Step 10: Install the Linkage Cranks and Cover
Install and align the ankle linkage cranks, attach the rear cover, and connect the XT30 (2+2) cable connectors to actuator IDs 5 and 4.
Parts needed
| Part | Count |
|---|---|
| Current assembly from Step 9 | 1 |
| 1 | |
| 1 | |
| 1 | |
| 16 | |
| 100 mm double-ended XT30 (2+2) cable | 1 |
| Threadlocker | As needed |
Instructions
Take part and align it with the threaded hole on the actuator nearer to the ankle on part .
Take 6 of and then lightly tighten them into the holes on part to align it with the threaded holes on the actuator.
After the parts are aligned:
- remove 6 of one at a time in a star formation,
- apply threadlocker,
- then tighten them back to secure Part and the actuator together.
Take part and align it with the threaded hole on the actuator nearer to the knee on part .
Take 6 of and then lightly tighten them into the holes on part to align it with the threaded holes on the actuator.
After the parts are aligned:
- remove 6 of one at a time in a star formation,
- apply threadlocker,
- then tighten them back to secure Part and the actuator together.
After part and is secured to the actuators. We need to turn the knob such that part (nearer to the knee) is turning to the right and part (nearer to the ankle) is turning to the left. The two knobs should be parallel with each other because they serve as the linkage for the ankle mechanism.
Take the current assembly and put it on the surface such that the back side of the knee is facing upward towards the ceiling.
Take Part and align it on the grove around the actuator hollows.
Take 4 of and lightly tighten into the holes of part to align with part .
Once part is aligned, fully tighten all 4 of to secure it to part .
Connect one connector of the 100 mm double-ended XT30 (2+2) cable to the port on left ankle A (ID 5) and the other connector to the port on left knee (ID 4).
How is this guide?