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1、Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial automation as a separate subject. Manipulator applic
2、ation began to filter into welding, logistics, mechanical processing, and other industries. Especially at high or very low temperatures, full of poisonous gases, high radiation case, robot in similar circumstances showed great use also brings great convenience to the staff. Precisely because of this
3、 robot to get peoples attention began to be a high degree of development. Labor rates, working conditions, labor intensive aspects of promoting development. Both at home and abroad to develop the PLC (programmable logic controller) is in various special circumstances and under special conditions set
4、 for mechanical devices. Now turned on the development of the microelectronics automatic control technology and the rapid development of the trains, the success of PLC hardware software and simulation control win big and successful development, now continues to develop as a factory automation standa
5、rds. Because robots are good development of the technology makes a good optimization of productive capital, and robot shows this unique advantages, such as: has good compatibility, wide availability, hardware is complete, and programming that can be mastered in a short time, so in the context of ind
6、ustrial PLC applications became ubiquitous. Manipulator in many developed country agriculture and industry has been applied, such as the use of mechanical harvesting large areas of farmland, repeated operations on the high-speed line that uses a robotic arm, and so on. Today, the high level of autom
7、ation combined with restrictions on the manipulator development level is slightly lower than the international. The design is mainly arm welding machine by PLC Automation control. This of design let designers on in school by learn of has a must of consolidation, understand has some usually didnt opp
8、ortunities awareness in world range within some leading level of knowledge has has must awareness, hope designers can in yihou of design in the can success of using in this design in the proceeds of experience 1.2 manipulator in both at home and abroad of research profile automation mechanical arm r
9、esearch began Yu 20th century medium-term, after years with with computer and automation technology of development, Makes mechanical arm on the Grand stage of industrial automation and shine, gradually became an industrial evaluation standards, and its importance can be seen. Now original robotic ar
10、m spent most of mass production and use on the production line, which is programmed robotic arm. As the first generation of manipulator position control systems main features, although not back several generations that can detect the external environment, but can still successfully complete like wel
11、ding, painting, delivery as well as for materials simple movements. Second generation mechanical arms are equipped with sensors and manipulators have the environment there is a certain amount of sense, when the mechanical arm is to use the program as a basis. Difference is that the robot begand第一单元：
12、分数乘法第一课时:分数乘以整数教学内容：第12页，例1及“做一做”，练习一1-7题。教学目的：（1）使学生理解分数乘整数的意义，掌握分数乘整数的计算方法。（2）使学生能够应用分数乘整数的计算法则，比较熟练地进行计算。教学重、难点：（1）使学生理解分数乘整数的意义，掌握分数乘整数的计算方法。（2）引导学生总结分数乘整数的计算法则。教学过程：（一）铺垫孕伏1.出示复习题。（投影片）（1）整数乘法的意义是什么？（2）列式并说出算式中的被乘数、乘数各表示什么？5个12是多少？ 9个11是多少？ 8个6是多少？（3）计算： 计算时向学生提问：这道题的什么特点？计算时把什么做分子？使学生看到三个加数都相同
13、，计算时3个3连加的结果做分子，分母不变。2.引出课题。分数加法是否也有简便算法？今天我们学习分数乘法。（板书课题：分数乘整数）（二）探究新知。1.教学分数乘整数的意义。出示例1，指名读题。（1）分析演示：师：每人吃块蛋糕，每人吃的够一块吗？（不够一块）接着出示如课本的三个扇形图。问：一个人吃了块，三个人吃了几个块？使学生从图中看到三个人吃了3个块。让学生用以前学过的知识解答3个人一共吃了多少块？（教师在3个扇形下面画出大括号并标出？块）订正时教师板书：=（块），（教师将3个双层扇形图片拼成一个一块蛋糕的图片）（2）观察引导： 这道题3个加数有什么特点？使学生看到3个加数的分数相同。教师问：求
14、三个相同分数的和怎样列式比较简便呢？引导学生列出乘法算式。教师板书：。再启发学生说出表示求3个相加的和。（3）比较和125两种算式异同：提示：从两算式表示的意义和两算式的特点进行比较。（让学生展开讨论）。通过讨论使学生得出：相同点：两个算式表示的意义相同。不同点：是分数乘整数，125是整数乘整数。（4）概括总结： 教师明确：两个算式表示的意义相同，谁能用一句话概括出两算式的意义？（引导学生说出都是表示求几个相同加数的和。）2.教学分数乘以整数的计算法则。（1）推导算理：由分数乘整数的意义导入。问：表示什么意义？引导学生说出表示求3个的和。板书：。学生计算，教师板书：。提示：分子中3个2连加简便
15、写法怎么写？学生答后板书：（块）教师说明：计算过程中间的加法算式部分是为了说明算理，计算时省略不写。（边说边加虚线）（2）引导观察：的分子部分、分母与算式两个数有什么关系？（互相讨论）观察结果：的分子部分23就是算式中的分子2与整数3相乘，分母没有变。（3）概括总结： 请根据观察结果总结的计算方法。（互相讨论） 汇报结果：（多找几名学生汇报）使学生得出是用分数的分子2与整数3下乘的积作分子，分母不变。 根据的计算过程，明确指出：分子、分母能约分的要先约分，然后再乘。约分进约得的数要与原数上下对齐。然后让学生将按简便方法计算。（启发学生通过合作学习，学习总结、归纳，培养学生的语言表达能力和逻辑思
16、维能力）3.反馈练习：（1）看图写算式：做一做、练习一第1题。订正时让学生说出乘法中被乘数、乘数各表示什么？（2）口答列算式：=（ ）（ ） 3个是多少？ 5个是多少？订正时让学生说一说为什么这样列式。（3）计算： 先让学生讲每个算式表示的意义，然后教师提示：乘的时候如果分子分母能约分的要先约分，若乘得的结果是假分数的要化成带分数。（三）全课小结。 这节课我们学习了什么？引导学生回顾总结。（四）作业。练习一5、6题。第二课时：一个数乘以分数教学内容：课本第46页，例2，例3及“做一做”，练习二14题。教学目标： （1）使学生理解一个数乘分数的意义，掌握分数乘以分数的计算法则。 （2）学会分数乘分数
