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S

PECIFICATIONS

C

OMPARISON FOR THE

PHANTOM® P

REMIUM

1.5/6DOF & 1.5 H

IGH

F

ORCE

/6DOF H

APTIC

D

EVICES

PHANTOM Premium 1.5/6DOF PHANTOM Premium 1.5 High Force/6DOF Workspace Translational 15 W x 10.5 H x 7.5 D inches Translational 15 W x 10.5 H x 7.5 D inches 381 W x 267 H x 191 D mm 381 W x 267 H x 191 D mm Rotational Rotational Yaw 297 degrees / 5.18 radians Yaw 297 degrees / 5.18 radians Pitch 260 degrees / 4.54 radians Pitch 260 degrees / 4.54 radians Roll 335 degrees / 5.85 radians Roll 335 degrees / 5.85 radians Footprint 13 W x 10 D inches / 330 W x 254 D mm 13 W x 10 D inches / 330 W x 254 D mm Range of motion Lower arm movement pivoting at elbow Lower arm movement pivoting at elbow Nominal position Translational 860 dpi / 0.03mm Translational 3784 dpi / 0.007 mm resolution Rotational Rotational Yaw & Pitch 0.0023 degrees 0.00004 radians Yaw & Pitch 0.0023 degrees 0.00004 radians Roll 0.0080 degrees 0.00014 radians Roll 0.0080 degrees 0.00014 radians Backdrive friction (x, y, z) 0.15 oz / 0.04 N 0.75 oz / 0.2 N Maximum exertable force Translational 1.9 lbf / 8.5 N Translational 8.4lbf / 37.5N and torque at nominal Rotational Rotational position (orthogonal arms) Yaw & Pitch 73 oz-in / 515 mNm Yaw & Pitch 73 oz-in / 515 mNm Roll 24 oz-in / 170 mNm Roll 24 oz-in / 170 mNm Continuous exertable Translational 0.3 lbf / 1.4 N Translational 1.4 lbf / 6.2N force and torque at Rotational Rotational nominal position (orthogonal arms) Yaw & Pitch 27 oz-in / 188 mNm Yaw & Pitch 27 oz-in / 188 mNm Roll 7 oz-in / 48 mNm Roll 7 oz-in / 48 mNm Stiffness 20 lbf in
-1 3.5 N mm
-1 3.5 N mm
-1 20 lbf in
-1 Inertia (apparent mass at
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