1 reform measures and practical achievements

1. 1 Construction of experimental platform

In order to strengthen students' robot practice, it is first necessary to build a robot experimental platform. Let students know the basic composition and working principle of robots in classroom teaching, and students' comprehensive analysis ability and problem-solving ability can only be exercised and improved through practice. Students understand the basic composition and working principle of robots through classroom teaching, and improve their comprehensive analysis ability and problem-solving ability through practice. Relying on the resources of the Experimental Teaching Center of Mechanical Basis of Xi Jiaotong University, the existing experimental teaching robot resources are integrated to build a robot experimental teaching platform, including: solid and high-quality domestic robots, open source code; Motoman-SK 16, Kawasaki RS 10N and other industrial robots, made in Japan, have teaching handboxes; Boss robot that can be used in combination after secondary development. In the robot experiment teaching, it provides enough teaching resources for students' practice.

1.2 Reform the experimental teaching system and enrich the experimental level.

At present, most experimental teaching systems are for experimental teachers to carry out experimental teaching at a certain point. But the robot itself has the characteristics of strong practicability and wide integration of disciplines. Robot experiment can no longer be supported by a single experiment, and it needs to integrate mechanical structure, trajectory planning, system control, sensors and other technologies. At present, robot experiments tend to focus on one aspect. Different teachers often focus on their own direction because of different personal research directions or professional restrictions. But in undergraduate teaching, we need to pay attention to the expansion of students' knowledge. Students should fully understand all aspects and broaden their horizons. Therefore, robot experiments should be broadened. System-level robot experiment is a brand-new experimental form, which integrates mechanical structure analysis, modeling, sensor technology, mechanical control and other disciplines. In the implementation of the experimental project, students carry out experiments in the form of teams with clear division of labor, which provides students with a platform to apply knowledge of various disciplines and cultivates their innovative ability and teamwork ability. In the structural part, the small Bosera series robots are disassembled and modeled, and a fish model robot is built. In the experiment of robot structure, students can freely build five combinations of robot systems with 2 ~ 6 degrees of freedom on the 6-degree-of-freedom modular detachable serial robot platform. The internal structure of each joint of the robot is diversified, and various transmission modes such as synchronous toothed belt transmission, harmonic deceleration transmission, planetary deceleration transmission, bevel gear transmission and worm gear transmission are adopted. Each module is packaged in a transparent way, and the internal transmission structure and motion form can be directly seen, and it can be disassembled to the screw level. The disassembly experiment of robot body can improve students' intuitive understanding of various transmission principles in the mechanism, exercise students' assembly ability, understand the processing technology and characteristics of parts, and enhance students' hands-on operation ability in the practice of mechanism movement form. Smart fish model is a set of electromechanical products consisting of mechanical parts, sensors and control parts. In the control part, the existing experimental instruments are divided into commercial robots and robots developed by science and education companies. Commercial robot technology is mature and reliable, but the control source code is not open; The source code of the robot developed by science and education company is open, but the reliability of the equipment is poor. Therefore, it is necessary to adjust the experimental content, overcome their respective shortcomings, make them complement each other, and form a comprehensive training for students. After students use the common robots in the existing machinery industry, the headstock in the industry can be directly operated by students, and both teaching theory and industrial practice are equally important. By controlling the use of robots and understanding the basic trajectory planning of robots, students can directly focus on the main problems of robot experiments. The source code of robots developed by science and education companies is open, and students can carry out secondary development when they have spare time to study. The robot control technology and sensor technology are combined to improve students' interest and cultivate their innovative ability.

Reform 1.3 teaching method to improve students' interest.

Robots are widely used in various industrial fields. The experimental teaching and mechanical parts include connecting rods, gears, motors and turbines. All parts needed for general construction machinery manufacturing can be found in the model. The parts in the model can be inserted and disassembled in a short time, which gives students wings to their imagination. After disassembling the actual robot, you can build your own robot, which can improve students' interest and enhance their understanding of transmission knowledge. Engineering applications are interrelated and inseparable. Taking the solid-high flexible manufacturing system in the laboratory as an example, the robot plays the role of storage, loading and unloading in the middle, and fully realizes automatic control. Therefore, it is necessary to contact the engineering background in the development of robot experiments to improve students' interest. The experimental system includes common robot kinematics experiments, dynamic analysis experiments and trajectory planning experiments. Students need to know the composition of each part of the machine. Therefore, in experimental teaching, control teachers and mechanical design teachers should jointly develop robot experiments, so that students can apply what they have learned in the course to experiments and strengthen the combination of theory and practice. In the use of students, students can first realize that robots are widely used in various industrial fields from the flexible manufacturing system, and then disassemble the robot to understand various parts of the robot, and then control and plan the motion trajectory of the robot. After students fully understand the knowledge of robots, they can choose local structure experiments in comprehensive experiments, such as building robots with herring models; You can also choose some control experiments, such as the development of robot vision system; They can also be combined to design new robot structures and systems. This is a process from cognition to practice, which accords with the general law of human cognition. Robot technology has the characteristics of rapid update. As a teacher, we should not only give technical guidance to students, but also pay attention to cultivating students' understanding of the development trend of robotics, cultivate students' innovative consciousness, let students participate in all aspects of experiments as much as possible, and increase students' subjective initiative, including putting forward experimental questions, determining experimental robots, designing experimental procedures (routes) and analyzing and summarizing them. Only in the process of experiment can we cultivate students' team spirit, innovative ability and practical ability.

1.4 Reform the assessment methods and highlight the cultivation of students' abilities.

At present, the assessment of students is relatively simple, only the final experimental results of students are assessed. Not only can students not be urged to make a reasonable analysis of the experimental results, but also the operation of students in the experiment is ignored, which is unreasonable for the examination of robot experiments. As a practical course, robot experiment has no unique definite answer. The experiment of robot structure analysis can cultivate students' spatial imagination and attention to details. Robot trajectory planning involves the application ability of mathematics in real life, and software programming involves the planning ability. It embodies students' spatial imagination and planning ability, sensitivity to new things and ability to complete tasks. Therefore, it is necessary to reform the experimental evaluation system for students. Reasonable examination methods can not only enable students to master the relevant knowledge of robots, but also play a guiding role in the later robot research. At present, the outstanding problem in the performance evaluation of robot experiment teaching is that robot experiment, as a project, should not stipulate the research scope of students in the student evaluation system, but should examine students' comprehensive ability, which requires diversified and standardized evaluation methods. In the robot experiment, students cooperate with each other in groups, and the process evaluation of students in the experiment should occupy a very important position in the examination process. In order to avoid the subjective influence of teachers, students should evaluate each other and incorporate their own evaluation into the assessment method.

2 conclusion

After the reform of robot experiment teaching, students generally responded well and increased their hands-on ability. The reform of robot experiment teaching is a process that needs long-term accumulation and deepening. It is necessary to improve the overall teaching quality through continuous exploration. In practical teaching, we need to pay attention to practical links, stimulate students' learning initiative, cultivate students' interest in research and development and scientific innovation spirit, stimulate innovative thinking, and cultivate students' ability to solve practical problems and innovate design.

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