Robots and Systems
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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