Geomagic Geomagic Phantom Premium 1.56DOF, Device Manual

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Premium 1.56DOF/1.5HF6DOF Device Guide H-1
A
PPENDIX
: W
ORKING WITH
P
INCH
E
ND
E
FFECTORS
Appendi x
Appendix: Working with Pinch
End Effectors
The Phantom 6 DOF family of haptic devices enables attaching interchangeable end
effectors that provide pinch functionality. There are two pinch-capable grips: thumb-pad
and scissors (examples available in the following pages).
Requirements
• A Pinch-capable Phantom Premium device (1.5 6DOF, 1.5HF 6DOF)
• The most recent version of the Phantom Device Driver (PDD).
• OpenHaptics v2.x BETA. Pinch end effectors will not work with OpenHaptics
v2.0.
• Windows XP, Vista or Windows 7 (32 or 64-bit)
Specifications
• Range of Motion: 0 to 30 degrees
• Digital Encoder: +/- 2% linearity potentiometer
• Force Feedback: None
Installing or Removing the End Effectors
Follow the instructions below to install or remove the Pinch end effectors (thumb-pad and
scissors).
Installing the End Effector
1 Remove the end cap by opening the end clip and carefully sliding out the cap.
2 Align the male connector of the end effector with the female end of the 6 DOF handle
and push to insert it. Make sure that the vertical edge of the end effector connector
aligns with the vertical edge of the 6 DOF handle connector.
3 Close the end clip tightly to keep the end effector in place.