> For the complete documentation index, see [llms.txt](https://ruka.gitbook.io/instructions/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://ruka.gitbook.io/instructions/hardware/mount-pulleys.md).

# Mount Pulleys

## Materials

<table><thead><tr><th width="252">Part Name</th><th width="144" align="center">Total Quantity</th></tr></thead><tbody><tr><td>Small Pulleys</td><td align="center">8</td></tr><tr><td>Large Pulleys</td><td align="center">3</td></tr><tr><td>6mm Dynamixel screws*</td><td align="center">16</td></tr><tr><td>M2 x 4 mm Screws</td><td align="center">6</td></tr><tr><td>Assembled Hand</td><td align="center">1</td></tr><tr><td>Scissors</td><td align="center">1</td></tr></tbody></table>

\*Screws come with the dynamixel motors

## Instructions

### Video

{% embed url="<https://drive.google.com/file/d/1JcMf9sQBXj1iVTN51lllsh5BIqMdK3dy/view?quality=hd&usp=sharing>" %}

### 0. Set all the motor positions to 100 for the right hand and 4000 for the left hand

### 1. Insert the string

Feed the string through the pulley

<figure><img src="/files/Wbao1oHxPyRcUSNPiqZ5" alt="" width="188"><figcaption></figcaption></figure>

### 2. Loosely attach the pulley to the motor

Attach the pulley with two screws loosely such that the string can still be pulled

<figure><img src="/files/M3SIpcrhcalADWCegRBR" alt="" width="188"><figcaption></figcaption></figure>

### 3. Tie the knot

&#x20;Tie the knot in the string as close to the pulley as possible, then pull the string through.

<div><figure><img src="/files/82Nf1SZJmoTidn4H14O0" alt="" width="188"><figcaption></figcaption></figure> <figure><img src="/files/4n31AMHOlJDc0LOcCwe6" alt="" width="188"><figcaption></figcaption></figure></div>

### 4. Tighten the screws all the way

Repeat this for all motors.


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