Abstract: In order to solve the problem of single series or parallel robotic arms being unable to balance sorting load, sorting efficiency, and sorting accuracy for the sorting of medium and large scale gangue, a multi robotic arm gangue sorting system based on series parallel transformation was designed. Adopting a binocular stereo camera combined with a robotic arm eye system to achieve recognition and dynamic tracking of gangue; by using a multifunctional mechanical gripper, the shape transformation of grasping and shifting is achieved, and the gangue sorting method is achieved through series parallel transformation in conjunction with the mechanical arm; by using a series parallel transformation control strategy, the volume and power of the robotic arm are effectively reduced; using the KM algorithm to allocate tasks to the multi robotic arm gangue group, achieving the best task matching and achieving efficient collaboration of the multi robotic arm sorting system; using greedy algorithms for path planning of multiple robotic arms to quickly obtain the optimal path; through the collaborative sorting control strategy of multiple robotic arms, fast and accurate sorting of gangue is achieved.