Step 6: Install the Left Hip Roll Actuator

Put the pelvis assembly from Step 5 on a flat surface, oriented it such that the left hip pitch actuator is facing upward toward the ceiling. Part 200_16A face toward your right, and the solid part face toward you.

Take part 200_04B and align it 6 holes to the 6 holes on the actuator shaft. Oriented it such that the protruding metal stopper part stays in between the larger gap of the 2 metal stoppers on part 200_03A.

Take 6 of M4x12 Socket bolts, lightly tighten into the 6 holes of part 200_04B to align the part with the actuator.

After the parts are aligned:

• remove 6 of M4x12 Socket bolts one at a time in a star formation,
• apply threadlocker,
• then tighten them back to secure Part 200_04B and the actuator together.

Take EC-A5013-H17-100 actuator (ID 2) and connect the XT30 (2+2) connector of the 180 mm single-ended XT30 (2+2) cable to the actuator port nearest the hollow shaft, then route the cable through the shaft.

Slide the actuator through part 200_04B such that the holes on circumference of the actuator are aligned with the holes on the arch of part 200_04B. The actuator shaft should be facing forward in the same direction as where Part 200_15C is.

Connect the free connector of the left hip pitch actuator cable to the specified port on left hip roll actuator (ID 2).

Before moving on to the next step, you need to make sure that the actuator is oriented correctly. The LED on the actuator needs to be roughly positioned as shown in the visualization, as it will need to shine through the LED cut-out on the back cover. Please refer to the video below for more details.

Take 6 of M4x6 Socket bolts and lightly tighten them into the 6 holes of part 200_04B to align the part with the actuator.

After the parts are aligned:

• remove 6 of M4x6 Socket bolts one at a time in a star formation,
• apply threadlocker,
• then tighten them back to secure part 200_04B and the actuator together.

Lay the pelvis assembly flat on a surface such that the Part 200_15C is facing upward toward the ceiling. Take part 200_08C and slot the actuator (ID 2) into it such that the actuator shaft goes through the round hole on part 200_08C.

Take 3 of M4x14 Socket bolts and tighten into the 3 holes on top of part 200_08C to secure the part to the actuator.

After the parts are aligned:

• remove 3 of M4x14 Socket bolts one at a time,
• apply threadlocker,
• then tighten them back to secure Part 200_08C and the actuator together.

Flip the pelvis assembly upside down such that part 200_15C is now facing downward. Take part 200_09C and align it with part 200_08C such that the three holes on part 200_09C aligned with threaded insert on part 200_08C.

Take 3 of M4x8 Socket bolts and tighten into the 3 holes on part 200_09C to secure the part to part 200_08C.