1. Line one gear stop up with one side of the output pulley, making sure that the holes are in line.
2. Place one dowel pin in each slot on the inside of the output pulley. Push down gently to secure.
3. Line the other gear stop up with the other side of the output pulley, making sure that the holes align. Both gear stops must be perfectly in line with each other.
4. Push the spacer through the center of the output pulley and both gear stops. This step is very difficult. The spacer must be perfectly aligned with the hole to fit. Equal amounts of the spacer should be protruding from both ends of the output pulley.
5. Place one HXO812-2RS Bearing in each side of the idler shell. The bearings should be flush with the idler shell.
6. Push the linear shaft through the idler shell. Equal parts of the shaft should be protruding.
7. Place the input pulley flange on one end of the input pulley. The ridge on the flange should face away from the length of the pulley.
8. Put the 6001-C-2HRS Bearing on the end of the input pulley with the flange on it.

1. Use electrical tape to secure the shaft cap eccentric multi to the middle hole of the right knee housing. The hole on the shaft cap should be closest to the right side of the housing. Two of the screw holes on the opposite sides of the shaft cap need to be aligned with the screw holes on the housing.
2. Use a 2.5 mm T Allen wrench to fasten the 4 screws into the housing.
3. Place the bearing with the arrow facing up (shown on the outside of the bearing) in the housing.
4. Place the output shaft subassembly into the housing. Make sure the longest interior linear portion on the output shaft subassembly fits into the curved cut out portion in the housing. The output shaft should be able to rotate around 110 degrees.
5. Place the input pulley, bearing side down, into the bottom hold of the housing.
6. Place the iglide bearing on the end of the linear shaft from the subassembly in Step 1. Put this end of the linear shaft into the shaft cap.

1. Place the timing belt around the output and input pulleys, making sure the teeth are aligned.
2. Place the input pulley flange on the end of the input pulley with the ridge facing away from the input pulley.
3. Place the small bearing (5972K82_Ball Bearing) on the end of the input pulley.
4. Place the iglide bearing on the end of the linear shaft.
5. Place the large bearing (6656K11_Ultra-Thin Ball Bearing) on the outside of the large hole on the left knee housing. Make sure that the arrows are facing up.
6. Fasten the left knee housing and right knee housings together using the 3 screws and 2.5 mm Allen wrench.

1. Place one bearing on the interior of each pyramid strut. Make sure that the arrow (shown on the outside of the bearing) is facing upwards relative to the pyramid strut.
2. Fasten each of the pyramid struts to the subassembly from Step 3, using two of the MC 92290A761 Socket Head screws on each side.
3. Fasten the center of each pyramid strut to the subassembly from Step 3, using one MC 93395A304_316 Flat Head screw on each side.
4. Place the magnet holder in the hole in the pyramid strut on the right knee housing side.

1. Place the shaft cap eccentric multi on the exposed end of the linear shaft on the left knee housing side. The shaft must be in line with the hole to fit in it.
2. Fasten two MC 93395A174 screws in each shaft cap (one on the right and one on the left knee housing sides). There should be two holes on each side of the housing that fit these screws.

1. Use six MC 93395A252_316 screws to fasten the motor coupling to the actuator.
2. Place all four spacers on the tips of the four screws sticking out of the assembly on the right knee housing side.
3. Align the motor coupling with the hexagonal hotel on the input pulley. Rotate the actuator until it is in line with the screws and spacers on the assembly.
4. Fasten the 4 screws to secure the actuator in place.