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Specification
DRAGON - Technical Specification - ver 1.0
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The dragon’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
----------------
Scale - Built to anthropomorphic scale,
lizards and Komodo dragons cover a wide range of sizes.
Height - 150 mm
Width - 290 mm span of the legs standing normally
Length - 450 mm Head and body, (excluding non functional tail)
Weight - 1.16 kg
Joints - 6 single axis Servos DoF
Head left / right 1 1
Head up / down 1 1
Front legs in / out 1 1
Front legs rocking beam 1 1
Centre body pivot 1 1
Back legs in / out 1 1
Rear legs rocking beam 1 1
Totals 7 7
Bearings - 2 sleeve bushes one per rocking beam
Servos - 7 (4 mini, 3 standard )
Links - 6
Gear drives - 1 at 1:3 (centre body pivot)
Direct drives - none
Dampers - none
Electrical and control details
------------------------------
Power supply
1.0 Ah 7.2 volts Nickel Cadmium, 12 amp diode 10 amp relay main supply
Voltage regulated supply 1 amp 5 volts
Controllers
Two Scenix SX28AC/DP microcontrollers running at 8 MHz
The SX28AC processors are executing their programs at 8.88 MIPS, but this capacity
is limited by the Stamp2SX which is executing code at 0.01 MIPS
One Stamp2SX microcontroller module
Sensors - seven analogue and digital inputs
Right eye - 1 off analogue input light sensors
Left eye - 1 off analogue input light sensors
Front right foot contact switch
Front left foot contact switch
Back right foot contact switch
Back left foot contact switch
Battery voltage
Outputs
Servo power relay
Collimated red laser diode (nose mounted for vision )
PCBs - three custom designed and fabricated PCBs
Control electronics / processors
control voltage regulation
power management and battery voltage sensing
Anatomical breakdown
--------------------
Head
2 eyes - single pixel light dependant resistor with focus lens
set for convergence with laser output at 250 mm
1 Laser - optical targeting
Body
3 servos
Head pan and tilt
2 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16 g
Centre body pivot
Hitec HS-300 BB Servo - Torque: 3.5 kg/cm, Weight: 44.5 g
2 Scenix SX28AC/DP microcontrollers
1 Stamp2SX microcontroller module
System controls covering all functions
Vision, input, output servo control and memory
3 PCBs
Electronics custom designed double sided,
including power management 1 x 12 amp relay, power sensing, 5 volt 1 amp regulator
Battery - 1.0 Ah 7.2 volt Nickel Cadmium
1 switch - SPST power on/off
1 charge socket
Front right leg
2 x 1/2 servos - Lower leg in / out, leg up / down
Knee - 1/2 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16 g
Rocking beam - 1/2 x Hitec HS-300 BB Servo - Torque: 3.5 kg/cm, Weight: 44.5 g
1 switch - foot contact to floor
Front left leg
2 x 1/2 servos - Lower leg in / out, leg up / down
Knee - 1/2 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16 g
Rocking beam - 1/2 x Hitec HS-300 BB Servo - Torque: 3.5 kg/cm, Weight: 44.5 g
1 switch - foot contact to floor
Back right leg
2 x 1/2 servos - Lower leg in / out, leg up / down
Knee - 1/2 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16 g
Rocking beam - 1/2 x Hitec HS-300 BB Servo - Torque: 3.5 kg/cm, Weight: 44.5 g
1 switch - foot contact to floor
Back left leg
2 x 1/2 servos - Lower leg in / out, leg up / down
Knee - 1/2 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16 g
Rocking beam - 1/2 x Hitec HS-300 BB Servo - Torque: 3.5 kg/cm, Weight: 44.5 g
1 switch - foot contact to floor