Abstract: In view of the problems such as insufficient climbing ability and poor stability of single mobile robots in mountain orchard, a method of multiple mobile robot cooperative operation was proposed. The connectors for multiple mobile robot cooperative operation were added based on the original structure of hexapod robots, and the robot monomers for multiple mobile robot cooperative operation were obtained. And three typical cooperative modes of serial walking mode, parallel walking mode and triangle walking mode were obtained by the way of cooperative operation of three hexapod robot monomers. Finally, the static and dynamic stability of the single mode and three typical cooperative modes of the foot type mobile robot systems were analyzed under six typical terrain conditions by using the stable cone method respectively. Theoretical analysis and simulation results show that any two of the three typical cooperative modes may switch to each other, and the stability of the foot type robot systems may be improved by the way of cooperative operation and mode switching under six typical terrain conditions.

Key words:  multiple mobile robot, foot type, hexapod robot, cooperative mode, mode switching, tipping stability

摘要： 针对山地果园单个移动机器人爬坡能力不足及稳定性差等问题，提出了一种多移动机器人协同操作的方法。在原有六足机器人结构的基础上增加了用于多机协同操作的连接件，得到了用于多机协同操作的机器人单体。将3个六足机器人单体通过协同操作得到了3种典型协同模式：串行模式、并行模式、三角模式。最后采用稳定锥法对足式移动机器人系统的单体模式及3种典型协同模式在6种典型地形情况下的静态、动态稳定性分别进行了分析。理论分析及仿真实验结果表明：3种典型协同模式间可进行两两切换；在6种典型地形情况下，通过多机协同操作及协同模式切换的方式可提高足式机器人系统的稳定性。

关键词: 多移动机器人, 足式, 六足机器人, 协同模式, 模式切换, 倾翻稳定性