In the novel manufacturing mode of in-situ processing for large components by multi-mobile robots

reasonable arrangement of processing sequences and stations for each robot based on processing feature distribution and robot processing accessibility is crucial to ensure smooth processing implementation. This paper focuses on the surface processing requirements of multiple brackets on large aerospace cabin bodies. After explaining the principles of the multimobile robot parallel processing system

the paper emphasizes the problems of processing area partitioning and robot station planning. Firstly

the multi-robot parallel processing flow is outlined

methods for axial and radial partitioning of the cabin are proposed

and the cabin workspace rasterization is performed. Then

by utilizing the inverse solution of the robot

the feasible robot station set is extracted to accomplish the station planning for multiple mobile robots. Finally

a multi-robot system containing four types of robots is chosen

and simulation verification is conducted on an example cabin. Compared with the traditional method

the multi-robot parallel processing method proposed in this paper increases the production efficiency of large cabin brackets processing by 82%

and the effect is remarkable.