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Specification 3.1
Scarlet - Technical Specification ver. 3.1
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Humanoid Robot
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Scarlet’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 1/3 Human in both linear and volumetric (weight)
Proportions approximately human
Height - 670 mm
Width - 270 mm
Depth - 150 mm
Weight - 3.3 kg (servos total weight 1 kg, battery 0.45 kg)
Joints
Servos DoF
13 single axis
Eye focus x 2 1 2
Neck rotate 1 1
Arm rotate x 2 2 2
Elbow joint x 2 2 2
Right hand 1 1
Left wrist 1 1
Knee joint x 2 2 2
Toes x 2 2 2
8 multiple axis
Head tilt and incline 2 2
Shoulders x 2 4 4
Upper body 2 2
Hip joint x 2 6 6
Ankle joint x 2 4 4
Totals 30 31
Bearings - 16, two per joint on the ankles, knees, leg (fore and aft) and leg rotation
Servos - 30 (1 micro, 13 mini, 2 mini high torque, 2 standard, 12 standard high torque)
Links - 19
Gear drives - 7 (6 at 2:1, 1 at 1:1)
Direct drives - 4
Dampers - 2 between the pelvis and upper body
Electrical and control details
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Power supply - 3 Ah 7.2 volts NiMH, 12 amp diode 10 amp relay
Voltage regulated supply 2 amp 5 volts
Microcontrollers
Eleven Scenix SX28AC/DP microcontroller
MIPS Clock-Speed
Right eye 8 MHz
Left eye 8 MHz
Vision processing 50 MHz
Head position control and upper body balance 8 MHz
UART and voice generation 32 MHz
Balance and digital inputs 8 MHz
Motion synchronisation 32 MHz
Right leg servo control and torque feedback 8 MHz
Left leg servo control and torque feedback 8 MHz
Right arm servo control and torque feedback 8 MHz
Left arm servo control and torque feedback 8 MHz
Two Stamp2SX microprocessors
Vision control and memory 50 MHz
Master sequencer / controller 50 MHz
Sensors - Seventy seven analogue and digital inputs
16 x Right eye analogue input light sensors
16 x Left eye analogue input light sensors
4 x Upper body balance digital
4 x Pelvis balance digital
4 x Right foot analogue pressure sensors
4 x Left foot analogue pressure sensors
2 x Right hand digital
2 x Left wrist digital
1 x Battery voltage digital
6 x Left leg analogue torque feedback
6 x Right leg analogue torque feedback
6 x Left arm analogue torque feedback
6 x Right arm analogue torque feedback
Outputs - Fifty five PWM and digital outputs
30 x servos driven by Pulse Width Modulation
1 x Speaker driven by Pulse Width Modulation
1 x Servo power relay
23 x LEDs (Power and communications indicators)
PCBs - Eleven custom designed and fabricated PCB’s
2 x Right and left eye sensor array
2 x Right and left eye vision processors
1 x Vision analysis processor electronics
1 x Head position control and upper body balance, UART and voice generation,
Vision control and memory
1 x Balance and digital inputs, Motion synchronisation
Master sequencer controller
1 x Right and left arm servo control and torque feedback
1 x Power management and battery voltage sensing
2 x Right and left leg servo control and torque feedback
Anatomical breakdown
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Head
4 servos - head turn, tilt up/down, tilt left/right, eyes focus
Head turn - 1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
Head tilt - 2 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
Eyes focus - 1 x Futaba S3106 Micro Servo - Torque: 1.5 kg/cm, Weight: 10g
2 cameras - each 16 pixel fixed focus with software intensity control
1 speaker - 40 mm diameter 8 ohm
3 SX28A - one per eye for ADC, one for vision processing
5 PCBs - custom designed double sided
Upper body
2 servos - left and right arm raise / lower to side
2 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
6 SX28A
Head motion, body balance
Bidirectional communications with buffers (for stamps), sound generation
Motion control
Sensor input control
Right arm servo control and load sensing
Left arm servo control and load sensing
2 BS2SX
Vision input control and memory
Master system controller
3 PCBs - Electronics custom designed double sided
1 PCB
Power management 1 x 12 amp relay,
power sensing,
5 volt 2 amp regulator
1 balance sensor - 2 axis fixed angle digital (pendulum)
2 vibration dampers home-designed and fabricated, oil sealed, air damped
Pelvis
4 servos - 2 for upper body, 2 axis tilt, 2 for left and right leg rotation
Body tilt - 2 x Hitec HS-300 BB Servo - Torque: 3.5 kg/cm, Weight: 44.5g
Leg rotate - 2 x Hitec HS-300 BB Servo - Torque: 3.5 kg/cm, Weight: 44.5g
Battery - 6 cell, 3 Ah 7.2 volt NiMH
1 switch - DPDT power and charging
1 charge socket
4 balance sensors - two per axis, 10-degree mercury tilt switches
Right arm
4 servos - Hand open/close, forearm raise/lower, upper arm rotate
Arm raise/lower for and aft
Hand - 1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
Forearm - 1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
Arm rotate - 1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
Arm raise - 1 x HitecHS-225 MG Mini Servo - Torque: 4.8 kg/cm, Weight: 31g
2 switches - Hand contact finger and palm
Left arm
4 servos - Wrist left/right, forearm raise/lower, upper arm rotate
Arm raise/lower for and aft
Wrist - 1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
Forearm - 1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
Arm rotate - 1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
Arm raise - 1 x HitecHS-225 MG Mini Servo - Torque: 4.8 kg/cm, Weight: 31g
2 switches - contact, wand left and right
Right leg
5 servos - Leg for/aft, leg in/out, knee forward/back, foot up/down
Foot tilt in/out
Leg raise - 1 x Hitec HS-625 MG Servo - Torque: 6.8 kg/cm, Weight: 60g
Leg lateral - 1 x Hitec HS-545 BB Servo - Torque: 5.5 kg/cm, Weight: 44.5g
Knee - 1 x Hitec HS-645 MG Servo - Torque: 9.6 kg/cm, Weight: 60g
Foot raise - 1 x Hitec HS-625 MG Servo - Torque: 6.8 kg/cm, Weight: 60g
Foot tilt - 1 x Hitec HS-300 BB Servo - Torque: 3.5 kg/cm, Weight: 44.5g
1 SX28A - Right leg servo control and load sensing
1 PCB - custom designed double sided
Left leg
5 servos - Leg for/aft, leg in/out, lower leg forward/back, foot up/down
Foot tilt in/out
Leg raise - 1 x Hitec HS-625 MG Servo - Torque: 6.8 kg/cm, Weight: 60g
Leg lateral - 1 x Hitec HS-545 BB Servo - Torque: 5.5 kg/cm, Weight: 44.5g
Knee - 1 x Hitec HS-645 MG Servo - Torque: 9.6 kg/cm, Weight: 60g
Foot raise - 1 x Hitec HS-625 MG Servo - Torque: 6.8 kg/cm, Weight: 60g
Foot tilt - 1 x Hitec HS-300 BB Servo - Torque: 3.5 kg/cm, Weight: 44.5g
1 SX28A - Left leg servo control and load sensing
1 PCB - custom designed double sided
Right foot - 1 servo, Toe up/down
1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
4 load sensors - Custom design using pressure sensitive rubber
Left foot - 1 servo, Toe up/down
1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
4 load sensors - Custom design using pressure sensitive rubber