_10C and the actuator together.