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CAT Technical Specification - ver 1.1
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The catís 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   Approx 1/2 scale to standard Felix domesticus in linear dimensions and 
                 1/4 scale volumetric (weight) 

  Height  250 mm

  Width   140 mm

  Depth   260 mm

  Weight  0.945 kg 

  Joints
    6 single axis         Servos  DoF
        Head tilt             1	   1
        Neck rotate           1    1
        Front right knee      1    1
        Front left knee       1	   1
        Back right knee       1	   1
        Back left knee        1	   1
        Tail up / down        1    1
    4 dual axis
        Front right shoulder  1.5  2
        Front left shoulder   1.5  2
        Back right shoulder   1.5  2
        Back left shoulder    1.5  2
            Totals           13   15

  Bearings      - 4 sleeve bushes one per shoulder joint.

  Servos        - 13 (1 micro, 12 mini )

  Links         - 2 (head tilt, tail up / down)

  Gear drives   - 1 at 1:4 (neck rotate)

  Direct drives - 8

  Dampers       - None

Electrical and control details
------------------------------
  Power supply
    1.5 Ah 7.2 volts Lithium Polymer, 12 amp diode, 10 amp relay main supply
    Voltage regulated supply 1 amp 5 volts

  Controller
    One Scenix SX48BD/TQ microcontroller running at 16 MHz
    executing the program at 8.88 MIPS.
    24LC16BP, 16K EEPROM for memory storage.

  Sensors - Twenty five analogue and digital inputs
    Right eye 9 off analogue input light sensors
    Left eye 9 off analogue input light sensors
    Head pat switch
    Right whiskers contact switch
    Left whiskers contact switch
    Front right foot contact switch
    Front left foot contact switch
    Battery voltage 1 off digital

  Outputs
    Speaker
    2 x LEDís (Power and communications indicators with the pat switch)
    Focused ultra bright LED (nose mounted for vision assistance)
    Servo power relay

  PCBs - Four custom designed and fabricated PCBs
    Right eye sensor array 
    Left eye sensor array
    Surface mount processor 
    Power management and battery voltage sensing, servo control, amplifiers, 
      vision circuit switching and all I/O connections


Anatomical breakdown
--------------------

  Head	
    2 servos - head turn, tilt up/down 
      Head turn	1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16 g
      Head tilt 1 x Futaba S3106 Micro Servo - Torque: 1.5 kg/cm, Weight: 10 g
    2 cameras  - Each 9 pixel; fixed focus with electronic intensity control
    6 whiskers - 2 banks of three, left and right,
                 each bank being three switches in parallel
    3 LEDs - Power, communications and optical targeting
    1 Pat switch
    2 PCBs - Custom designed double sided	

  Body
    1 Speaker - 40 mm diameter 8 ohm	
    3 Servos - front and back legs in/out, tail up/down.
      3 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16 g
      1 SX48BD/TQ - System controller covering all functions
                    vision, input, output servo control and memory
    2 PCBs - Electronics custom designed double sided
             including power management 1 x 12 amp relay, 
             power sensing, 5 volt 1 amp regulator
    Battery - 2 cell, 1.5 Ah 7.2 volt Lithium Polymer
    1 Switch - SPST power
    1 Charge socket

  Front right leg
    2 servos - Knee forward / back, shoulder forward / back
      Knee     -1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16 g 
      Shoulder -1 x Hitec-225BB Mighty Mini Servo - Torque: 4.8 kg/cm, Weight: 27 g
    1 switch - Foot contact to floor

  Front left leg
    2 servos - Knee forward / back, shoulder forward / back
      Knee     -1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16 g
      Shoulder -1 x Hitec-225BB Mighty Mini Servo - Torque: 4.8 kg/cm, Weight: 27 g
    1 switch - Foot contact to floor

  Back right leg
    2 servos - Knee forward / back, shoulder forward / back
      Knee     -1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16 g
      Shoulder -1 x Hitec-225BB Mighty Mini Servo - Torque: 4.8 kg/cm, Weight: 27 g

  Back left leg
    2 servos - Knee forward / back, shoulder forward / back
      Knee     -1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16 g
      Shoulder -1 x Hitec-225BB Mighty Mini Servo - Torque: 4.8 kg/cm, Weight: 27 g