Abstract Multiple robots collaborative transportation is a new trend of robotic research in unmanned logistics area. Existing researches focus on the collaborative transportation on the flat ground, but usually neglect the obstacle-crossing problems in real-world environments. This paper designs a novel multi-robotsystem composed of tracked mobile robots used for collaborative transportation and investigatesits stairs climbing process. The robots are combined with each other by a parallel manipulator which is implemented to carry payloads. Meanwhile, actuated by the robots, the manipulator could achieve a 6 degrees of freedom configuration. A cable-driven unit is designed to provide extratension among these robots to improve the climbing capability. The statics model of the stair climbing process of a monorobot is analyzed. The climbing orientation of the robot is optimized and the stair climbing capabilityis improved by changing the climbing yaw angle. Based on the optimized mono robotclimbing process, the stair climbing formations of the multi-robot system are analyzed and the formationparameters are optimized with the maximal support angle.The climbing strategy is proposed according to the mass of payload and the height of the stair. The effectiveness of the climbing strategy is validated by the stair climbing experiments.

中文翻译：

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并联机械臂多履带移动机器人系统越障策略及编队参数优化

摘要 多机器人协同运输是无人物流领域机器人研究的新趋势。现有研究侧重于平地协同运输，而往往忽视现实环境中的越障问题。本文设计了一种由履带式移动机器人组成的用于协同运输的新型多机器人系统，并研究了爬楼梯过程。机器人通过并行机械手相互组合，该机械手用于承载有效载荷。同时，在机器人的驱动下，机械手可以实现6个自由度的配置。电缆驱动装置旨在为这些机器人提供额外的张力，以提高攀爬能力。分析了单体机器人爬楼梯过程的静力学模型。优化机器人爬坡方向，通过改变爬坡偏航角提高爬楼梯能力。在优化后的单机器人爬梯过程的基础上，分析了多机器人系统的爬梯编队，优化了最大支撑角度下的爬梯编队参数。根据有效载荷质量和楼梯高度提出爬梯策略。爬楼梯实验验证了爬楼梯策略的有效性。根据有效载荷的质量和楼梯的高度提出爬升策略。爬楼梯实验验证了爬楼梯策略的有效性。根据有效载荷的质量和楼梯的高度提出爬升策略。爬楼梯实验验证了爬楼梯策略的有效性。