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以多机器人装配作业为背景， 研究了虚拟制造中多机器人虚拟生产平台系统的几何及运动学建模、多机器人协调合作策略、多机器人工作空间分配、机器人手臂的碰撞检验和避碰以及装配线意外故障的处理等关键问题， 最终构建起一个完整的多机器人虚拟生产平台。
Based on the multi-robots assembly operation, this paper studies the geometric and kinematic modeling of multi-robot virtual production platform system in virtual manufacturing, multi-robot coordination and cooperation strategy, multi-robot work space allocation, collision detection and avoidance of robotic arms and assembly line accidents Fault handling and other key issues, and ultimately build a complete multi-robot virtual production platform.