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Specification
CAT Technical Specification - ver 2.0
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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 0.95 kg
Joints
6 single axis Servos DoF
Head tilt 1 1
Neck rotate 1 1
Tail up / down 1 1
Front right knee 1 1
Front left knee 1 1
Back right knee 1 1
Back left knee 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 - 12 (1 micro, 12 mini )
Links - 6 (1 x head tilt,
2 x front legs in / out,
2 x back legs in / out,
1 x 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
Microprocessors
One Scenix SX48BD/TQ microprocessor running at 16 MHz
with a 24LC16BP, 16K EEPROM for memory storage
executing the programs at 8.88 MIPS.
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 - Twenty PWM and digital outputs
2 x LED’s (Power and communications indicators with the pat switch)
Focused ultra bright LED (nose mounted for vision assistance)
Servo power relay
2 x eye switching transistors
13 x servos driven by Pulse Width Modulation
Speaker driven by Pulse Width Modulation
PCBs - Four custom designed and fabricated PCBs
1 x Right eye sensor array
1 x Left eye sensor array
1 x Surface mount processor
1 x Mother board for 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: 16g
Head tilt
1 x Futaba S3106 Micro Servo - Torque: 1.5 kg/cm, Weight: 10g
2 cameras - Each 9 pixel fixed focus with software 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 - Instrument spring switch under custom lever padle
2 PCBs - Custom designed double sided
Body
1 Speaker - 40 mm diameter 8 ohm
3 Servos - front and back legs in/out
2 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
- Tail up / down
1 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
1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
Shoulder forward / back
1 x Hitec Mighty Mini Servo - Torque: 4.8 kg/cm, Weight: 27g
1 switch - Foot contact to floor
Front left leg
2 servos
Knee forward / back
1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
Shoulder forward / back
1 x Hitec Mighty Mini Servo - Torque: 4.8 kg/cm, Weight: 27g
1 switch - Foot contact to floor
Back right leg
2 servos
Knee forward / back
1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
Shoulder forward / back
1 x Hitec Mighty Mini Servo - Torque: 4.8 kg/cm, Weight: 27g
Back left leg
2 servos
Knee forward / back
1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
Shoulder forward / back
1 x Hitec Mighty Mini Servo - Torque: 4.8 kg/cm, Weight: 27g