Step 13: Join the Ankle Assemblies
Join the leg assembly from Step 10 and the foot assembly from Step 12 with two M4x25 Socket bolts, then connect the ankle linkages with rod ends, steel bars, two M3 steel washers, and two M3x6 Socket bolts.
Parts needed
| Part | Count |
|---|---|
| Leg assembly from Step 10 | 1 |
| Foot assembly from Step 12 | 1 |
| 2 | |
| 2 | |
| 2 | |
| 1 | |
| 1 | |
| 2 | |
| 2 |
Instructions
Take the leg assembly from Step 10 and put it on the surface such that the back side of the knee is facing upward towards the ceiling and the ankle is facing toward you.
Take 2 of and slot them into the 2 holes at the ankle part, Make sure that the white nylon part is facing each other toward the center.
Take the foot assembly from Step 12 and slot part to fit into the ankle portion on part . Make sure that the holes are aligned with the locknuts.
Take 1 of and insert it into the hole on part from the heel direction and tighten it all the way to secure the part to Part .
Turn the current assembly 180 degrees so that the knee is now facing upward toward the ceiling.
Take 1 of and insert it into the hole on part from the toe direction and tighten it all the way to secure the part to Part .
Take the and the and thread each one onto its on the foot assembly, as shown in the visualization below. You have to keep threading until you don't see any of the thread on the Ball Joint Rod Ends exposed anymore.
It is very important to do this right
Please watch the attached video to know how to do this as it has significant impact to the performance of the locomotion policy of the robot.
Take 2 of and thread each one into the top of one of the 2 bars above. Then, insert them onto part and part . Do the same thing as above to ensure you cannot see any thread left exposed on the Ball Joint Rod End.
Take 2 of and 2 of . Place each washer on each bolt separately and tighten it onto part and part to secure the 2 .
How is this guide?