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Specification
CAT Technical Specification - ver 1.1
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The cat’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
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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
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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 LED’s (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
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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