Phantom® Premium™

Advanced haptic devices for academic
and commercial research and development
The 3D Systems Phantom® Premium™ haptic devices fulfill the requirements of a vast rangeof 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 6 degrees of freedom (3 translational,3 torque) in output capabilities suitable for virtual prototyping, maintenance path planningand molecular modeling applications.
With ranges of motion approximating hand movement pivoting at the wrist, elbow orshoulder, 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.
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. A wide variety of end-effector devices enable options including thimble
gimbals, finger sleds, pinch functionality and more.
The Open Haptics Toolkit available with these devices delivers
a comprehensive software library to enable rapid development ofapplications using force-feedback.

Phantom® Premium™
Advanced haptic devices for academic
and commercial research and development
Phantom Premium 6DOFs
Specifications

Workspace

Premium 1.5 / 6DOF

Premium 1.5 High Force / 6DOF

Premium 3.0 / 6DOF

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

Rotational
Yaw
PitchRoll

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

Lower arm movement pivoting
at elbow

Lower arm movement pivoting
at elbow

Full arm movement pivoting
at shoulder

Range of motion
Translational

860 dpi / 0.03mm3784 dpi / 0.007 mm> 1000 dpi / ~0.02 mm

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

Translational

1.9 lbf / 8.5 N

8.4 lbf / 37.5 N

4.9 lbf / 22N

Rotational
Yaw & PitchRoll

73 oz-in / 515 mNm
24 oz-in / 170 mNm

73 oz-in / 515 mNm
24 oz-in / 170 mNm

73 oz-in / 515 mNm24 oz-in / 170 mNm

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)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)x, y, z, roll, pitch, yaw

x, y, z, roll, pitch, yaw

x, y, z, roll, pitch, yaw

Parallel port

Parallel port

Parallel port

Thumb pad (pinch), scissors

Thumb pad (pinch), scissors

Thumb pad (pinch), scissors

Nominal position
resolution
Maximum
exertable force andtorque at nominalposition(orthogonal arms)
Stiffness

Interface
Optional end effectors

Contact Information
AMERICAS

APAC

CHINA

geomagic.sales.americas@3dsystems.com
Cary, NC, USA : +1.800.691.1839
Brazil : +55.11.3318.5100
Mexico : +52.(644).114.6401

geomagic.sales.apac@3dsystems.com
South East Asia : +60.12.398.8473
Australia & New Zealand : +61.450.593.739
India : +91.98404.78347

geomagic.sales.china@3dsystems.com
Hotline : +86.400.890.7899

EMEA

JAPANKOREA

geomagic.sales.emea@3dsystems.com
Darmstadt, Germany : +49.6151.357.0

geomagic.sales.japan@3dsystems.com
Tokyo : +81.3.5798.2510

geomagic.sales.korea@3dsystems.com
Seoul : +82.2.6262.9900

3D Systems provides comprehensive 3D products and services, including 3D printers, print materials, on-demand parts services and digital design tools. Its ecosystem supports advanced
applications from the product design shop to the factory floor to the operating room. As the originator of 3D printing and a shaper of future 3D solutions, 3D Systems has spent its 30 yearhistory enabling professionals and companies to optimize their designs, transform their workflows, bring innovative products to market and drive new business models.
Specifications subject to change without notice. 3D Systems, Geomagic and the 3D Systems Logo are trademarks of 3D Systems, Inc.
All other trademarks are the property of their respective owners.
Copyright © 3D Systems, Inc. All rights reserved. 3D Systems Phantom Premium EN 2016www.3dsystems.com