1. Gather the dynamixel horn and a washer and attach them to the dynamixel (MX-106). Make sure to orient the horn so that the little indents on the horn and the dynamixel shaft are aligned.

1. Use (6) 2.5mm nuts and (6) 2.5x10mm hex screws and attach the 45 degree brackets to the underside of the dynamixel

   

   

2. Use (4) 3mm nuts and (4) 3x16 mm screws to attach the 80/20 mount to the 45 degree brackets

   

   

   

   

3. Connect the two dynamixel cables. It is very important to do this step before the next step as they are difficult to connect after attaching the shoulder bearing plate.

1. Use (8) 2.5x8mm screws to attach the other side of the dynamixel to the shoulder bearing plate

   

   

2. Attach the ring bearing and washer

   

   

3. Attach the shoulder pitch mount using (8) 2.5x4mm screws

Shoulder yaw dynamixel:

1. Attach idle horn to underside of the dynamixel MX-64AT. The order from bottom to top is horn, bearing, cap, screw. Use the screw to tighten the bearing. Remove after tightening.

2. Fasten the MX-64AT to the shoulder yaw mount with (18) 2.5x4mm screws