Step 13: Join the Ankle Assemblies
Join Subassemblies B and C with two M4x25 socket bolts, then connect the ankle linkages with rod ends, steel bars, and two M3x6 socket bolts.
Parts needed
| Part | Count |
|---|---|
| Subassembly B | 1 |
| Subassembly C | 1 |
| M4 nylon-insert nuts | 2 |
| M4x25 socket bolts | 2 |
| Ball Joint Rod End | 2 |
| Stainless Steel Bar | 2 |
| M3x6 socket bolts | 2 |
Instructions
Take Sub Assembly B 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 – M4 nylon-insert nuts and slot it into the 2 holes at the ankle part, Make sure that the white nylon part is facing each other toward the center.
Take Sub Assembly C and slot part to fit into the ankle portion on part . Make sure that the holes are aligned with the locknuts.
Take 1 – M4x25 Socket bolt 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 – M4x25 Socket bolt 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 2 - Stainless Steel Bar and thread them onto the 2 Ball Joint Rod End from Sub Assembly C. You have to keep threading until you don't see any of the thread on the Ball Joint Rod End exposed anymore.
It is very important to do this left
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 - Ball Joint Rod End and thread each one into one of the 2 - Stainless Steel Bars above. Then, insert them onto part and part . Do the same thing as above to ensure you cannot see any thread right expose from the Ball Joint Rod End.
Take 2 - M3x6 socket bolt and 2 - M3 Steel Washer. Place each steel washer on each socket boltes separately and tighten it onto part and part to secure the 2 Ball Joint Rod End.
How is this guide?