# Step 6: Close the Shoulder Actuator Housing

> Join parts 300_13C and 300_14C around the actuators with the carried socket bolts and secure part 300_13C to actuator ID 20 with three threadlocked M4x8 Socket bolts.

- Page: https://docs.menlo.ai/asimov/1/build/assembly-steps/right-arm-module/upper-arm-assembly/step-6
- Section: Asimov › Asimov 1 › Assemble Asimov 1 › Assemble › Right Arm Module › Upper Arm Assembly
- Previous: [Step 5: Connect the Shoulder Cable Connectors and Position the Actuators](https://docs.menlo.ai/asimov/1/build/assembly-steps/right-arm-module/upper-arm-assembly/step-5.md)
- Next: [Step 7: Connect and Join the Shoulder Assemblies](https://docs.menlo.ai/asimov/1/build/assembly-steps/right-arm-module/shoulder-and-upper-arm-connection/step-7.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 |
| - | -: |
| Actuator housing assembly from Step 5 | 1 |
| Bearing housing from Step 3 | 1 |
| M4x8 Socket bolt | 3 |
| Threadlocker | As needed |

## Instructions

1. Put the part `300_14C` (the part with the actuator secured to it) flat on a surface, such that the actuator is facing upward toward the ceiling.

2. Slowly remove **4 of** M4x25 Socket bolts, one bolt at a time around the round surface edge surrounding the actuator. Do it slowly so you can avoid the square nut from falling out of the slots.

3. Put the Part `300_13C` and Part `300_14C` together such that the actuator is well encapsulated and all the holes on the surface aligned with each other.

4. Take each of the **4 bolts** you just removed and then secure it through the aligned hole from Part `300_13C`.

5. Tighten the **3 bolts** we have put in place in Step 3 Instruction 3 around the circumference of the part `300_13C`. Don’t over tighten it, it is just meant to secure the actuator in place.

6. Take **3 of** M4x8 Socket bolts and lightly tighten into the three hole on the longe end of part `300_13C` to align the part with the actuator.

7. 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 **3 of** M4x8 Socket bolts one at a time,
   - apply threadlocker,
   - then tighten them back to secure Part `300_13C` and the actuator together.