TechnicalSpecification.txt

Technical Specification
=======================

Physical details
----------------

  Height                           250 mm
  Width                            220 mm
  Length                           290 mm
  Length including arm and gripper 290 mm
  Weight                           1.7 kg 

  Joints		
                                  Servos  DoF
    6 two axis legs
      Hip rotate, vertical axis	    1      1
      Leg raise/lower               1      1
                         Total     12     12

    1 ultrasonic scanner            1      1
    Arm raise/lower                 1      1
    Gripper open/close              1      1
                         Totals    15     15

  Servos 15 (9 standard, 6 high torque standard)

Electrical and control details
------------------------------

  Power supply
    2Ah 7.2v Nickel Cadmium 10 amp diode 10 amp relay main supply
    Voltage regulated supply 1 amp 5 volts

  microcontrollers	
    One Parallax BS2SX module with Scenix SX28 microcontroller running at 50 MHz,
    with a 24WC128, 16Kbyte EEPROM for memory storage executing the programs at 
    10,000 high level instructions /sec.

    One PIC16F876 microcontroller running at 4MHz, Behavioural Operating System

    Five PIC12C509 microcontrollers running at 4MHz, 3-servo drivers

    One Scenix SX28 microcontroller running at 4MHz, ultrasonic scanning

    One PIC12C509 microcontroller running at 4MHz, infra-red communications

    One PIC16F84 microcontroller running at 4MHz, LCD manager

  Sensors
    Analogue inputs
      Ultrasonic rangefinder
      Infra-red communications link
      Serial communications port (for use with off board computer)
      Expansion connector with remappable digital I/O and/or serial communication channels
    Digital inputs
      Right feeler/gripper-pad, contact switch
      Left feeler/gripper-pad, contact switch
      Four keys on LCD/keypad
      Expansion connector with remappable digital I/O and/or serial communication channels

  Outputs
    Speaker - 16 mm diameter piezo
    Two LEDs - Red, Green
    Servo power Relay
    Auxiliary electronics and slave-microcontroller Relay
    Serial communications port (for use with off board computer)
    Expansion connector with remappable digital I/O and/or serial communication channels

  Communications port
    Serial communications port (for use with off board computer)

  PCBs
    Two custom PCBs
      Main PCB
      LCD/keypad


Anatomical breakdown
--------------------
  Body
    1 speaker - 16 mm diameter piezo
    1 servo   - ultrasonic scanner
                1 x SuperTec S03 Standard Servo - Torque: 3.4 kg/cm, Weight: 42g
    2 PCBs
      Electronics, custom designed double sided
      LCD/keypad

    1 battery: 2 Ah 7.2 volt Nickel Cadmium racing pack

  Six legs
    2 servos
      Hip rotate - vertical axis - foot forward and back
        1 x SuperTec S03 Standard Servo - Torque: 3.4 kg/cm, Weight: 42g
      Hip rotate - horezontal axis - leg up/down
        1 x SuperTec S06/2BB Standard high torque Servo - Torque: 7.2 kg/cm, Weight: 48g

  Arm/Gripper
    1 servo
      Shoulder - arm up/down
        1 x SuperTec S03 Standard Servo - Torque: 3.4 kg/cm, Weight: 42g
    1 servo
      Hand - gripper open/close
        1 x SuperTec S03 Standard Servo - Torque: 3.4 kg/cm, Weight: 42g