# 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.

- Page: https://docs.menlo.ai/asimov/1/build/assembly-steps/left-leg-module/knee-and-calf-assembly/step-10
- Section: Asimov › Asimov 1 › Assemble Asimov 1 › Assemble › Left Leg Module › Knee + Calf Assembly
- Previous: [Step 9: Install Left Ankle A and B Actuators](https://docs.menlo.ai/asimov/1/build/assembly-steps/left-leg-module/knee-and-calf-assembly/step-9.md)
- Next: [Step 11: Install the Linkage Shaft](https://docs.menlo.ai/asimov/1/build/assembly-steps/left-leg-module/foot-assembly/step-11.md)

> [!IMPORTANT]
> **Assign actuator IDs before assembly**
>
> Assign and verify all 25 actuator IDs before assembling the robot. The robot will not work correctly with missing or incorrect IDs. IDs must be assigned one actuator at a time on the bench; you may need to disassemble the robot if you skip this step. See [Assign Actuator IDs](https://docs.menlo.ai/asimov/1/build/assembly-preparations/assign-actuator-ids.md).

## Parts needed

| Part | Count |
| - | -: |
| Current assembly from Step 9 | 1 |
| `600_17B` | 1 |
| `600_18B` | 1 |
| `600_13C` | 1 |
| M3x12 Flat bolt | 16 |
| 100 mm double-ended XT30 (2+2) cable | 1 |
| Threadlocker | As needed |

## Instructions

1. Take part `600_18B` and align it with the threaded hole on the actuator nearer to the ankle on part `600_10C`.

2. Take **6 of** M3x12 Flat bolts and then lightly tighten them into the holes on part `600_18B` to align it with the threaded holes on the actuator.

3. After the parts are aligned:

   > [!NOTE]
   >
   > **Not ready to apply threadlocker?**
   >
   > You can assemble without threadlocker while you check the fit, alignment, and orientation. When you are confident, disassemble as needed, apply threadlocker to the bolts, and reassemble them following these instructions.

   - remove **6 of** M3x12 Flat bolts one at a time in a star formation,
   - apply threadlocker,
   - then tighten them back to secure Part `600_18B` and the actuator together.

4. Take part `600_17B` and align it with the threaded hole on the actuator nearer to the knee on part `600_10C`.

5. Take **6 of** M3x12 Flat bolts and then lightly tighten them into the holes on part `600_17B` to align it with the threaded holes on the actuator.

6. After the parts are aligned:

   > [!NOTE]
   >
   > **Not ready to apply threadlocker?**
   >
   > You can assemble without threadlocker while you check the fit, alignment, and orientation. When you are confident, disassemble as needed, apply threadlocker to the bolts, and reassemble them following these instructions.

   - remove **6 of** M3x12 Flat bolts one at a time in a star formation,
   - apply threadlocker,
   - then tighten them back to secure Part `600_17B` and the actuator together.

7. After part `600_17B` and `600_18B` is secured to the actuators. We need to turn the knob such that part `600_17B` (nearer to the knee) is turning to the right and part `600_18B` (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.

8. Take the current assembly and put it on the surface such that the back side of the knee is facing upward towards the ceiling.

9. Take Part `600_13C` and align it on the grove around the actuator hollows.

10. Take **4 of** M3x12 Flat bolts and lightly tighten into the holes of part `600_13C` to align with part `600_10C`.

11. Once part `600_13C` is aligned, fully tighten all **4 of** M3x12 Flat bolts to secure it to part `600_10C`.

12. Connect one connector of the 100 mm double-ended XT30 (2+2) cable to the port on left ankle A EC-A4310-P2-36 actuator (part `600_15X`) (ID 5) and the other connector to the port on left knee EC-A4315-P2-36 actuator (part `600_07X`) (ID 4).