Property |
Premum 1.5 |
Premum 1.5/6DOF |
Premum 1.5 High Force |
Premum 1.5 High Force/6DOF |
Premum 3.0/6DOF |
|
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Workspace |
Translational |
15 W x 10.5 H x 7.5 D in |
15 W x 10.5 H x 7.5 D in |
33 W x 23 H x 16 D in |
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Rotational |
297 degrees/5.18 radians |
297 degrees/5.18 radians |
297 degrees/5.18 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 |
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Nominal position resolution |
Translational |
860 dpi/0.03mm |
3784 dpi/0.007mm |
> 1000 dpi/~0.02mm |
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Rotational |
0.0023 degrees/0.00004 radians |
0.0023 degrees/0.00004 radians |
0.0023 degrees/0.00004 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 |
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Rotational |
73 oz-in/515 mNm |
73 oz-in/515 mNm |
73 oz-in/515 mNm |
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Stiffness |
20 lbf in-1 |
20 lbf in-1 |
5.7 lbf in-1 |
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Force feedback |
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 |
x, y, z, roll, pitch, yaw |
x, y, z, roll, pitch, yaw |
x, y, z, roll, pitch, yaw |
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Interface |
Parallel port |
Parallel port |
Parallel port |
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Optional end effectors |
Encoder gimbal |
Thumb pad (pinch), scissors |
HF Encoder gimbal |
Thumb pad (pinch), scissors |
Thumb pad (pinch), scissors |