Phantom Premium Technical Specifications
3D SYSTEMS Phantom Premium 1.5 & 1.5 High Force
The Premium 1.5 haptic device provides a range of motion approximating lower arm movement pivoting at the elbow. This device includes a passive stylus and thimble gimbal and provides 3 degrees of freedom positional sensing and 3 degrees of freedom force-feedback. An encoder stylus gimbal can be purchased separately, enabling the measurement of pitch, roll & yaw. A PHANTOM Premium 1.5 HF (High Force) device is also available, and includes a built-in gear box option that provides higher forces. The thimble attachment is currently not available.
The Geomagic® Phantom® Premium™ (formerly Sensable Phantom Premium) haptic devices fulfill the requirements of a vast range of research and commercial applications.
These high-precision devices provide the largest workspaces and highest forces in the Phantom line while offering a broad range of force feedback workspaces, various ranges of motion and varying stiffness. Phantom Premium haptic devices also come in 6DOF models, which offer six degrees of freedom (3 translational, 3 torque) in output capabilities.
With ranges of motion approximating hand movement pivoting at the wrist, elbow or shoulder, the Phantom Premium can fulfill the requirements of manufacturing verification, machine component visualization, medical research and simulation, and an assortment of other haptically enabled 3D applications.
Three models make up the Phantom Premium line of haptic devices: Premium 1.0, Premium 1.5 and 1.5/HF, and Premium 3.0. While the models are designed with different ranges of motion and specifications, each one is constructed for maximum durability and simple PC connection via the parallel port (EPP) interface. See below for more information on the individual models.
| Property | Premium 1.5 | Premium 1.5/6DOF | Premium 1.5 High Force | Premium 1.5 High Force/6DOF | Premium 3.0/6DOF | |
|---|---|---|---|---|---|---|
| Workspace | Translational | 15 W x 10.5 H x 7.5 D in 381 W x 267 H x 191 D mm |
15 W x 10.5 H x 7.5 D in 381 W x 267 H x 191 D mm |
33 W x 23 H x 16 D in 838 W x 584 H x 406 D mm |
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| Rotational Yaw Pitch Roll |
297 degrees/5.18 radians 260 degrees 4.54 radians 335 degrees/5.85 radians |
297 degrees/5.18 radians 260 degrees 4.54 radians 335 degrees/5.85 radians |
297 degrees/5.18 radians 260 degrees 4.54 radians 335 degrees/5.85 radians |
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| Range of motion | Lower arm movement pivoting at elbow | Lower arm movement pivoting at elbow | Full arm movement pivoting at shoulder | |||
| Nominal position resolution | Translational | 860 dpi/0.03mm | 3784 dpi/0.007mm | > 1000 dpi/~0.02mm | ||
| Rotational Yaw & Pitch Roll |
0.0023 degrees/0.00004 radians 0.0080 degrees/0.00014 radians |
0.0023 degrees/0.00004 radians 0.0080 degrees/0.00014 radians |
0.0023 degrees/0.00004 radians 0.0080 degrees/0.00014 radians |
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| Maximum exertable force and torque at nominal position (orthogonal arms) | Translational | 1.9 lbf/8.5 N | 8.4 lbf/37.5 N | 4.9 lbf/22 N | ||
| Rotational Yaw & Pitch Roll |
73 oz-in/515 mNm 24 oz-in/170 mNm |
73 oz-in/515 mNm 24 oz-in/170 mNm |
73 oz-in/515 mNm 24 oz-in/170 mNm |
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| Stiffness | 20 lbf in-1 3.5 N mm-1 |
20 lbf in-1 3.5 N mm-1 |
5.7 lbf in-1 1 N mm-1 |
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| Force feedback (6 degrees of Freedom) |
x, y, z | x, y, z, Tx, Ty, Tz | x, y, z | x, y, z, Tx, Ty, Tz | x, y, z, Tx, Ty, Tz | |
| Position sensing/input (6 degrees of Freedom) |
x, y, z, roll, pitch, yaw | x, y, z, roll, pitch, yaw | x, y, z, roll, pitch, yaw | |||
| Interface | Parallel port | Parallel port | Parallel port | |||
| Optional end effectors | Encoder gimbal | Thumb pad (pinch), scissors | HF Encoder gimbal | Thumb pad (pinch), scissors | Thumb pad (pinch), scissors | |