与传统数控加工相比，多机器人协同加工具有操作空间大、柔性好、效率高、成本低等优势。本项目重点研究多机器人作业加工稳定性预报与结构件精度保证方法，建立机器人与制造工艺环境之间的交互动力学模型，借助生态学中植物根系生长机理规划多机器人协同作业任务，自主调控结构件加工工艺。..围绕上述研究内容，拟解决多机器人作业任务规划的仿生复现、加工系统响应特性表征与工艺自主调控关键科学问题。在以上工作基础上系统而完整地提出一套基于仿生学的多机器人作业任务规划理论和方法，构建典型结构件多机器人加工原型系统，实现工况感知-系统动力学特性学习-工艺决策功能，为结构件高效加工提供新的技术途径和实现方法，丰富机器人加工理论。

Comparing with the traditional numerical control machining, multi-robot machining takes the advantages of greater working space, better flexibility, higher efficiency and lower cost. This project focuses on the following studies: processing stability prediction and the machining precision in multi-robot operations, the development of the interactive dynamics model of the robot and the manufacturing process environment, multi-robot cooperative task planning based on the ecological mechanism of root growth, and autonomous regulatory of process parameters...Attentions are focused on the two scientific issues, i.e., to reproduce the multi-robot task planning like the root growth in bionic sense, and characterization of machining system response with autonomous regulation of process parameters. Then we propose to develop a systematic theory on the multi-robot task planning based on plant bionics, build a virtual prototype of multi-robot machining of a typical mechanical structure, and realize the function on working conditions identification - system dynamics learning - process parameters decision-making. The outcome of this project would provide a new technical approach for the efficient machining of large-scale structures, as well as to advance the understanding of robot aided machining process.