Things You'll Need
Instructions
Assemble the joint out of Bionicle connectors.
Attach a rod-ended Technic pin to the moving Bionicle part on the joint.
Insert a rod into a gear and attach the rod to the stationary part of the Bionicle joint. Keep the rod in place using a spacer or washer. Attach a Technic beam to the end of the rod as well. This becomes the moving arm for this joint.
Connect the moving Technic pin to the moving arm using another Technic beam and a pin to join them. When you turn the gear on the body, the moving arm should push or pull the Bionicle joint.
Connect the joint to your robot. Mesh the gear with powered gear -- one connected to a motor or servo -- to automate the motion of this joint.
Repeat for the other moving Bionicle joints you wish to attach to your robot.