Cluster robotic system using ZigBee network technology can achieve an effective communication, but some nodes may use up all the energy because of heavy transmissions. So in robot system using ZigBee technology, the key issue of the research on its network layer is routing algorithm. This paper focuses on the research into such an issue an analyzes the tree. Based on the above analysis, an improved routing algorithm which suitable the robot communication system is proposed(Routing Algorithm of Cluster Robotic System,RACRS). The algorithm introduce the neighbor table and consider the battery-powered nodes and continuous power node, selecting the critical path in the network routing try to avoid the battery-powered node. The simulation results show that the improved algorithm can effectively save the battery-powered robot node energy consumption and the lifetime of the whole network was maximized in this improved algorithm.%集群机器人系统中使用ZigBee网络技术可实现有效的通信，但树形组网可能使部分节点过早耗尽电池能量，所以使用ZigBee技术的机器人系统中，ZigBee网络的路由算法是研究的关键问题。在重点研究了ZigBee协议网络层树型路由算法的基础上，提出了一种适用于机器人通信系统的路由算法（RACRS），改进算法中通过引入邻居表，考虑网络中的电池供电节点和持续供电节点，路由选择网络中的关键路径而尽量避开电池供电节点。仿真结果表明改进算法能有效节省网络中电池供电机器人网络节点的能量消耗，增强集群机器人系统中ZigBee网络的稳定性，最大化系统网络的生存时间。
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