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PHANTOM
Premium
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PHANTOM Premium 1.5/6DOF and 3.0/6DOF
Haptic Device
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PHANTOM 1.5/6DOF |
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The
PHANTOM 1.5/6DOF and 3.0/6DOF
devices allow users to explore
application areas that require
force feedback in six degrees
of freedom (6DOF). Examples include
virtual assembly, virtual prototyping,
maintenance path planning, teleoperation,
and molecular modeling. Simulating
torque force feedback makes it
possible to feel the collision
and reaction forces and torques
of a part in a virtual assembly
path, or the rotational torques
supported by a remote "slave"
robot in a teleoperation environment.
These devices provide force feedback
in three translational degrees
of freedom. Additionally, both
systems provide torque feedback
in three rotational degrees of
freedom in the yaw, pitch and
roll directions. The 1.5/6DOF
has 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
and 3.0/6DOF both connect to PCs
running Windows 2000/XP/NT via
the parallel port. Supported OS
platforms include Windows 2000/XP/NT,
RedHat Linux 7.2, RedHat Linux
9, RedHat Fedora, and SUSE 9.0.
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PHANTOM 3.0/6DOF |
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Technical Specifications
for the Premium 1.5/6DOF
Technical Specifications for the Premium
3.0/6DOF
The
PHANTOM Premium 1.5/6DOF Technical Specifications
Download
Premium 1.5/6DOF pdf file
>>>
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1.5/6DOF
& 1.5 HIGH FORCE/6DOF 性能对照
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PHANTOM
Premium 1.5/6DOF |
PHANTOM
Premium 1.5 High Force/6DOF
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| 工作空间
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平移度： |
15
W x 10.5 H x 7.5 D inches
381
W x 267 H x 191 D mm |
平移度： |
15
W x 10.5 H x 7.5 D inches
381
W x 267 H x 191 D mm |
| 偏航
倾斜
摇摆 |
297
degrees / 5.18 radians
260
degrees / 4.54 radians
335
degrees / 5.85 radians |
偏航
倾斜
摇摆
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297
degrees / 5.18 radians
260
degrees / 4.54 radians
335
degrees / 5.85 radians |
| 尺寸
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13
W x 10 D inches / 330 W x
254 D mm |
13
W x 10 D inches / 330 W x
254 D mm |
| 运动范围
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肘部弯曲所导致的前臂运动 |
肘部弯曲所导致的前臂运动 |
| 标称位置
分辨率
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平移度： |
860
dpi / 0.03mm |
平移度： |
3784
dpi / 0.007 mm |
| 旋转度：
偏航&倾斜
摇摆 |
0.0023
degrees
0.00004
radians
0.0080
degrees
0.00014
radians |
旋转度：
偏航&倾斜
摇摆
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0.0023
degrees
0.00004
radians
0.0080
degrees
0.00014
radians |
| 摩擦阻力
(x, y, z) |
0.15
oz / 0.04 N |
0.75
oz / 0.2 N |
| 最大输出力
(标称位置)
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平移度： |
1.9
lbf / 8.5 N |
平移度： |
8.4lbf
/ 37.5N |
| 偏航&倾斜
摇摆 |
73
oz-in / 515 mNm
24
oz-in / 170 mNm |
偏航&倾斜
摇摆
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73
oz-in / 515 mNm
24
oz-in / 170 mNm |
| 连续输出力
（标称位置）
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平移度： |
0.3
lbf / 1.4 N |
平移度： |
1.4
lbf / 6.2N |
| 旋转度：
偏航&倾斜
摇摆 |
27
oz-in / 188 mNm
7
oz-in / 48 mNm |
旋转度：
偏航&倾斜
摇摆
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27
oz-in / 188 mNm
7
oz-in / 48 mNm |
| 强度
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20
lbf in-1 / 3.5
N mm-1 |
20
lbf in-1 / 3.5
N mm-1 |
| 惯性 |
<
0.30 lbm / < 136 g |
<
0.46 lbm / < 210 g |
| 重量（装置本身）
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~
20 lb / ~ 9 Kg |
~
20 lb / ~ 9 Kg |
| 反馈力方向
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x,
y, z, Tx, Ty, Tz |
x,
y, z, Tx, Ty, Tz |
| 位置检测
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x,
y, z, 摇摆、倾斜、偏航
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x,
y, z, 摇摆、倾斜、偏航
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| GHOST兼容
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Yes
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可满足特定需求
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| 3DTouch™
兼容
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Yes
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Yes
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PHANTOM Premium 3.0/6DOF
Download
Premium 3.0/6DOF pdf file>>>
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| 工作空间 |
平移度： |
33 W x 23 H x 16 D inches 838 W x 584 H x 406
D mm |
| 旋转度：
偏航
倾斜
摇摆 |
297 degrees (5.184 radians) 260 degrees (4.538
radians) 335 degrees (5.847 radians) |
| 尺寸 |
可分离部分 |
8 W x 8 D inches / 203 W x 203 D mm |
| 电子控制台 (AMP
box) |
15 W x 20 D inches / 381 W x 508 D mm |
| 重量 |
可分离部分
(底部) |
16 lb / 7.3 Kg |
| 电子控制台
(AMP box) |
53 lb / 24 Kg |
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运动范围 |
肩部弯曲所导致的上肢运动 |
| 标称位置分辨率 |
平移度 |
> 1000 dpi (~ 0.02 mm) |
| 旋转度（偏航&摇摆） |
0.0023 degrees (0.00004 radians) |
| 旋转度（倾斜） |
0.0080 degrees (0.00014 radians) |
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摩擦阻力x,
y, z |
0.75 oz 0.2
N |
| 最大输出力
(标称位置) |
平移度 |
4.9 lbf. (22 N) |
| 旋转度（偏航&摇摆） |
73 oz-in (515 mNm) |
| 旋转度（倾斜） |
24 oz-in (170 mNm) |
| 连续输出力 (标称位置) |
平移度 |
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