This paper aims to investigate the workgroup-based manpower planning for multi-type staff collaboration. For customization-based equipment making companies, multiple types of staffs which have different working efficiencies often exist. This situation is even complicated by the working groups which have master-apprentice constraints. Due to the complexity of the problem, this paper not only considers the staffs’ salaries and employment/unemployment costs, but also takes the technique inheriting and employee stableness into consideration. Through establishing the dynamic planning model which reflects staffs’ employing and working types, the configuration results of human resource are obtained and recommended to this kind of companies.