CN110480603B - Multi-degree-of-freedom parallel manipulator with 8M-shaped base - Google Patents
Multi-degree-of-freedom parallel manipulator with 8M-shaped base Download PDFInfo
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- CN110480603B CN110480603B CN201910728527.9A CN201910728527A CN110480603B CN 110480603 B CN110480603 B CN 110480603B CN 201910728527 A CN201910728527 A CN 201910728527A CN 110480603 B CN110480603 B CN 110480603B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
A multi-degree-of-freedom parallel manipulator with an 8M-shaped base. The device comprises an 8M-shaped base, a movable platform, a first branch, a second branch, a third branch and a fourth branch, wherein the first branch, the second branch, the third branch and the fourth branch are connected between the 8M-shaped base and the movable platform; the invention has the advantages that: the sliding blocks in the left and right rocker mechanisms can be coordinately controlled by the four motors to slide on the linear guide rail and move linearly by the telescopic rods in the moving branch chain connected with the arc-shaped guide rail, so that four degrees of freedom of movement of the moving platform in two translation and two rotation are realized. One translation direction can be changed by controlling the movement of the slider of the rocker mechanism, the other translation track curve is a circular arc with a constant radius, and the two rotating shafts are respectively perpendicular to the linear guide rail in the 8M-shaped base and parallel to the 8M-shaped base and the axis direction of the rotating pair at the upper end of the first branch. The movable platform is flexible in movement, strong in anti-interference capability and stable in control, and the unique 8M-shaped structure can provide a larger working space and can adapt to more complex working conditions through rotation of the rotary sliding rail.
Description
Technical Field
The invention belongs to the technical field of manipulators, and particularly relates to a multi-degree-of-freedom parallel manipulator with an 8M-shaped base.
Background
With the continuous improvement of the industrial automation level, the mechanical arm is widely applied to various fields, and the mechanical arm can hardly be separated when the products are efficiently processed, sorted and assembled. The parallel manipulator has the advantages of high precision, strong anti-interference performance, more stable motion and the like.
However, some existing parallel robots still have certain limitations. The parallel manipulator disclosed in the chinese patent application publication No. CN103009378B comprises a fixed platform, three PUU branched chains with the same structure, and a movable platform, wherein the three PUU branched chains and the fixed platform are distributed at a 120-degree connection point, and the three-dimensional movement of the movable platform can be realized through the coordinated movement of the three branched chains. However, the movable platform on the parallel manipulator can only move in the space range surrounded by the frame, and the working space is small. The parallel manipulator disclosed in the chinese patent application publication No. CN106069236A is formed by connecting thirteen connecting rods to form a plurality of parallel closed-loop subchains, and the mechanical structure is extremely complex; the parallel manipulator disclosed in chinese patent application publication No. CN101693368A includes a three-degree-of-freedom parallel rotation platform, a three-degree-of-freedom series moving module installed above the three-degree-of-freedom parallel rotation platform, and an end effector module connected to the three-degree-of-freedom series moving module, and the connection mechanical structure between the moving platform and the static platform is complicated, which increases the control difficulty.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a multi-degree-of-freedom parallel robot having an 8M-shaped base.
In order to achieve the above object, the multiple degree of freedom parallel manipulator with 8M-shaped base provided by the present invention comprises 8M-shaped base, moving platform, and first branch, second branch, third branch and fourth branch connected between 8M-shaped base and moving platform;
the 8M-shaped base comprises two bottom plates, two linear guide rails and two supporting plates; the bottom plates are in a fan shape and are horizontally arranged, the two bottom plates are symmetrically arranged in a mode of butting circle centers, the middle part of the surface of each bottom plate is sunken to form a fan-shaped groove, and therefore a convex edge is formed at the edge part; the cross sections of the linear guide rails are in a concave shape, the inner ends of the two linear guide rails are respectively connected in gaps at two side parts of the joint of the two bottom plates, and the length directions of the two linear guide rails are positioned on the same straight line; the two support plates are arranged on two sides of the inner end surfaces of the two linear guide rails in parallel;
the movable platform is of an inverted U-shaped block structure, and the lower part of one opposite surface is respectively provided with a centering spherical groove; the lower end of the other opposite surface is respectively provided with a centering spherical groove and a cylinder;
the first branch comprises a first rocker mechanism, a first lower sliding block and a first driven arm; the first rocking block mechanism comprises a first rotating slide rail, two first connecting rods and a fifth lower slide block; the cross section of the first rotating slide rail is in a concave shape, and one end of the first rotating slide rail is hinged to the inside of one side of the two support plates on the 8M-shaped base; the upper ends of the two first connecting rods are respectively hinged to the middle parts of the outer surfaces of the two side surfaces of the first rotating slide rail; the fifth lower sliding block is an inverted T-shaped block, two bosses at the lower end of the fifth lower sliding block are inserted into a linear guide rail on the 8M-shaped base, and the lower ends of two first connecting rods are respectively hinged to two side parts of the upper end of the fifth lower sliding block; the lower part of the first lower sliding block is a T-shaped block, the lower end of the first lower sliding block is inserted into a groove of the first rotating slide rail, and two side parts of the top surface of the first lower sliding block are respectively provided with a boss; the lower end of the first driven arm is hinged on the two bosses on the first lower sliding block, and the upper end of the first driven arm is of a claw-shaped structure and is hinged on the cylinder of the movable platform to form a revolute pair;
the second branch comprises a second lower sliding block and a first driving telescopic rod; the lower end of the second lower sliding block is provided with a groove which can be clamped on the upper arc section of the convex edge of a bottom plate on the 8M-shaped base, so that the convex edge can be used as a guide rail to perform arc-shaped sliding, and the upper end of the second lower sliding block is provided with two vertical bosses; the first driving telescopic rod consists of a second driven arm and a first driving arm with the lower part inserted into the upper part of the second driven arm; the lower end of the second driven arm is hinged to the two vertical bosses of the second lower sliding block; the upper end of the first driving arm is a sphere which is connected in a sphere groove of the movable platform to form a spherical pair, and the bottom plate 34 and the sphere groove are positioned on the same side;
the third branch comprises a second rocker mechanism, a third lower sliding block and a third driven arm; the second rocking block mechanism comprises a second rotating slide rail, two second connecting rods and a sixth lower slide block; the cross section of the second rotating slide rail is in a concave shape, and one end of the second rotating slide rail is hinged to the inner part of the other side of the two support plates on the 8M-shaped base; the upper ends of the two second connecting rods are respectively hinged to the middle parts of the outer surfaces of the two side surfaces of the second rotating slide rail; the sixth lower sliding block is an inverted T-shaped block, two bosses at the lower end of the sixth lower sliding block are inserted into the other linear guide rail on the 8M-shaped base, and the lower ends of the two second connecting rods are respectively hinged to two side parts of the upper end of the sixth lower sliding block; the lower part of the third lower sliding block is a T-shaped block, the lower end of the third lower sliding block is inserted into a groove of the second rotating slide rail, and two side parts of the top surface of the third lower sliding block are respectively provided with a boss; the lower end of the third driven arm is hinged on two bosses on the third lower sliding block, the upper end of the third driven arm is a sphere, and the sphere is connected in a sphere groove on the movable platform to form a spherical pair;
the fourth branch comprises a fourth lower sliding block and a second driving telescopic rod; the lower end of the fourth lower sliding block is provided with a groove which can be clamped on the upper arc section of the convex edge of the other bottom plate on the 8M-shaped base, so that the convex edge can be used as a guide rail to perform arc-shaped sliding, and the upper end of the fourth lower sliding block is provided with two vertical bosses; the second driving telescopic rod consists of a fourth driven arm and a second driving arm with the lower part inserted into the upper part of the fourth driven arm; the lower end of the fourth driven arm is hinged to the two vertical bosses of the fourth lower sliding block; the upper end of the second driving arm is a sphere which is connected in the other sphere groove of the movable platform to form a spherical pair;
and the first rotating slide rail, the first connecting rod and the fifth lower slide block in the first rocking block mechanism are respectively identical to the second rotating slide rail, the second connecting rod and the sixth lower slide block in the second rocking block mechanism in structure and size.
The multi-degree-of-freedom parallel manipulator with the 8M-shaped base has the following advantages: the sliding blocks in the left and right rocker mechanisms can be coordinately controlled by the four motors to slide on the linear guide rail and move linearly by the telescopic rods in the moving branch chain connected with the arc-shaped guide rail, so that four degrees of freedom of movement of the moving platform in two translation and two rotation are realized. One translation direction can be changed by controlling the movement of the sliding block of the rocking block mechanism, the other translation track curve is a circular arc with a constant radius, and the two rotating shafts are respectively perpendicular to the linear guide rail in the 8M-shaped base and parallel to the 8M-shaped base and the axis direction of the rotating pair at the upper end of the first branch. The movable platform moves flexibly, the anti-interference capability is strong, the control is stable, and the unique 8M-shaped structure can provide a larger working space and can adapt to more complex working conditions through the rotation of the rotating slide rail, such as aircraft skin polishing and the like.
Drawings
Fig. 1 is a schematic view of the overall structure of a multi-degree-of-freedom parallel manipulator with an 8M-shaped base according to the present invention.
Fig. 2 is a partial structural diagram of an upper portion of a first branch in the multi-degree-of-freedom parallel manipulator with an 8M-shaped base according to the present invention.
Fig. 3 is a schematic diagram of a second branch partial structure in the multi-degree-of-freedom parallel manipulator with the 8M-shaped base according to the present invention.
Fig. 4 is a partial structural diagram of an upper portion of a third branch in the multi-degree-of-freedom parallel manipulator with an 8M-shaped base according to the present invention.
Fig. 5 is a schematic view of a fourth branch partial structure in the multi-degree-of-freedom parallel manipulator with the 8M-shaped base provided by the invention.
Fig. 6 is a partial structural schematic diagram of a movable platform in a multi-degree-of-freedom parallel manipulator with an 8M-shaped base provided by the invention.
FIG. 7 is a partial structural diagram of a first rocker mechanism in a first branch of a multi-degree-of-freedom parallel manipulator with an 8M-shaped base according to the present invention.
FIG. 8 is a partial structural diagram of a second rocker mechanism in a third branch of the multi-degree-of-freedom parallel manipulator with an 8M-shaped base according to the present invention.
Fig. 9 is a partial structural schematic diagram of an 8M-shaped base in the multi-degree-of-freedom parallel manipulator with the 8M-shaped base provided by the invention.
Detailed Description
The multi-degree-of-freedom parallel manipulator with the 8M-shaped base provided by the invention is specifically explained in the following by combining the attached drawings and an embodiment.
As shown in fig. 1 to 9, the multiple degree of freedom parallel manipulator with 8M shape base provided by the present invention comprises 8M shape base 1, moving platform 2, and first branch 3, second branch 4, third branch 5 and fourth branch 6 connected between 8M shape base 1 and moving platform 2;
the 8M-shaped base 1 comprises two bottom plates 34, two linear guide rails 31 and two supporting plates 32; the bottom plates 34 are in a fan shape and are horizontally arranged, the two bottom plates 34 are symmetrically arranged in a mode of butting circle centers, the middle part of the surface of each bottom plate 34 is sunken to form a fan-shaped groove 35, and therefore a convex edge 33 is formed at the edge part; the cross section of the linear guide rails 31 is concave, the inner ends of the two linear guide rails 31 are respectively connected in gaps at two side parts of the joint of the two bottom plates 34, and the length directions of the two linear guide rails 31 are positioned on the same straight line; the two support plates 32 are arranged on two sides of the inner end surfaces of the two linear guide rails 31 in parallel;
the movable platform 2 is of an inverted U-shaped block structure, and the lower part of one opposite surface is respectively provided with a centering spherical groove 20; the lower end of the other opposite surface is respectively provided with a centering sphere groove 19 and a cylinder 22;
the first branch 3 comprises a first rocker mechanism 7, a first lower slide 9 and a first driven arm 10; the first rocker mechanism 7 comprises a first rotating slide rail 26, two first connecting rods 24 and a fifth lower slide block 23; the cross section of the first rotating slide rail 26 is concave, and one end of the first rotating slide rail is hinged inside one side of the two support plates 32 on the 8M-shaped base 1; the upper ends of the two first connecting rods 24 are respectively hinged to the middle parts of the outer surfaces of the two side surfaces of the first rotating slide rail 26; the fifth lower sliding block 23 is an inverted T-shaped block, two bosses at the lower end are inserted into a linear guide rail 31 on the 8M-shaped base 1, and the lower ends of the two first connecting rods 24 are respectively hinged to two side parts at the upper end of the fifth lower sliding block 23; the lower part of the first lower sliding block 9 is a T-shaped block, the lower end of the first lower sliding block is inserted into a groove of a first rotating slide rail 26, and two side parts of the top surface of the first lower sliding block 9 are respectively provided with a boss 25; the lower end of the first driven arm 10 is hinged on two bosses 25 on the first lower sliding block 9, and the upper end is in a claw-shaped structure and is hinged on the column 22 of the movable platform 2 to form a revolute pair;
the second branch 4 comprises a second lower slide block 11 and a first driving telescopic rod 37; the lower end of the second lower sliding block 11 is provided with a groove which can be clamped on the upper arc section of the convex edge 33 of the bottom plate 34 on the 8M-shaped base 1, so that the convex edge 33 can be used as a guide rail to perform arc-shaped sliding, and the upper end of the second lower sliding block 11 is provided with two vertical bosses; the first driving telescopic link 37 is composed of the second driven arm 12 and the first driving arm 13 with the lower part inserted into the upper part of the second driven arm 12; the lower end of the second driven arm 12 is hinged on the two vertical bosses of the second lower sliding block 11; the upper end of the first driving arm 13 is a sphere, which is connected in a sphere groove 20 of the movable platform 2 to form a spherical pair, and the bottom plate 34 and the sphere groove 20 are located on the same side;
the third branch 5 comprises a second rocker mechanism 8, a third lower slider 14 and a third driven arm 15; the second rocker mechanism 8 comprises a second rotating slide rail 30, two second connecting rods 28 and a sixth lower slide block 27; the cross section of the second rotating slide rail 30 is concave, and one end of the second rotating slide rail is hinged to the inside of the other side of the two support plates 32 on the 8M-shaped base 1; the upper ends of the two second connecting rods 28 are respectively hinged to the middle parts of the outer surfaces of the two side surfaces of the second rotary slide rail 30; the sixth lower sliding block 27 is an inverted T-shaped block, two bosses at the lower end are inserted into the other linear guide rail 31 on the 8M-shaped base 1, and the lower ends of the two second connecting rods 28 are respectively hinged to two side parts at the upper end of the sixth lower sliding block 27; the lower part of the third lower sliding block 14 is a T-shaped block, the lower end of the third lower sliding block is inserted into a groove of the second rotary slide rail 30, and two side parts of the top surface of the third lower sliding block 14 are respectively provided with a lug boss 29; the lower end of the third driven arm 15 is hinged on two bosses 29 on the third lower slider 14, and the upper end is a sphere which is connected in a sphere groove 19 on the movable platform 2 to form a spherical pair;
the fourth branch 6 comprises a fourth lower slide block 16 and a second driving telescopic rod 38; the lower end of the fourth lower sliding block 16 is provided with a groove which can be clamped on the arc section of the convex edge 33 of the other bottom plate 34 on the 8M-shaped base 1, so that the convex edge 33 can be used as a guide rail to perform arc sliding, and the upper end of the fourth lower sliding block 16 is provided with two vertical bosses; the second driving telescopic link 38 is composed of a fourth driven arm 17 and a second driving arm 18 with the lower part inserted into the upper part of the fourth driven arm 17; the lower end of the fourth driven arm 17 is hinged on the two vertical bosses of the fourth lower sliding block 16; the upper end of the second driving arm 18 is a sphere, and the sphere is connected in the other sphere groove 20 of the movable platform 2 to form a spherical pair;
the first rotary slide rail 26, the first connecting rod 24 and the fifth lower slide block 23 in the first rocker mechanism 7 are respectively identical to the second rotary slide rail 30, the second connecting rod 28 and the sixth lower slide block 27 in the second rocker mechanism 8 in structure and size.
The working process of the multi-degree-of-freedom parallel manipulator with the 8M-shaped base provided by the invention is explained as follows:
in the third branch 5, the motor can be used to make the moving platform 2 perform linear motion along a straight line parallel to the first rotating slide rail 26 by changing the position of the sixth lower sliding block 27, thereby realizing a translational degree of freedom, and the linear angle can be changed by the motion of the first rocker mechanism 7; in the second branch 4 and the fourth branch 6, the electric motor can be used for translating the movable platform 2 along an arc with the first lower slide block 9 as the center of a circle by changing the extension lengths of the first driving telescopic rod 37 and the second driving telescopic rod 38, so that a translational degree of freedom is realized; in the first rocker mechanism 7, the second rocker mechanism 8, the second branch 4 and the fourth branch 6, the electric motor can be used for rotating the movable platform 2 around a straight line which is perpendicular to the two linear guide rails 31 and parallel to the 8M base 1 as an axis by changing the positions of the fifth lower slide block 23 and the sixth lower slide block 27 and the extension and contraction lengths of the first driving telescopic rod 37 and the second driving telescopic rod 38, so that a rotational degree of freedom is realized; in the first rocker mechanism 7, the second rocker mechanism 8, the second branch 4 and the fourth branch 6, the electric motor can be used to rotate the movable platform 2 around the rotation axis parallel to the first rotation slide rail 26, i.e. the rotation pair between the first driven arm 10 and the movable platform 2, by changing the positions of the fifth lower slide block 23 and the sixth lower slide block 27 and the extension and contraction lengths of the first driving expansion link 37 and the second driving expansion link 38, thereby realizing one degree of rotational freedom. Through the operation, the manipulator can realize the movement of four degrees of freedom of two translation and two rotation of the movable platform 2.
Claims (2)
1. A multi-degree-of-freedom parallel manipulator with 8M-shaped bases is characterized in that: the multi-degree-of-freedom parallel manipulator with the 8M-shaped base comprises the 8M-shaped base (1), a movable platform (2), a first branch (3), a second branch (4), a third branch (5) and a fourth branch (6), wherein the first branch (3), the second branch (4), the third branch (5) and the fourth branch are connected between the 8M-shaped base (1) and the movable platform (2);
the 8M-shaped base (1) comprises two bottom plates (34), two linear guide rails (31) and two supporting plates (32); the bottom plates (34) are in a fan shape and are horizontally arranged, the two bottom plates (34) are symmetrically arranged in a mode of butting circle centers, the middle part of the surface of each bottom plate (34) is sunken to form a fan-shaped groove (35), and therefore a convex edge (33) is formed at the edge part; the cross section of each linear guide rail (31) is in a concave shape, the inner ends of the two linear guide rails (31) are respectively connected in gaps at two sides of the joint of the two bottom plates (34), and the length directions of the two linear guide rails (31) are positioned on the same straight line; the two support plates (32) are arranged on the two sides of the inner end surfaces of the two linear guide rails (31) in parallel;
the movable platform (2) is of an inverted U-shaped block structure, and the lower part of one opposite surface is respectively provided with a centering spherical groove (20); the lower end of the other opposite surface is respectively provided with a centering sphere groove (19) and a cylinder (22);
the first branch (3) comprises a first rocker mechanism (7), a first lower slide block (9) and a first driven arm (10); the first rocker mechanism (7) comprises a first rotating slide rail (26), two first connecting rods (24) and a fifth lower slide block (23); the cross section of the first rotating slide rail (26) is in a concave shape, and one end of the first rotating slide rail is hinged to the inside of one side of two support plates (32) on the 8M-shaped base (1); the upper ends of the two first connecting rods (24) are respectively hinged to the middle parts of the outer surfaces of the two side surfaces of the first rotating slide rail (26); the fifth lower sliding block (23) is an inverted T-shaped block, two bosses at the lower end of the fifth lower sliding block are inserted into a linear guide rail (31) on the 8M-shaped base (1), and the lower ends of the two first connecting rods (24) are respectively hinged to two side parts of the upper end of the fifth lower sliding block (23); the lower part of the first lower sliding block (9) is a T-shaped block, the lower end of the first lower sliding block is inserted into a groove of the first rotating slide rail (26), and two side parts of the top surface of the first lower sliding block (9) are respectively provided with a boss (25); the lower end of the first driven arm (10) is hinged on two bosses (25) on the first lower sliding block (9), and the upper end of the first driven arm is of a claw-shaped structure and is hinged on a cylinder (22) of the movable platform (2) to form a revolute pair;
the second branch (4) comprises a second lower sliding block (11) and a first driving telescopic rod (37); the lower end of the second lower sliding block (11) is provided with a groove which can be clamped on the upper arc section of the convex edge (33) of a bottom plate (34) on the 8M-shaped base (1), so that the convex edge (33) can be used as a guide rail to perform arc sliding, and the upper end of the second lower sliding block (11) is provided with two vertical bosses; the first driving telescopic rod (37) consists of a second driven arm (12) and a first driving arm (13) with the lower part inserted into the upper part of the second driven arm (12); the lower end of the second driven arm (12) is hinged on the two vertical bosses of the second lower sliding block (11); the upper end of the first driving arm (13) is a sphere which is connected in a sphere groove (20) of the movable platform (2) to form a spherical pair, and the bottom plate (34) and the sphere groove (20) are positioned on the same side;
the third branch (5) comprises a second rocker mechanism (8), a third lower slide block (14) and a third driven arm (15); the second rocker mechanism (8) comprises a second rotating slide rail (30), two second connecting rods (28) and a sixth lower sliding block (27); the cross section of the second rotating slide rail (30) is concave, and one end of the second rotating slide rail is hinged to the inside of the other side of the two support plates (32) on the 8M-shaped base (1); the upper ends of the two second connecting rods (28) are respectively hinged to the middle parts of the outer surfaces of the two side surfaces of the second rotating slide rail (30); the sixth lower sliding block (27) is an inverted T-shaped block, two bosses at the lower end of the sixth lower sliding block are inserted into the other linear guide rail (31) on the 8M-shaped base (1), and the lower ends of the two second connecting rods (28) are respectively hinged to the two sides of the upper end of the sixth lower sliding block (27); the lower part of the third lower sliding block (14) is a T-shaped block, the lower end of the third lower sliding block is inserted into a groove of the second rotary sliding rail (30), and two side parts of the top surface of the third lower sliding block (14) are respectively provided with a boss (29); the lower end of the third driven arm (15) is hinged on two bosses (29) on the third lower sliding block (14), the upper end is a sphere, and the sphere is connected in a sphere groove (19) on the movable platform (2) to form a spherical pair;
the fourth branch (6) comprises a fourth lower sliding block (16) and a second driving telescopic rod (38); the lower end of the fourth lower sliding block (16) is provided with a groove which can be clamped on the upper arc section of a convex edge (33) of another bottom plate (34) on the 8M-shaped base (1), so that the convex edge (33) can be used as a guide rail to perform arc sliding, and the upper end of the fourth lower sliding block (16) is provided with two vertical bosses; the second driving telescopic rod (38) consists of a fourth driven arm (17) and a second driving arm (18) with the lower part inserted into the upper part of the fourth driven arm (17); the lower end of the fourth driven arm (17) is hinged on the two vertical bosses of the fourth lower sliding block (16); the upper end of the second driving arm (18) is a sphere which is connected in the other sphere groove (20) of the movable platform (2) to form a spherical pair.
2. The multiple degree of freedom parallel manipulator with 8M shaped base of claim 1, wherein: the first rotating slide rail (26), the first connecting rod (24) and the fifth lower slide block (23) in the first rocking block mechanism (7) are respectively identical to the second rotating slide rail (30), the second connecting rod (28) and the sixth lower slide block (27) in the second rocking block mechanism (8) in structure and size.
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| CN112518721B (en) * | 2020-12-01 | 2022-08-05 | 中国民航大学 | Four-degree-of-freedom complete decoupling compound drive parallel mechanism |
| CN112621717B (en) * | 2020-12-07 | 2022-05-17 | 中国民航大学 | Redundant branched chain parallel mechanism based on annular guide rail |
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| CN107336219A (en) * | 2017-07-04 | 2017-11-10 | 北京交通大学 | A kind of parallel institution that there are two movements three to rotate five degree of freedom |
| CN207246309U (en) * | 2017-10-16 | 2018-04-17 | 河北建筑工程学院 | The main passive parallel input posture adjustment vibration-isolating platform in parallel of one kind |
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