Step 9: Install Right Ankle A and B Actuators
Connect and install right ankle A actuator ID 11 and right ankle B actuator ID 12.
Parts needed
| Part | Count |
|---|---|
| Current assembly from Step 8 | 1 |
| Right ankle A (ID 11) | 1 |
| Right ankle B (ID 12) | 1 |
| 100 mm double-ended XT30 (2+2) cable | 1 |
| 12 | |
| Threadlocker | As needed |
Instructions
Flip the current assembly over such that the knee part is facing downward toward the surface and the 2 hollow portions of part are facing upward toward the ceiling.
Place right ankle A (ID 11) and right ankle B (ID 12) on a flat surface with their shafts facing downward and ports near the top. Connect one connector of the 100 mm double-ended XT30 (2+2) cable to the port on ankle A and the other connector to the port on ankle B.
Take right ankle A (ID 11) and align it into the first hollow nearer to the knee on part . The actuator shaft should be facing downward toward the floor. Make sure that the port and cable are aligned with the joint port cut-out between the two hollow portions.
Remember to match the Actuator LED with the cutout
You should be able to see the LED cut-outs on the calf part . Make sure that the actuator is oriented correctly, so that the LED portion of the actuator lines up with those cut-outs.
Take right ankle B (ID 12) and align it into the second hollow nearer to the ankle on part . Make sure that the cable and ports of the actuator are on top of the cable from right ankle A (ID 11) in the joint port cut out.
Remember to match the Actuator LED with the cutout
You should be able to see the LED cut-outs on the calf part . Make sure that the actuator is oriented correctly, so that the LED portion of the actuator lines up with those cut-outs.
Bend the knee upward such that the ankle is facing the ceiling slowly. You should be seeing the 2 actuator shafts facing you right now.
Take 6 of and lightly tighten them through the 6 holes around the first hollow near to the knee on part to align part with the actuator underneath.
After the parts are aligned:
- remove 6 of one at a time in a star formation,
- apply threadlocker,
- then tighten them back to secure Part and the actuator together.
Take 6 of and lightly tighten them through the 6 holes around the second hollow near to the ankle on part to align part with the actuator underneath.
After the parts are aligned:
- remove 6 of one at a time in a star formation,
- apply threadlocker,
- then tighten them back to secure Part and the actuator together.
How is this guide?
Step 8: Assemble the Knee Housing
Fit the thigh assembly from Step 7 into the knee housing and install both side plates.
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 11 and 10.