传统建筑施工方式正逐渐向建筑工业化与机器人建造方向发展，装配式建筑已经上升到国家战略的高度。针对建筑机器人存在的承载能力差、作业空间受限、缺乏人机协作能力等问题，本项目以建筑施工机器人为研究对象，以约束空间下大载荷高效作业为目标，开展以下理论和技术研究：（1）研究机构构型和尺度与承载能力之间的映射规律，建立混联机构运动学拓扑优化模型与承载能力评价方法，为建筑机器人的设计提供理论依据。（2）研究动态约束空间描述方法，建立可操作运动空间模型、评价准则、轨迹预测方法，为约束空间下的运动控制提供理论基础。（3）建立以人为感知节点的感知空间与机器人运动空间的数据映射模型，开展基于听觉/触力觉感知的操作意图理解机制与人机协调控制策略研究。（4）探索人体负载操作的省力运动机理，开展仿生省力化轨迹规划原理与能耗最优运动控制策略。为从本质上提升建筑机器人的设计和智能化水平提供理论和技术支撑。

There is a trendy development of the traditional building construction methods into industrialization and robot construction, whereas the prefabricated buildings have been promoted as national strategies. To solve the generally identified improficiencies for the construction robot, such as low carrying capacity, high demand for work space, and inefficient man-machine cooperation, etc., this proposed project develops theory and technologies to improve its load-carrying capacity in the constrained space. Specifically, research efforts will be devoted to the following areas. (1) Explore the mapping rule between the configurative mechanism with the load carrying capacity; develop the hybrid mechanism kinematics topological optimization model and load-carrying capacity evaluation method, which will serve as a theoretical basis for the design of construction robot. (2) Study the methodology for the dynamic constraint space description; establish an operational motion space model, evaluation criteria, and trajectory prediction method to provide a theoretical basis for motion control in constrained space. (3) Develop a data mapping model between the robot motion space and the perception space based on human-sensory nodes, operational intention interpretation mechanism and man-machine coordination controlling strategy in align with the auditory/haptic perception. (4) Explore the labor-saving movement mechanism of human body in operation under load; study on the biomimicry and labor saving trajectory planning principle and the optimal energy consumption motion control strategy; provide theoretical and technical support for enhancement of the design and intelligent level for building robots.