Fitting the actuator head / platform / end effector is the following process;

1. Push the PTFE tubes through passages in the base, these will allow the wire to pass through the base with minimal friction
2. Pass the wire through the end piece so that there is equal lengths of wire at each end (platfrom is in the middle of the wire)
3. Pass one end of wire through the compression spring
4. Then pass the wire through the PTFE tube in the base
5. The wire then passes through the nearest hole in the lever and back out the next hole

6. The wire can then be half wrapped around the M1.2 screw, which is used for fixing the wire in position.

The other side follows the same pattern

With all of the wires fitted the system needs to be adjusted so that all of the legs are equal lengths when the levers are in the same position. The springs also need to be tensioned such that at maximum extension there is sufficient force from the spring, but when fully retracted / tight that the spring is not over compressed and buckling excessively.