《焊接機器人編程及應(yīng)用》課程教學(xué)大綱

Programmingandapplicationofweldingrobotcoursesyllabus

課程編號適用年級開課學(xué)期

xxxxXXXXXXXX

CoursenumberApplicablegradeOpeningSemester

學(xué)分理論學(xué)時實踐學(xué)時

33216

CreditTheoreticalhoursPracticalhours

一、課程說明(CourseDescription)

《焊接機器人編程及應(yīng)用》是工業(yè)機器人技術(shù)和智能焊接技術(shù)等專業(yè)方向課程的必修課程，

通常在第六學(xué)期或第七學(xué)期開設(shè)。該課程主要包括工業(yè)(焊接)機器人系統(tǒng)組成與集成、系統(tǒng)運

動軸、點動坐標(biāo)系、編程內(nèi)容及方法、典型運動軌跡編程、動作次序編程和機器人焊接工藝條件

調(diào)控等內(nèi)容。通過本課程的學(xué)習(xí)，學(xué)生將對以工業(yè)(焊接)機器人為代表的智能裝備與生產(chǎn)線應(yīng)

用有一個較為全面而深入的體驗認(rèn)知，為今后從事智能制造工程技術(shù)人員職業(yè)打下堅實基礎(chǔ)。同

時，激發(fā)學(xué)生的愛國熱情，培養(yǎng)學(xué)生積極投身國家智能制造專項建設(shè)、培養(yǎng)學(xué)生為建設(shè)制造強國

而奮斗的精神。

Programmingandapplicationofweldingrobotisacompulsorycourseforindustrialroboticsand

smartweldingtechnology,whichisusuallyopenedinthesixthorseventhsemester.Thecoursemainly

includesthesystemcompositionandintegrationofindustrial(welding)robot,systemmotionaxis,

joggingcoordinatesystem,programmingcontentandmethod,typicalmotiontrajectoiyprogramming,

actionsequenceprogrammingandrobotweldingprocessconditionregulation.Through(hestudyofthis

course,studentswillhaveacomprehensiveandin-depthexperience,especiallytheapplicationof

intelligentequipmentandproductionlinesrepresentedbyindustrial(welding)robots.Therefore,itcan

layasolidfoundationfor〔hefuturecareerofintelligentmanufacturingengineeringandtechnical

personnel.Atthesametime,tostimulatestudents'patrioticenthusiasm,cultivatestudentstoactively

participateinthenationalintelligentmanufacturingspecialconstruction,cultivatestudents'spiritof

strivingforbuildingamanufacturingpower.

二、本課程與其他課程的聯(lián)系與分工(Therelationshipanddivisionoflaborbetween

thiscourseandothercourses)

本課程的先修課程為“智能制造工藝學(xué)”“機械制圖”“機械基礎(chǔ)”“單片機原理與應(yīng)

用”“金屬材料與熱處理”“電工電子技術(shù)”等課程。

Theprerequisitecoursesofthiscourseareintelligentmanufacturingtechnology,mechanical

drawingsmechanicalfoundation,principleandapplicationofsinglechipmicmconiputeiymetal

materialsandhealtreatmentandelectricalandelectronictechnology.

三、課程目標(biāo)及對畢業(yè)要求指標(biāo)點的支撐關(guān)系(Curriculumobjectivesandthe

supportingrelationshiptograduationrequirements)

1.課程目標(biāo)(Curriculumobjectives)

本課程以工業(yè)機器人銷量占比近半數(shù)的焊接機器人為切入點，重點介紹焊接機器人系統(tǒng)應(yīng)用

中運動軌跡、工藝條件和動作次序等核心編程知識，尤其以提質(zhì)增效為宗旨的機器人焊接系統(tǒng)參

數(shù)調(diào)控原理和方法，以期培養(yǎng)學(xué)生綜合運用所學(xué)專業(yè)知識分析和解決復(fù)雜工程問題的能力。

Takingtheweldingrobot,whichaccountsfornearlyhalfofthesalesofindustrialrobots,asthe

startingpoint,thiscoursefocusesonthecoreprogrammingknowledgeofmotiontrajectory,process

conditionsandactionsequenceintheapplicationofweldingrobotsystem,especially(heprincipleand

methodofparameterregulationofrobotweldingsystemforthepurposeofimprovingqualityand

efficiency.Inordertocultivatestudents'abilitytoanalyzeandsolvecomplexengineeringproblemsby

comprehensivelyapplyingtheprofessionalknowledgetheyhavelearned.

(1)知識目標(biāo)(Knowledgegoals)

I)能夠列舉焊接機器人系統(tǒng)的組成并闡明其工作原理；

Listthecomponentsofweldingrobotsystemandexplainhowtheywork.

2)能夠辨識焊接機器人系統(tǒng)運動軸類型及常見的點動坐標(biāo)系；

Identifythemotionaxistypesandcommonjogcoordinatesystemsofweldingrobotsystems.

3)能夠歸納焊接機器人任務(wù)示教的主要內(nèi)容和基本流程；

Summarizethemaincontentandbasicprocessofweldingrobottaskteaching.

4)能夠根據(jù)任務(wù)要求合理開展機器人焊接任務(wù)規(guī)劃和運動規(guī)劃；

Reasonablycarryoutrobotweldingtaskplanningandmotionplanningaccordingtotask

requirements.

5)能夠使用機器人編程指令完成直線、圓弧及擺動軌跡的焊接任務(wù)編程；

Userobotprogramminginstructionstocomplete(heweldingtaskprogrammingofstraightline,arc

andswingtrajectory.

6)能夠區(qū)別機器人I/O信號并實現(xiàn)周邊(工藝)輔助設(shè)備的協(xié)同(調(diào)〉動作。

DistinguishtheI/Osignalsoftherobotandrealizethecoordinated(adjustment)actionofthe

peripheral(process)auxiliaryequipment.

(2)能力培養(yǎng)(Abilitytraining)

1)能夠適時選擇恰當(dāng)?shù)狞c動坐標(biāo)系完成焊接機器人的增量點動和連續(xù)移動(或轉(zhuǎn)動)；

Selecttheappropriatejogcoordinatesystemattherighttime(ocompletetheincrementaljogand

continuousmovement(orrotation)oftheweldingrobot.

2)能夠快速運用接觸法和直接輸入法完成焊接機器人工具坐標(biāo)系的設(shè)置；

2

Quicklyusecontactmethodanddirectinputmethodtocompletethesettingofweldingrobottool

coordinatesystem.

3)能夠創(chuàng)建、編輯、測試和運轉(zhuǎn)機器人焊接任務(wù)程序；

Beabletocreate,edit,testandrunrobotweldingtaskprograms.

4)能夠根據(jù)作業(yè)缺陷靈活調(diào)整機器人焊槍姿態(tài)和工藝條件：

Flexiblyadjusttherobotweldingtorchattitudeandprocessconditionsaccordingtotheoperation

defects.

5)能夠使用示教盒實時監(jiān)測機器人系統(tǒng)運動和I/O接口狀態(tài)。

Use(heteachingboxtomonitortherobotsystemmotionandI/Ointerfacestatusinrealtime.

(3)思政目標(biāo)(Ideologicalandpoliticalobjectives)

1)通過對焊接機器人等智能裝備技術(shù)的認(rèn)知學(xué)習(xí)，了解該領(lǐng)域的“卡脖子”問題，激發(fā)學(xué)

生的貢任感、使命感和愛國主義情懷；

Throughthecognitivelearningofintelligentequipmenttechnologysuchasweldingrobots,

studentscanunderstandthe"stuckneck"probleminthisfield,soastostimulatestudents'senseof

responsibility,missionandpatriotism.

2)將“工匠精神”貫穿任務(wù)各個階段，激勵學(xué)生在學(xué)習(xí)和實踐過程中不畏艱難、嚴(yán)謹(jǐn)思維

和團結(jié)協(xié)作；

The"craftsmanspirit"innsthroughallstagesofthetask,withthepurposeofinspiringstudentsto

bebrave,rigorousthinking,unitedandcollaborativein(heprocessoflearningandpractice.

3)將所學(xué)知識綜合運用在實際操作過程中，適應(yīng)現(xiàn)代智能制造技術(shù)發(fā)展，培養(yǎng)具有較強實

踐能力和創(chuàng)新精神的高素質(zhì)復(fù)合型技術(shù)人才。

Studentswillcomprehensivelyapplywhattheyhavelearnedintheactualoperationprocessto

adapttothedevelopmentofmodernintelligentmanufacturingtechnology.Cultivatehigh-quality

compoundtechnicaltalentsv/ithstrongpracticalabilityandinnovativespirit.

2.課程目標(biāo)對畢業(yè)要求指標(biāo)點的支撐(Thesupportofcurriculumgoaltograduation

requirementindexpoint)

課程目標(biāo)

畢業(yè)要求指標(biāo)點

Courseobjectives

Graduationrequirementindexpoint

123

2.1能識別和判斷智能制造工程問題的關(guān)鍵環(huán)節(jié)和參數(shù)。

Canidentifyandjudgethekeylinksandparametersof

intelligentmanufacturingengineeringproblems.

3.1能夠根據(jù)用戶需求確定設(shè)計目標(biāo)。

BeabletodeterminedesignobjectivesaccordingtouserVq

requirements.

3.2能夠在安全、環(huán)境、法律等現(xiàn)實約束條件下，通過技術(shù)、7yl

3

經(jīng)濟評價對智能制造系統(tǒng)的設(shè)計方案可行性進行研究。

Undertherealisticconstraintsofsafety,environmentandlaw,

ihefeasibilityofthedesignschemeofintelligentmanufacturing

systemcanbestudiedthroughtechnicalandeconomic

evaluation.

3.3能夠通過建模進行智能制造系統(tǒng)、部件的結(jié)構(gòu)設(shè)計和工

藝計算，并對設(shè)計方案進行優(yōu)選，體現(xiàn)創(chuàng)新意識。

Throughmodeling,thestructuredesignandprocesscalculation

yl

ofintelligentmanufacturingsystemandcomponentscanbe

carriedout,andthedesignschemecanbeoptimizedtoreflect

theinnovationconsciousness.

3.4能夠用圖紙、報告或?qū)嵨锏刃问?，呈現(xiàn)設(shè)計成果。

Beabletopresentdesignresultsin(heformofdrawings,q

reportsorobjects.

4.4能夠?qū)嶒灲Y(jié)果進行分析和解釋，并通信息綜合得合理

有效的結(jié)論。

Theexperimentalresultscanbeanalyzedandexplained,and

reasonableandeffectiveconclusionscanbeobtainedthrough

informationsynthesis.

7.2熟悉環(huán)境保護的相關(guān)法律法規(guī)，理解全球化制造業(yè)踐行

的“綠色制造”理念。

Familiarwith(herelevantlawsandregulationsof7

environmentalprotection,understandtheconceptofgreen

manufacturingpracticedbyglobalmanufacturingindustry.

注：用“小方式描述課程目標(biāo)與畢業(yè)要求指標(biāo)點的支撐關(guān)系。

Note:using7"todescribethesupportingrelationshipbetweencurriculumobjectivesandgraduationrequirements.

四、課程教學(xué)內(nèi)容(Coursecontent)

(一)理論教學(xué)(Theoryteaching)

1.探尋工業(yè)機器人的廬山真面目(Understandthetruefaceofindustrialrobot)

了解工業(yè)機器人的基本概念、發(fā)展內(nèi)因、機械結(jié)構(gòu)、系統(tǒng)組成、常見分類、典型應(yīng)用以及產(chǎn)

業(yè)現(xiàn)狀。

Understandthebasicconceptofindustrialrobot,internalcauseofdevelopment,mechanical

structure,systemcomposition,commonclassification,typicalapplicationandindustrialstatus.

2.揭開焊接機器人的神秘面紗(Uncoverihemysteryofweldingrobot)

掌握焊接機器人的工作原理，理解焊接機器人的常見分類，了解焊接機器人的安全防護裝置、

常見安全標(biāo)志、安全操作規(guī)程和焊接勞保用品。重點掌握焊接機器人的系統(tǒng)組成及各部分的功能。

4

Mastertheworkingprincipleofweldingrobotandunderstandthecommonclassificationofthe

weldingrobot.Understandthesafetyprotectiondevice,commonsafetysigns,safetyoperation

proceduresandweldinglaborprotectionarticlesofweldingrobot.Thekeypointistomasterthesystem

compositionandfunctionofeachpanoftheweldingrobot.

3.初識焊接機器人的任務(wù)編程(Preliminarytestoftaskprogrammingforweldingrobot)

掌握焊接機器人任務(wù)示教的主要內(nèi)容與編程方法；了解焊接機器人示教盒的按鈕布局和畫面

窗LI；難點是焊接機器人任務(wù)編程的主要內(nèi)容及運動軌跡的示教。

Masterthemaincontentandprogrammingmethodoftheweldingrobottaskteaching;understand

(hebuttonlayoutandscreenwindowoftheweldingrobotteachingbox.Thedifficultyis(hemain

contentoftaskprogrammingandthemotiontrajectory.

4.焊接機器人工具坐標(biāo)系的設(shè)置(Settingoftoolcoordinatesystemforweldingrobot)

掌握焊接機器人的系統(tǒng)運動軸及工具坐標(biāo)系的設(shè)置方法；理解焊接機器人坐標(biāo)系及運動特

點；了解焊接機器人焊槍姿態(tài)的規(guī)劃與顯示。難點是焊接機器人坐標(biāo)系及機器人在不同坐標(biāo)系下

的運動特點。

Masterthesettingmethodofthesystemmotionaxisandtoolcoordinatesystemofthewelding

robot:understandthecoordinatesystemandmotioncharacteristicsoftheweldingrobot:understandthe

planninganddisplayoftheweldingrobotweldingtorchposture,itisimportanttomasterthecoordinate

systemandthemotioncharacteristicsoftheweldingrobotindifferentcoordinatesystems.

5.焊接機器人的直線軌跡編程(Lineartrajectoryprogrammingofweldingrobot)

掌握焊接機器人直線軌跡，機器人焊接工藝條件與動作次序的示教；了解采用焊接機器人直

線軌跡示教時焊接工藝條件與動作次序的示教以及對對接焊縫成形質(zhì)量的影響。重點掌握焊接機

器人的編輯指令與任務(wù)程序的編輯。

Mastertheteachingofrobotlineartrajectory,robotweldingprocessconditionsandaction

sequence;understandtheteachingofweldingprocessconditionsandactionsequencewhenusing

weldingrobotlineartrajectoryteaching,aswellastheinfluenceonthequalityofbuttweldformation.

Focusonmasteringtheeditinginstructionsandtaskprogrameditingofweldingrobot.

6.焊接機器人的圓弧軌跡編程(Arctrajectoryprogrammingofweldingrobot)

掌握焊接機器人圓弧軌跡、圓周軌跡和連弧軌跡的示教，能夠?qū)︱T坐式管■板平角焊焊槍姿態(tài)

進行規(guī)劃；了解T形角焊縫的成形質(zhì)量。重點掌握焊接機器人的圓弧動作指令與任務(wù)程序的編輯。

Mastertheteachingoftheweldingrobotarc,circleandcontinuousarctrajectory,andbeableto

planthepostureoftheseatedtube-plateflatfilletweldingtorch;understandtheformingqualityofthe

T-shapedfilletweld.Focusonmasteringtheeditingofarcmotioncommandsandtaskprogramsof

weldingrobot.

7.焊接機器人的擺動軌跡編程(Swingtrajectoryprogrammingofweldingrobot)

了解焊接機器人的擺動電弧與擺動焊道；重點掌機器人握擺動動作指令，能夠使用機器人編

5

程指令完成直線擺動和圓弧擺動軌跡的仃.務(wù)編程二難點是機器人焊槍擺動參數(shù)的配置以及對焊接

機器人立角焊焊槍姿態(tài)的規(guī)劃。

Understandtheswingarcandswingweldbeadofweldingrobot;focusonmasteringtherobot's

graspingswingactioninstructions,andbeabletouserobotprogramminginstructionstocompletethe

taskprogrammingoflinearswingandarcswingtrajectory:thedifficultyistheconfigurationofthe

swingparametersoftherobotweldingtorchandtheplanningoftheposeoftheweldingrobot'sfillet

weldingtorch.

8.焊接機器人的動作次序編程(Actionsequenceprogrammingofweldingrobot)

了解機器人焊槍自動清潔的動作次序，能夠區(qū)別機器人I/O信號并實現(xiàn)周邊(工藝)輔助設(shè)

備的協(xié)同(調(diào))動作，使用示教盒實時監(jiān)測機器人系統(tǒng)運動和I/O接口狀態(tài)；理解焊接機器人的

信號處理指令和流程控制指令。

Understandtheactionsequenceoftheautomaticcleaningoftherobotweldingtorch,beableto

distinguishtheI/Osignaloftherobotandrealizethecoordinated(adjustment)actionoftheperipheral

(process)auxiliaryequipment,use(heteachingboxtomonitorthemovementoftherobotsystemand

thestatusoftheI/Ointerfaceinrealtime;understandthesignalprocessingandflowcontrol

instructions.

(二)實踐教學(xué)(Practicalteaching)

I.關(guān)節(jié)型工業(yè)機器人的機械結(jié)構(gòu)認(rèn)知(Mechanicals:ructurecognitionofjointindustrialrobot)

了解串聯(lián)式、并聯(lián)式工業(yè)機器人構(gòu)型，理解關(guān)節(jié)型工業(yè)機器人的關(guān)節(jié)驅(qū)動和傳動，掌握垂直

多關(guān)節(jié)型機器人本體的構(gòu)成及功能。

Understandtheconfigurationofseriesandparallelindustrialrobots,understandthejointdriveand

transmissionofjointindustrialrobots,andmasterthecompositionandfunctionofverticalmultijoint

robotbody.

2.焊接機器人的編程方法和運動軌跡示教(Weldingrobotprogrammingmethodandmotion

trackleaching)

了解焊接機器人的點位控制和連續(xù)路徑控制特點，掌握焊接機器人的編程方法，理解焊接機

器人運動學(xué)原理。

Understandthecharacteristicsofpointpositioncontrolandcontinuouspathcontrolofwelding

robot,mastertheprogrammingmethodandunderstandthekinematicsprincipleofrobot.

3.T形接頭平角焊的焊槍姿態(tài)規(guī)劃(TorchposturepanningforflatfilletweldingofT-joints)

掌握手動操縱焊接機器人精確定點運動和連續(xù)移動，理解機器人常用坐標(biāo)系及各運動軸在不

同坐標(biāo)系下的運動。

Mastertheprecisefixed-pointmovementandcontinuousmovementofmanuallyoperatedwelding

robot,andunderstandthecommoncoordinatesystemofrobotandthemovementofeachmotionaxisin

differentcoordinatesystems.

6

4.焊接機微人的直線咯徑運動規(guī)劃(LinearpathmoHonplanningofweldingrobot)

了解工業(yè)機器人安全操作規(guī)范，掌握工業(yè)機器人任務(wù)示教的主要內(nèi)容，理解工業(yè)機器人坐標(biāo)

系及運動特點。

Understand(hesafetyoperationspecificationofindustrialrobot,masterthemaincontentoftask

teachingofindustrialrobot,andunderstandthecoordinatesystemandmotioncharacteristicsof

industrialrobot.

5.的坐式管-板平角焊焊槍姿態(tài)規(guī)劃(Ride-ontube-to-platefilletweldingtorchpostureplanning)

掌握圓弧凱跡的示教要領(lǐng)，能夠使用示教盒熟練編輯機器人圓弧凱跡的示教，加深學(xué)生對機

器人圓弧軌跡運動示教的理解。

MastertheTeachingEssentialsofarctrajectory,beabletousetheteachingboxtoskillfullyedit

(heteachingofrobotarcIrajeclory,anddeepenstudents'understandingofrobotarctrajectorymotion

teaching.

6.焊接機器人的擺動路徑運動規(guī)劃(Swingpathmotionplanningofweldingrobot)

掌握焊接機器人動作指令，理解直線擺動和圓弧擺動的示教要領(lǐng)。

Mastertheactioninstructionsofweldingrobot,andunderstandtheTeachingEssentialsof

straight-lineswingandcirculararcswing.

7.角焊機器人焊槍姿態(tài)規(guī)劃(Thetorchpostureplanningofverticalfilletwelding)

綜合運用焊接機器人直線運動、直線擺動示教要領(lǐng)，掌握立角焊機器人焊槍姿態(tài)規(guī)劃。

ComprehensivelyusetheTeachingEssentialsofstraight-linemotionandstraight-lineswingofthe

weldingrobottomasterthepostureplanningoftheweldingtorchoftheverticalfilletweldingrobot.

8.機器人焊槍清理程序的示教編程(Teachingprogrammingofrobotweldingtorchcleaning

program)

掌握焊接機器人周邊設(shè)備的示教要領(lǐng)，能夠使用示數(shù)盒進行焊槍清理裝置的示教編程。

MastertheTeachingEssentialsofperipheralequipmentofweldingrobot,andbeable:ousethe

teachingboxtoteachandprogramtheweldingguncleaningdevice.

五、課程的教學(xué)環(huán)節(jié)(Teachinglinkofthecourse)

本課程通過課堂講授、課程實驗、課后作業(yè)等教學(xué)環(huán)節(jié)，實現(xiàn)課程目標(biāo)的達成。

Thiscourseachievesthegoalofthecoursethroughclassroomteaching,courseexperiment,

homeworkandotherteachinglinks.

1.課堂講授(Classroomteaching)

采用線上線下混合式教學(xué)形式，機器人基礎(chǔ)性知識和實踐性內(nèi)容以微視頻、電子課件等線上

共享資源自學(xué)方式為主，線下課堂教學(xué)過程以啟發(fā)式和討論式為主，啟發(fā)學(xué)生的思維、引導(dǎo)學(xué)生

達到學(xué)習(xí)H標(biāo)。部分理論性較強的重點、難點，采取課程講授法。針對本課程專業(yè)性與實踐性較

強的特點，結(jié)合工程案例教學(xué)，加深學(xué)生對理論知識的理解，調(diào)動學(xué)生的積極性，提高分析研究

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工程問題的能力。

Theonlineandofflinehybridteachingmodeisadopted.Thebasicknowledgeandpracticalcontent

ofrobotaremainlyself-learningmodeofsharingresourcessuchasmicrovideoandelectronic

courseware.Theofflineclassroomteachingprocessismainlyheuristicanddiscussion,whichcan

inspirestudents'thinkingandguidethemtoachievelearningobjectives.Someofthekeypointsand

difficultieswithstrongtheoreticalnaturearetaughtinthecourse.Accordingtothecharacterislicsofthis

course,combiningwithengineeringcaseteaching,students'understandingoftheoreticalknowledgeis

deepened,students'enthusiasmisaroused,andtheabilityofanalyzingandresearchingengineering

problemsisimproved.

2.課程實驗(Courseexperiment)

采用線上線下混合式教學(xué)形式，通過機器人本體機構(gòu)認(rèn)知實驗理解工業(yè)機器人操作機的驅(qū)

動、傳動模塊；通過點位控制和連續(xù)路徑控制理解工業(yè)機器人的運動控制工作原理；通過直線和

圓弧路徑規(guī)劃理解工業(yè)機器人的任務(wù)編程要領(lǐng)；通過機器人附加擺動強化對機器人示教編程要領(lǐng)

的掌握。學(xué)生對實驗過程現(xiàn)象進行觀察、記錄、分析，杳閱、整理和概括資料，形成最終實驗報

告。

Usingtheonlineandofflinehybridteachingform,throughtherobotbodymechanismcognitive

experimenttounderstandthedrivingandtransmissionmoduleoftheindustrialrobotmanipulator;

throughthepointpositioncontrolandcontinuouspathcontroltounderstandtheindustrialrobotmotion

controlworkingprinciple;through(hestraightlineandarcpathplanningtounderstand(heindustrial

robottaskprogrammingessentials;strengthenthemasteryoftheteachingandprogrammingessentials

oftherobotthroughtheadditionalswingoftherobot.Studentsobserve,recordandanalyzethe

phenomenaintheexperimentalprocess,consult,sortoutandsummarizethedata,andformthefinal

experimentalreport.

3.課程作業(yè)(Courseassignments)

根據(jù)教學(xué)需要，每次理論課布置課后作業(yè)或思考題，幫助學(xué)生掌握重點難點。學(xué)生必須獨立、

按時完成作業(yè)，教師批閱全部學(xué)生的作業(yè)并予以登記。

Accordingtotheneedsofteaching,homeworkorthinkngquestionsarearrangedforeach(heory

classtohelpstudentsmasterthekeyanddifficultpoints.Studentsmustfinishtheirhomework

independentlyandonlime.Theteacherwillcheckandregisterallstudents'homework.

六、考核方式與成績構(gòu)成(Assessmentmethodandperformancecomposition)

1.考核方式(Assessmentmethod)

(1)課程作業(yè)。要求學(xué)生獨立完成，按照作業(yè)情況進行考核。

Courseassignments.Studentsarerequiredtocompleteitindependentlyandassessaccordingto

(heirhomework.

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(2)課程實驗。要求學(xué)生以小組的形式完成，按照開展情況進行考核。

Courseexperiment.Studentsarcrequiredtocompleteitingroupsandcarryoutassessment

accordingtothedevelopmentsituation.

(3)期末考試。參照《浙江師范大學(xué)大學(xué)本科生課程考核管理辦法》，按照試卷評分標(biāo)準(zhǔn)進

行考核。期末考試試卷要求有命題分析、分項試卷成績分析工

Finalexam.Referringtothe"ZhejiangNormalUniversityundergraduatecourseassessment

managementmeasures",theassessmentshallbecarriedoutaccordingtothescoringstandardofthetest

paper.Thefinalexaminationpapersrequirepropositionanalysisanditemanalysis.

2.成績構(gòu)成(Achievemcnlconstitution)

考核方式

方式說明Assessmentmethod

Waytoexplain課程作業(yè)課程實驗期末考試

CourseassignmentsCourseexperimentFinalexam

占總成績比例

Proportionoftotal20%40%40%

achievements

工作方式個人小組個人

OperationmodePersonalGroupPersonal

成果形式習(xí)題作業(yè)本實驗報告試卷

FormofachievementExercisebookExpertmentalreportTestpaper

注：工作方式可以是個人或小組。

Note:theworkingmodecanbeindividualorgroup.

七、達成度評價方法(Achievementevaluationmethod)

1.課程目標(biāo)達成評價(Evaluationontheachievementofcurriculumobjectives)

考核方式對課程目標(biāo)的支撐關(guān)系及權(quán)重分配(Thesupportingrelationshipandweight

distributionofassessmentmethodstocurriculumobjectives)：

考核方式及其對應(yīng)課程目標(biāo)的權(quán)重分配

課程目標(biāo)Assessmentmethodsandweightdistributionofcorresponding

courseobjectives

Curriculumobjectives

課程作業(yè)課程實驗期末考試

CourseassignmentsCourseexperimentFinalexam

10.20.30.5

20.20.50.3

30.30.70

注：若某項課程目標(biāo)由單一考核方式支撐，則該考核方式權(quán)重為1；若某項課程目標(biāo)由多個考核方式支撐,

請根據(jù)各考核方式對該課程目標(biāo)的貢獻程度確定權(quán)重，各考核方式權(quán)重和為1。

9

Note:ifacourseobjectiveissupportedbyasingleevaluationmethod,theweightoftheevaluationmethodisi;ifa

courseobjectiveissupportedbymultipleevaluationmethods,pleasedeterminetheweightaccordingtothecontribution

ofeachevaluationmethodtothecourseobjective,andthesumoftheweightofeachevaluationmethodis1.

課程目標(biāo)達成度計算公式(Calculationformulaofcurriculumgoalachievement)：

學(xué)生在該項考核方式的平均得分

某項課程目標(biāo)達成度=Z權(quán)重X

考核方式支撐某項課程目標(biāo)的考核方式滿分

2.畢業(yè)要求指標(biāo)點達成評價(Achievementevaluationofgraduationrequirementindex

point)

某項畢業(yè)要求指標(biāo)點由多項課程目標(biāo)支撐時，取課程目標(biāo)達成度的最低值作為該項畢業(yè)要求

指標(biāo)點的達成度。

Whenagraduationrequirementindexpointissupportedbymultiplecourseobjectives,(helowest

valueofthedegreeofachievementofthecourseobjectivesistakenasthedegreeofachievementofthe

graduationrequirementindexpoint.

八、建議學(xué)時分配(Recommendedclasshourallocation)

課程教學(xué)內(nèi)容課程目標(biāo)

CoursecontentCurriculumobjectives

建議學(xué)時

教學(xué)內(nèi)容

Recommended123

Contentofcourses

hours

1認(rèn)識工業(yè)機器人的廬山真面

目

2Tq

Understandthetruefaceof

industrialrobot

2揭開焊接機器人的神秘面紗

Uncoverthemysteryofwelding4q

robot

理論3初試焊接機器人的任務(wù)編程

教學(xué)Preliminarytestoftask4q

Theoryprogrammingforweldingrobot

teaching4焊接機器人工具坐標(biāo)系的設(shè)

置

6qq

Settingoftoolcoordinatesystem

forweldingrobot

5焊接機器人的直線軌跡編程

Lineartrajectoryprogrammingof4qNq

weldingrobot

6焊接機器人的圓弧軌跡編程4y

10

Arctrajectoryprogrammingof

weldingrobot

7焊接機器人的擺動軌跡編程

Swingtrajectoryprogrammingof4q

weldingrobot

8焊接機器人的動作次序編程

Actionsequenceprogrammingof4Tq

weldingrobot

實驗1關(guān)節(jié)型工業(yè)機器人的機

械結(jié)構(gòu)認(rèn)知

2T

Mechanicalstructurecognition

ofjointindustrialrobot

實驗2焊接機器人的編程方法

和運動考L跡示教

J

Weldingrobotprogramming2V

methodandmotiontrack

teaching

實驗3T形接頭平角焊的焊槍

姿態(tài)規(guī)劃

2q