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Specification
BUG Technical Specification - ver 1.0
===========================
The bug’s technical specification has been grouped into the three following sections:
Physical details,
Electrical and control details and
Anatomical breakdown.
These give the overall physical sizes, mechanical, electrical and control equipment
content, and the anatomical breakdown gives an indication of the location of all of
the parts related to each other.
Physical details
----------------
Scale - Not applicable, bugs don't come this big, normally!
Height - 135 mm
Width - 360 mm
Depth - 220 mm
Weight - 0.97 kg
Joints - 4 Dual axis
Servos DoF
Front right shoulder 2 2
Front left shoulder 2 2
Back right shoulder 2 2
Back left shoulder 2 2
Totals 8 8
Bearings - none
Servos - 8 standard
Links - 8
Gear drives - none
Direct drives - 8
Dampers - none
Electrical and control details
------------------------------
Power supply - 1.0 Ah 7.2 volts Nickel Cadmium, 12 amp diode
Voltage regulated supply 0.1 amp 5.2 volts
Microcontroller - 1 Stamp2 running at 0.002 MIPS
Sensors - 13 analogue and digital inputs
Right whisker contact switch
Left whisker contact switch
Centre whisker contact switch
Right eye - (Light Dependant Resistor)
Left eye - (Light Dependant Resistor)
Front right foot contact switch
Front left foot contact switch
Back right foot contact switch
Back left foot contact switch
Tilt forward switch
Tilt backward switch
Battery voltage
Voltage regulator temperature
Outputs - Speaker
PCBs - 1 servo driver PCB from Milford Instruments
Anatomical breakdown
--------------------
Head
2 eyes - each single pixel with intensity control
1 whisker - centrally mounted switch contact
Body
1 speaker - 50 mm diameter 3.5k ohm piezo electric
2 whiskers- switch contact, left and right mounted to cover, in front of front feet
8 servos - All four legs, forward / back, up / down 2 servos per leg.
Each leg mounted to the body by a universal joint
Futaba FPS148 Servo - Torque: 3.5 kg/cm, Weight: 44.5 g
1 Stamp2 - System controller covering all functions
inputs, outputs servo control and memory
1 PCB - Milford Instruments 8 servo driver board
With the Stamp 2 mounted on the board
including 5 volt 0.1 amp regulator,
modified with a 10 A diode replacing the 1 amp voltage regulator
to give increased power to the servos
Battery - 6 cell, 1.0 Ah 7.2 volt Nickel Cadmium
1 switch - DPST power
1 charge socket
Front right leg
2 servos - Leg forward / back and Up / down
Forward / back - Futaba FPS148 Servo - Torque: 3.5 kg/cm, Weight: 44.5 g
Up / down - Futaba FPS148 Servo - Torque: 3.5 kg/cm, Weight: 44.5 g
1 switch - Foot contact to floor
Front left leg
2 servos - Leg forward / back and Up / down
Forward / back - Futaba FPS148 Servo - Torque: 3.5 kg/cm, Weight: 44.5 g
Up / down - Futaba FPS148 Servo - Torque: 3.5 kg/cm, Weight: 44.5 g
1 switch - Foot contact to floor
Back right leg
2 servos - Leg forward / back and Up / down
Forward / back - Futaba FPS148 Servo - Torque: 3.5 kg/cm, Weight: 44.5 g
Up / down - Futaba FPS148 Servo - Torque: 3.5 kg/cm, Weight: 44.5 g
1 switch - Foot contact to floor
Back left leg
2 servos - Leg forward / back and Up / down
Forward / back - Futaba FPS148 Servo - Torque: 3.5 kg/cm, Weight: 44.5 g
Up / down - Futaba FPS148 Servo - Torque: 3.5 kg/cm, Weight: 44.5 g
1 switch - Foot contact to floor