The way I rip the Sonic 1 title screen sprites is this:
First of all, get BizHawk. It has several consoles in one emulator, Sega Genesis is one of them.
For getting the character that appears in the logo:
First, run the game until you get to the title screen.
Second, go into Genesis → Settings, and switch Layers "A", and "B" to false. And switch "Use custom backdrop color" to true, to turn the background purple to help capture the frames.
Third, you can skip one frame at a time in BizHawk by pressing "F" (no joke intended XD).
For ripping the logo:
First, run the game until you get to the title screen.
Second, go into Genesis → Settings, and switch Layers "B", and "Sprite" to false. And switch "Use custom backdrop color" to true.
Third, now screenshot the logo, and that's how you can rip that.
I hope this helps!