为了有效地解决多机械手制造单元适应带驻留约束的多品种调度问题，提出了基于瓶颈的推拉式算法．首先，进行了调度问题域的描述，以最小Makespan 为目标，建立了数学模型．在此基础上，提出了一种以瓶颈工作站为界，通过逐级回溯和递推来优化机械手动作组合，同时降低产品在机器上的驻留时间的启发式调度算法; 该算法结合时间缓冲概念，有效地解决了共享工作站的机械手冲突问题，防止了死锁现象的发生．最后，通过仿真实验对提出的基于瓶颈的推拉式算法进行验证并与拉式算法进行比较，结果表明，该算法能够有效地实现多品种、带驻留约束的多机械手制造单元的调度，且性能优于拉式算法．

In order to effectively schedule multi-manipulator manufacturing cells with residency constraints and differentproduct types,a bottleneck-based push-pull algorithm is presented. In the investigation,first,the problemdomain of the manufacturing cell scheduling is discussed. Next,the mathematical models with a scheduling objectiveof minimum system Makespan are established. Then,based on these models,a heuristic scheduling algorithmbounded by the bottleneck workstation is proposed to optimize manipulator movements by adopting backtracking andrecursive methods and to reduce the residency time on workstations. By combining with the time buffer concept onthe shared workstations,the push-pull algorithm helps to implement robot conflict-free and deadlock-free at thesame time. Finally,the bottleneck-based push-pull algorithm is verified and is compared with the conventional pullalgorithm through simulations. The results demonstrate that the proposed algorithm can implement the scheduling ofmulti-manipulator manufacturing cell with residency constraints and different product types,and has a better performancethan pull algorithm.