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Geomagic Phantom Premium 6DOF
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The premier haptic products in the Geomagic® Phantom® line, (formerly Sensable) Phantom Premium 6DOF haptic devices offer highly accurate 3D object manipulation and allow users to explore application areas that require force feedback in six degrees of freedom rather than three, such as virtual prototyping, maintenance path planning and molecular modeling.     Online:
 
theblurb
    'theblurb' is the promotional marketing literature provided for this product.

Geomagic Phantom Premium 6DOF (Degrees of Freedom)

The premier haptic products in the Geomagic® Phantom® line, (formerly Sensable) Phantom Premium 6DOF haptic devices offer highly accurate 3D object manipulation and allow users to explore application areas that require force feedback in six degrees of freedom rather than three, such as virtual prototyping, maintenance path planning and molecular modeling.

In addition to force feedback along the x-, y- and z-axis, the Phantom Premium 6DOF haptic device simulates torque force feedback in three rotational degrees of freedom: yaw, pitch and roll. Incorporating six degrees of freedom, these motorized devices provide more complete touch-based feedback that allows users to feel collision and reaction torques on a part in a virtual assembly path or feel the rotational torques supported by a remote slave robot in a teleoperation environment.

The Phantom Premium 6DOF family of haptic devices is comprised of three models. The Phantom Premium 1.5/6DOF and 1.5HF/6DOF provide a range of motion approximating lower arm movement pivoting at the elbow. A larger haptic device, the Phantom Premium 3.0 6DOF provides a greater range of motion, approximating full arm movement pivoting at the shoulder.

Phantom Premium 6DOF devices can also be fitted with optional end effectors that provide pinch functionality, simulating a seventh degree of freedom, for application in medicine, manufacturing and more.

Phantom Premium 1.5 and 1.5 High Force (HF) 6DOF Devices

The Phantom Premium 1.5/6DOF and 1.5HF/6DOF haptic devices provide a range of motion approximating lower arm movement pivoting at the elbow. These devices provide force feedback in three translational degrees of freedom as well as torque feedback in three rotational degrees of freedom in the yaw, pitch and roll directions. The Premium 1.5HF device includes a built-in gear box option that provides higher forces. The 1.5/6DOF and the 1.5HF/6DOF devices connect to the PC via the parallel port (EPP) interface.

The 1.5/6DOF and 1.5HF/6DOF devices now ship with chrome components. If you are using these devices with optical tracking equipment, please contact us.

Phantom Premium 3.0 6DOF

The 3.0/6DOF provides a range of motion approximating full arm movement pivoting at the shoulder. This device provides force feedback in three translational degrees of freedom as well as torque feedback in three rotational degrees of freedom in the yaw, pitch and roll directions. The 3.0/6DOF device connects to the PC via the parallel port (EPP) interface.

The 3.0/6DOF device now ships with chrome components. If you are using this device with optical tracking equipment, please contact us.

7 DOF Option for Phantom 6 DOF Devices

A new handle design for the PHANTOM 6 DOF family of haptic devices enables attaching interchangeable end effectors that provide pinch functionality -- 7 DOF positional sensing and 6 DOF haptic feedback. Take advantage of all the benefits of a full 6 DOF haptic controller plus the option to add two different pinch grips.

Applications

Six-DoF Haptic Rendering of Contact between Geometrically Complex Reduced Deformable Models

A paper by Jernej Barbič (Carnegie Mellon University), Doug L. James (Cornell University) on the topic of how to simulate haptic contact between a rigid object and a reduced FEM deformable object, both with complex geometry.

OpenHaptics Toolkit with QuickHaptics micro API

Using the Phantom Premium with our QuickHaptics micro API enables rapid program design and deployment. With QuickHaptics you can write a simple graphic/haptics application using 8 lines of programming code instead of 300!

Features

  • Largest force-feedback workspaces and high-precision instruments meet the requirements of a broad range of reseARCh project or commercial applications
  • Sturdy design
  • Wide range of motion
  • 6-degree-of-freedom force feedback
  • Device connects to the PC via parallel port (EPP) interface
  • CE certified

    Features of Geomagic Phantom Premium 6DOF (Degrees of Freedom)

  • High-precision instruments
  • Largest force feedback workspaces in the Phantom line
  • Highest forces in the Phantom line
  • Range of motion - Can accommodate full range of motion pivoting at the elbow or shoulder
  • Range of stiffness
  • 6-degree-of-freedom (6DOF) positional seating
  • 6-degree-of-freedom force feedback, includes torque x, y, z
  • Patient-protected
  • Supports OpenHaptics toolkit with QuickHaptics micro API
  • CE certified

    Phantom Premium 1.5/6DOF, 1.5 HighForce/6DOF AND 3.0/6DOF Haptic Devices

    The PHANTOM 1.5/6DOF, 1.5 HighForce/6DOF and 3.0/6DOF devices allow users to explore application areas that require force feedback in six degrees of freedom (6DOF). Altogether, these devices provide force feedback in three translational degrees of freedom and torque feedback in three rotational degrees of freedom (the yaw, pitch and roll directions). The 1.5/6DOF and 1.5 HighForce/6DOF devices have a range of motion approximating lower arm movement pivoting at the elbow. The 3.0/6 DOF has a range of motion approximating full arm movement pivoting at the shoulder. The PHANTOM 1.5/6DOF, 1.5 HighForce/6DOF, and 3.0/6DOF devices connect to the PC via the parallel port (EPP) interface. Phantom Premium 6DOF devices can also be fitted with optional 7DOF end effectors that provide pinch functionality.

  • thefacts
        'thefacts' is the simple factual description of the product provided for you by our technical experts.

    Geomagic Phantom Premium 6DOF

    sPECS
        Detailed product specifications.
    Spec product_rapid_3dsystems_projet   Geomagic Phantom Premium 6DOF
    Model Premium 1.5/6DOF Premium 1.5 High Force/6DOF Premium 3.0/6DOF
    Workspace
    Translational 381Wx267Hx191D mm 381W x 267H x 191D mm 838W x 584H x 406D mm
    Rotational
    Yaw 297degrees/5.18 radians 297 degrees/5.18 radians 297 degrees/5.18 radians
    Pitch 260degrees/4.54 radians 260 degrees/4.54 radians 260 degrees/4.54 radians
    Roll 335degrees/5.85 radians 335 degrees/5.85 radians 335 degrees/5.85 radians
    Range of motion
    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/0.007 mm > 1000 dpi /~0.02 mm
    Rotational
    Yaw and Pitch 0.0023degrees/0.00004 radians 0.0023degrees/0.00004 radians 0.0023degrees/0.00004 radians
    Roll 0.0080degrees/0.00014 radians 0.0080degrees/0.00014 radians 0.0080degrees/0.00014 radians
    Maximum exertable force andtorque at nominal position(orthogonal arms):
    Translational 1.9 lbf/8.5 N 8.4 lbf/37.5 N 4.9 lbf/22N
    Rotational
    Yaw and Pitch 73 oz-in/515 mNm 73 oz-in/515 mNm 73 oz-in/515 mNm
    Roll 24 oz-in/170 mNm 24 oz-in/170 mNm 24 oz-in/170 mNm
    Stiffness
    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
    Force feedback(6 Degrees of Freedom)
    Force feedback x, y, z, Tx, Ty, Tz x, y, z, Tx, Ty, Tz x, y, z, Tx, Ty, Tz
    Position sensing/input(6 Degrees of Freedom)
    Position sensing/input x, y, z, roll, pitch, yaw x, y, z, roll, pitch, yaw x, y, z, roll, pitch, yaw
    Interface
    Interface Parallel port Parallel port Parallel port
    Optional end effectors
    Optional end effectors Thumb pad (pinch), scissors Thumb pad (pinch), scissors Thumb pad (pinch), scissors
    prices
        Up-to-date price lists in your preferred currency.
    Model USD
    product_rapid_3dsystems_projet Premium 1.5/6DOF Price on
    Application
    product_rapid_3dsystems_projet Premium 1.5 High Force/6DOF Price on
    Application
    product_rapid_3dsystems_projet Premium 3.0/6DOF Price on
    Application
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