Unit-5-Industrial-Robot工業(yè)機(jī)器人課件

1、第13次課Industrial Robot工業(yè)機(jī)器人Unit 5 Industrial Robot1.Introduction2. Programming a Robot單詞工業(yè)機(jī)器人可再編程的液壓的氣動的機(jī)電的工件封裝圓柱狀的梯形邏輯圖industry robotreprogrammablehydraulicpneumaticelectromechanicalcylindricalladder logic開環(huán)open-loop閉環(huán)closed-loopWork envelop單詞fictioncompanionshipanatomysimilarityevolvegripperauxilia

2、ry虛構(gòu)，想象陪伴（生物體）結(jié)構(gòu)相似之處演化，演變輔助的，補(bǔ)充的夾持器pendantjoy-stick操縱桿懸掛式操縱板，操作面板key pad鍵盤gantry臺架potential潛在的1.Introduction Industrial robot are relatively new electromechanical devices that are beginning to change the appearance of modern industry. 工業(yè)機(jī)器人是相對來說較新的機(jī)電設(shè)備，它已經(jīng)開始改變現(xiàn)代工業(yè)的面貌。Industrial robots are not like t

3、he science fiction devices that possess human-like abilities and provide companionship with space travelers. 工業(yè)機(jī)器人不像科幻小說中的那個模樣具有人一樣的能力并且能與其它移動物建立友誼。1.Introduction Research to enable robots to “see”, “hear”, “touch”, and “l(fā)isten” has been underway for two decades and is beginning to bear Fruit. Howev

4、er, the current technology of industrial robots is such that most robots contain only an Arm rather than all the anatomy a human possesses. 機(jī)器人能夠看見聽到觸覺聽的研究已經(jīng)進(jìn)行了20多年，現(xiàn)在開始開花結(jié)果了。然而，通常所說的工業(yè)機(jī)器人技術(shù)是是大多數(shù)機(jī)器人只包含了一條臂而不是擁有人解剖學(xué)的全部結(jié)構(gòu)。1.Introduction Current control only allows these devices to move form point to p

5、oint in space, performing relatively simple tasks. 通常的控制只允許這些機(jī)器人在空間上從點(diǎn)到點(diǎn)的移動，完成相對簡單的工作。1.Introduction The Robotics Institute of America defines a robots as “a reprogrammable multifunction manipulator designed to move material, parts, tools, or other specialized devices through variable programmed mot

6、ions for the performance of a variety of tasks.” 1 美國機(jī)器人學(xué)會定義機(jī)器人為“一個可再編程序，多功能的機(jī)器手，它通過各種可編程的運(yùn)行來完成不同的任務(wù)，用于搬運(yùn)原料、零件、刀具、以及專用裝置。如果認(rèn)為不同類型的加工有不同的作用。1.Introduction A NC machining center would be qualified as a robot if one can interpret different types of machining as different functions. Most manufacturing e

7、ngineers do not consider a NC machining center a robot, even though these machines have a number of similarities. 如果認(rèn)為不同類型的加工有不同的功能，那么一個數(shù)控加工中心也可以被認(rèn)為是機(jī)器人。大部分制造工程師認(rèn)為數(shù)控加工中心不是機(jī)器人，盡管他們有很多相似之處。1.Introduction The power drive and controllers of both NC machines and robots can be quite similar. Robots, like

8、NC machines can be powered by electrical motors, hydraulic systems, or pneumatic systems. 數(shù)控機(jī)構(gòu)和機(jī)器人的動力驅(qū)動和控制十分相似。像數(shù)控機(jī)構(gòu)一樣機(jī)器人能夠由電機(jī)、液壓系統(tǒng)、氣壓系統(tǒng)提供動力。1.Introduction Control for either device can be either open-loop or closed-loop. In fact many of the developments used in robotics have evolved form the NC ind

9、ustry, and many of the manufacturers of robots also manufacture NC machines or NC controllers.兩種設(shè)備都能由開環(huán)控制或閉環(huán)控制。實(shí)際上，許多應(yīng)用于機(jī)器人發(fā)展技術(shù)由數(shù)控工業(yè)演變過來并且許多機(jī)器人制造商也制造數(shù)控機(jī)床和數(shù)控控制器。1.Introduction A physical robot is normally composed of a main frame ( or arm ) with a wrist and some tooling ( usually some type of gripper

10、 ) at the end of the frame. 2 An auxiliary power system may also be included with the robot. 實(shí)際的機(jī)器人由帶有腕（或稱為臂）的主機(jī)身和機(jī)器端部的工具（通常是某些的支撐器）組成。機(jī)器人也可能有一個輔助動力系統(tǒng)。1.Introduction A controller with some type of teach pendant, joy-stick, or key-pad is also part of the system. A typical robotic system is shown in F

11、ig 5.1.機(jī)器人系統(tǒng)還包括一個有一些示教板、操作桿、鍵盤。一種典型的機(jī)器人系統(tǒng)如圖5、1。1.Introduction Robots are usually characterized by the design of the mechanical system. A robot whose main frame consists of three linear axes is called a Cartesian robot. The Cartesian robot derives its name from the coordinate system. Travel normally

12、takes place linearly in three-space.機(jī)器人特點(diǎn)通常由機(jī)械系統(tǒng)的設(shè)計表現(xiàn)，一個主要框架包括三條移動軸的機(jī)器人稱為笛卡爾機(jī)器人。笛卡爾機(jī)器人它的名字來源于笛卡爾坐標(biāo)系沿三維空間的直線移動。1.Introduction Some Cartesian robots are constructed like a gantry to minimize deflection along each of the axes. These robots are referred to as gantry robots. 一些笛卡爾機(jī)器人由龍門結(jié)構(gòu)構(gòu)成以便使沿每個軸的偏差最小。這

13、些機(jī)器人稱為龍門機(jī)器人。1.Introduction Fig.5.2 shows examples of Cartesian robots. These robots behave and can be controlled similarly to conventional three-axis NC machines. 3 Gantry structure are generally the most accurate physical structure for robots. 圖5.2展示了笛卡爾機(jī)器人，這些機(jī)器人的動作控制都相似于傳統(tǒng)的三坐標(biāo)機(jī)床。龍門結(jié)構(gòu)一般來說是最準(zhǔn)確的機(jī)器人實(shí)際

14、結(jié)構(gòu)。1.Introduction Gantry robots are commonly used for assembly where tight tolerance and exact location are required.龍門機(jī)器人通常用于公差較小和位置度要求較高的裝配中。1.Introduction A cylindrical robot is composed of two liner axes and one rotary axis. This robot derives its name from the work envelope (the space in which

15、it operates), which is created by moving the axes from limit to limit. 圓柱機(jī)器人由兩個移動軸和一個旋轉(zhuǎn)軸組成，這種機(jī)器人的名稱來源自包圍軌跡（它的功作范圍），它由軸移動的極限位置構(gòu)成。1.Introduction Fig.5.3 shows typical cylindrical robots, cylindrical robots are used for a variety of applications, but most frequently for material-handling operations.圖5.

16、3展示了典型的圓柱機(jī)器人。圓柱機(jī)器人有許多應(yīng)用，最常見的是材料的搬運(yùn)操作。2. Programming a RobotProgramming a Robot給機(jī)器人編程In order for a device to qualify as a robot, it must be easily reprogrammable.為了使設(shè)備具有資格作為機(jī)器人，它必須是容易可再編程的。2. Programming a RobotNonprogrammable mechanisms, regardless of their potential flexibility by reassembly or re

17、wiring, do not be qualified as robots4. A class of devices that fit this category are fixed or variable-sequence robots.不可編程的機(jī)構(gòu)，無論其通過重新裝配或再接線可實(shí)現(xiàn)的潛在柔性有多大，也不能算作機(jī)器人。許多這類設(shè)備是固定的或可變的序列機(jī)器人。2. Programming a RobotMany of these robots are pneumatically driven. Rather than controlling the robot path, the devic

18、e is driven to fixed stops or switches via some form of ladder logic. 很多這樣的機(jī)器人是由氣壓驅(qū)動的。這種機(jī)器人借助某種梯形邏輯圖被驅(qū)動至一些固定的擋塊或行程開關(guān)處，而不是控制它的軌跡。2. Programming a RobotAlthough the ladder programming qualifies for the definition of a robot, the switches or stops must normally be physically moved in order to alter the

19、 tasks being performed. 5 雖然梯形圖編程可滿足機(jī)器人的運(yùn)動要求，但行程開關(guān)和擋塊必須正常的被整體移動，以改變所需執(zhí)行的工作任務(wù)。2. Programming a RobotDrive actuators or motors are turned “on” or “off” depending on the desired sequence of tasks and switch states. Robot operations for this type of system are normally limited to rather simple applicati

20、ons.動力執(zhí)行器或發(fā)動機(jī)打開到“開”或“關(guān)”取決于工序的要求和轉(zhuǎn)換狀態(tài)。機(jī)器人對這類系統(tǒng)的操作通常局限于相當(dāng)簡單的應(yīng)用。2. Programming a RobotProgramming of more conventional robots normally takes one of three form: (1) walk-through or pendant teaching, (2) lead-through teaching, or (3) offline programming.傳統(tǒng)機(jī)器人的程序通常采用以下三個形式之一：（1）操作器或示教板編程（2）導(dǎo)入式程序（3）脫機(jī)編程。2.

21、 Programming a RobotEach robot normally comes with one or more of these types of programming systems. Each has advantages and disadvantages depending on the application being considered.每個機(jī)器人通常具有一個或更多這種程序類型的系統(tǒng)。每種形式的優(yōu)缺點(diǎn)依不同的應(yīng)用而不同。2. Programming a RobotWalk-through or pendant teaching or programming is

22、 the most commonly used robot programming procedure. In this type of programming, a pendant that normally contains one or more joysticks is used to move the robot throughout its work envelope. 操作器或示教板編程是最常用的機(jī)器人編程方式，這種類型編程，A pendant（懸掛操作板） 通常包括幾個用于使機(jī)器人在它工作范圍移動的操作桿。2. Programming a RobotAt the end of

23、each teach point, the current robot position is saved. As was the case with NC machines, some robots allow the programmer the option of defining the path between points. 在每個工序的終點(diǎn)，機(jī)器人的位置被保存。像數(shù)控機(jī)床一樣，一些機(jī)器人允許編程人員選擇定義兩點(diǎn)間路線。2. Programming a RobotAgain, these robots are called continuous-path systems. Syst

24、ems that do not allow the user to specify the path taken are called point-to-point systems. Many continuous-path robots allow the user to define the path to be taken between successive points. That is, the user may define a straight-line, circular, or joint-interpolated path.另外，這些機(jī)器人被稱為連續(xù)路徑系統(tǒng)。不允許用戶指

25、定路徑的系統(tǒng)稱為點(diǎn)到點(diǎn)系統(tǒng)。許多連續(xù)路徑機(jī)器人允許用戶定義在兩個主要點(diǎn)之間連線的路徑。那么，用戶可以定義直線、圓弧的、關(guān)節(jié)-插補(bǔ)的路徑。2. Programming a RobotIn a straight-line path, the robots move between successive points in a straight-line in Cartesian space. Circular moves, as the name implies, take place in circles along one of the major planes6. The path that

26、 the robot takes using a joint-interpolation scheme is not always easy to determine. 在直線路徑中，機(jī)器人在笛卡爾空間中，在直線連續(xù)端點(diǎn)間移動。顧名思義，圓弧運(yùn)動就是在某一主平面上沿圓弧運(yùn)動。機(jī)器人以關(guān)節(jié)插補(bǔ)方案執(zhí)行的路線很不容易確定。2. Programming a RobotIn joint interpolation, each of the robot joints is moved at a constant rate so that all the axes start and stop at th

27、e same time. 7 For Cartesian robots, straight-line and joint-interpolation schemes produce the same path. For the other types of robot systems, this is not true.在關(guān)節(jié)插補(bǔ)中，機(jī)器人的每一關(guān)節(jié)都以一恒定速度移動以保證所有的軸同時啟動和停止。對于笛卡爾機(jī)器人，直線和結(jié)點(diǎn)插補(bǔ)方案產(chǎn)生相同的路徑。對于其他類型機(jī)器人系統(tǒng)，這不成立。2. Programming a RobotPendant programming systems normall

28、y have supplemental commands that allow the programmer to perform auxiliary operations such as close the end-effector, wait, pause, check the status of a switch or several switches, return a required status to a machine, etc. 操作器編程系統(tǒng)通常提供允許編程人完成輔助操作的命令，如關(guān)閉終端，等待，暫停，檢查一種或幾種轉(zhuǎn)換狀態(tài)，返回全部狀況給機(jī)床，等等。2. Programm

29、ing a RobotThe programmer walks the robot through the necessary steps required to perform a task, saving each intermediate step along with the auxiliary information. The teach pendant used to program the Fanuc MI robot is shown in Fig.5.4.編程人員使機(jī)器人走過要求完成一項(xiàng)工作的必要步驟，保存每一中間步驟和輔助的信息。用于給Fanuc M1機(jī)器人編程的操作器，如

30、圖5.4所示。2. Programming a RobotLead-through programming is one of the simplest programming procedures used to program a robot. As the name implies, the programmer simply physically moves the robot through the required sequence of motions. The robots controller records the position and speed as the pro

31、grammer leads the robot through the operation. 導(dǎo)入式程序是最簡單的機(jī)器人程序設(shè)計過程之一。顧名思義，編程人只需根據(jù)需要的運(yùn)動順序進(jìn)行機(jī)器人的實(shí)際移動。機(jī)器人控制器反饋它的位置并且像編程人一樣引導(dǎo)機(jī)器人完成操作。2. Programming a RobotThe power is normally shut down while the programmer is leading the robot through the necessary moves, so that the robot will not will not generate a

32、ny “glitches” that might injure the operator. 當(dāng)編程人員負(fù)責(zé)引導(dǎo)機(jī)器人完成必要動作時，動力降低以便機(jī)器人不產(chǎn)生傷害操作人員的“小毛病”。2. Programming a RobotAlthough lead-through programming is the easiest programming method learn, it does introduce some severe limitations to the robots application. For instance, when the robot is being led t

33、hrough the operation, the operator carries the weigh of the robot. 盡管導(dǎo)入式編程是最容易學(xué)的程序語言，但它也反映了一些機(jī)器人應(yīng)用的限制，例如，當(dāng)機(jī)器人正在進(jìn)行操作時，操作人員搬運(yùn)機(jī)器人。2. Programming a RobotThe gears, motor and lead screw may introduce a false resolver reading, so that when the weight of robot, and perhaps a part , must be supported by the

34、 system the actual end-effector position may be significantly different from the position taught to the robot.齒輪，電動機(jī)和絲杠會引入錯誤的運(yùn)算讀數(shù)值，這樣當(dāng)機(jī)器人的重量，也許是工件的重量必須由系統(tǒng)承擔(dān)時，端部執(zhí)行器的 實(shí)際位置可能與機(jī)器人的訓(xùn)練位置有很大差異。2. Programming a RobotAnother problem with this method is that since the position and speed are recorded as the ro

35、bot is being led through the desired path, a significant amount of data are generated. This data must be stored and later recalled. 這種方式的另一個問題是，由于機(jī)器人被指引通過期望的路徑時，機(jī)器人的位置和速度會被記錄，產(chǎn)生大量的數(shù)據(jù)信號，這些數(shù)據(jù)必須進(jìn)行存儲之后調(diào)用。2. Programming a RobotStorage and retrieval space and time can cause the programmer problems. Perhap

36、s the major problem associated with lead-through programming is that the human who leads the robot through the process is capable of only finite accuracy and may introduce inconsistencies into the process. 存儲和重新調(diào)用的空間和時間可能會引起匯編器問題 ，也許導(dǎo)入式編程的主要問題是引導(dǎo)機(jī)器人完成工藝過程的人僅能夠達(dá)到有限的準(zhǔn)確度，可能引起工藝過程的不協(xié)調(diào)。2. Programming a R

37、obotHuman-induced errors and inaccuracies eliminate some of the major advantages of using robots.人為錯誤和不準(zhǔn)確性削弱了使用機(jī)器人的優(yōu)點(diǎn)。2. Programming a RobotOffline programming for robots is a relatively new technology that provides several advantages over both lead-through and teach programming. The principles of o

38、ffline programming are similar to using an offline language such as APT for NC programming. 脫機(jī)編程對機(jī)器人來說是相對較新的技術(shù)，它能夠提供導(dǎo)入式和控制板編程的一些優(yōu)點(diǎn)。脫機(jī)編程的規(guī)律與對數(shù)控技術(shù)應(yīng)用脫機(jī)語言類似。2. Programming a RobotSeveral languages have been developed at major universities as well in industry throughout the U.S. Examples of these languag

39、es include VAL created by Unimation, AR-Basic by American Robot Corp., ARM-BASIC by Microbot, Inc.and AIM. By IBM. 幾種脫機(jī)語言已經(jīng)在美國的主要大學(xué)和工業(yè)中發(fā)展。這些語言主要有Unimation的VAL,美國機(jī)器人協(xié)會的ARM-BASIC, Microbot,Inc的ARM-BASIC和IBM的AMI。 2. Programming a RobotTo illustrate offline programming, AR-Basic will be used. AR-Basic a

40、llows the user to :為解釋說明脫機(jī)語言，AR-Basic允許用戶：Define the position of the robot定義機(jī)器人的位置Control the motion of the robot控制機(jī)器人的運(yùn)動Input and output control data輸入輸出控制數(shù)據(jù)2. Programming a RobotAR-Basic is an interpretive BASIC system that employs many of the same functions as the familiar BASIC programming langu

41、age. In AR-Basic, points and tools are defined as a set of primitive data. Points are defined using the convention（約定、協(xié)定）:AR-Basic系統(tǒng)的解釋，他采用的許多相同的功能采用了我們熟悉的basic程序語言，在In AR-Basic中，點(diǎn)和刀具定義為初始化數(shù)據(jù)。點(diǎn)由以下協(xié)議定義 X,Y,Z,R,P,Y2. Programming a RobotWhere X,Y, and Z are the Cartesian space occupied by the end-effec

42、tor, and R, P, and Y are the roll, pitch（節(jié)距） and yaw of the tool. Each of the point definitions can be specified as either absolute or relative point ( again defined in a similar manner as for NC machines ).X,Y,Z表示由端部執(zhí)行器占據(jù)的笛卡爾空間，R ,P,Y 表示刀具旋轉(zhuǎn)、進(jìn)給（節(jié)距）、和刀具偏角。每個點(diǎn)的定義既可以是絕對的也可以是相對的（和數(shù)控機(jī)床有相似的規(guī)則）.2. Program

43、ming a RobotTool-definition commands are used to define the location of any tooling that might be required for an opperation. The tool defination specifies the midpoint of the robots faceplate, and consists of the same six data used to describe a point. 刀具定義命令常用于定義操作要求的所有刀具的位置。刀具定義指定機(jī)器人面板的中心，包括與用于定義

44、點(diǎn)相同的六個數(shù)據(jù)。2. Programming a RobotThe robot is set into motion using a set of motion control commands. The motion commands allows the programmer to : Define the type of path to take (straight-line, circular, or joint-coordinated ) 機(jī)器人通過運(yùn)動控制命令執(zhí)行運(yùn)動，運(yùn)動命令允許編程人員定義采取的路徑類型（直線，圓弧，關(guān)節(jié)-協(xié)調(diào)）。2. Programming a RobotD

45、efine the end of tooling speedDefine the frame of referenceDescribe the current tool tip 定義刀具的最終速度定義參考框架定義刀尖的類別2. Programming a RobotAR-Basic also allows the programmer to input data to any device to which the robot is interfaced. Analog and digital data can be sent to A/D converters, D/A converters

46、, parallel, or serial I/O ports. AR-Basic也允許程序編譯人員輸入，輸出數(shù)據(jù)到與機(jī)器人連接的設(shè)備。模擬和數(shù)字信號可以傳送到模-數(shù)、數(shù)-模轉(zhuǎn)換器并行的或串行的I/O口。2. Programming a RobotTable 5-1 contains Point and Tool definition examples. Table 5-2 contains AR-Basic example for motion control. 表51是點(diǎn)和刀具定義的舉例。表52舉例說明了AR-Basic的運(yùn)動控制。 For light work, the drill pr

47、ess is widely used. When required, turn on the machine light, please. Computer-control programmers and operators use computer numerically controlled (CNC) machines to cut and shape precision products, such as automobile parts, machine parts, and compressor. Before CNC programmers machine a part, the

48、y must carefully plan and prepare the operation.Assignment1Assignment2There is no physical contact between workpiece and tool.工件和刀具不直接接觸。The tailstock carries a hollow spindle which may be advanced or retracted by a hand wheel. 尾架上裝有空心軸，可由手輪操作前進(jìn)或后退。Person interested in becoming computer control prog

49、rammers or operators should be mechanically inclined and able to work independently and do highly accurate work. 有意成為數(shù)控編程員或操作員者必須主修機(jī)械專業(yè)，并且能獨(dú)立工作，完成非常精細(xì)的工作。Assignment3 The first benefit offered by all forms of CNC machine tools is improved automation. The second major benefit of CNC technology is cons

50、istent and accurate workpieces. All feedrate related points made during our discussion of straight line motion still apply.11醉翁亭記 1反復(fù)朗讀并背誦課文，培養(yǎng)文言語感。2結(jié)合注釋疏通文義，了解文本內(nèi)容，掌握文本寫作思路。3把握文章的藝術(shù)特色，理解虛詞在文中的作用。4體會作者的思想感情，理解作者的政治理想。一、導(dǎo)入新課范仲淹因參與改革被貶，于慶歷六年寫下岳陽樓記，寄托自己“先天下之憂而憂，后天下之樂而樂”的政治理想。實(shí)際上，這次改革，受到貶謫的除了范仲淹和滕子京之外，還

51、有范仲淹改革的另一位支持者北宋大文學(xué)家、史學(xué)家歐陽修。他于慶歷五年被貶謫到滁州，也就是今天的安徽省滁州市。也是在此期間，歐陽修在滁州留下了不遜于岳陽樓記的千古名篇醉翁亭記。接下來就讓我們一起來學(xué)習(xí)這篇課文吧！【教學(xué)提示】結(jié)合前文教學(xué)，有利于學(xué)生把握本文寫作背景，進(jìn)而加深學(xué)生對作品含義的理解。二、教學(xué)新課目標(biāo)導(dǎo)學(xué)一：認(rèn)識作者，了解作品背景作者簡介：歐陽修(10071072)，字永叔，自號醉翁，晚年又號“六一居士”。吉州永豐(今屬江西)人，因吉州原屬廬陵郡，因此他又以“廬陵歐陽修”自居。謚號文忠，世稱歐陽文忠公。北宋政治家、文學(xué)家、史學(xué)家，與韓愈、柳宗元、王安石、蘇洵、蘇軾、蘇轍、曾鞏合稱“唐宋八

52、大家”。后人又將其與韓愈、柳宗元和蘇軾合稱“千古文章四大家”。關(guān)于“醉翁”與“六一居士”：初謫滁山，自號醉翁。既老而衰且病，將退休于潁水之上，則又更號六一居士?？陀袉栐唬骸傲缓沃^也？”居士曰：“吾家藏書一萬卷，集錄三代以來金石遺文一千卷，有琴一張，有棋一局，而常置酒一壺。”客曰：“是為五一爾，奈何？”居士曰：“以吾一翁，老于此五物之間，豈不為六一乎？”寫作背景：宋仁宗慶歷五年(1045年)，參知政事范仲淹等人遭讒離職，歐陽修上書替他們分辯，被貶到滁州做了兩年知州。到任以后，他內(nèi)心抑郁，但還能發(fā)揮“寬簡而不擾”的作風(fēng)，取得了某些政績。醉翁亭記就是在這個時期寫就的。目標(biāo)導(dǎo)學(xué)二：朗讀文章，通文順字

53、1初讀文章，結(jié)合工具書梳理文章字詞。2朗讀文章，劃分文章節(jié)奏，標(biāo)出節(jié)奏劃分有疑難的語句。節(jié)奏劃分示例環(huán)滁/皆山也。其/西南諸峰，林壑/尤美，望之/蔚然而深秀者，瑯琊也。山行/六七里，漸聞/水聲潺潺，而瀉出于/兩峰之間者，釀泉也。峰回/路轉(zhuǎn)，有亭/翼然臨于泉上者，醉翁亭也。作亭者/誰？山之僧/曰/智仙也。名之者/誰？太守/自謂也。太守與客來飲/于此，飲少/輒醉，而/年又最高，故/自號曰/醉翁也。醉翁之意/不在酒，在乎/山水之間也。山水之樂，得之心/而寓之酒也。節(jié)奏劃分思考“山行/六七里”為什么不能劃分為“山/行六七里”？明確：“山行”意指“沿著山路走”，“山行”是個狀中短語，不能將其割裂?！巴?/p>

54、/蔚然而深秀者”為什么不能劃分為“望之蔚然/而深秀者”？明確：“蔚然而深秀”是兩個并列的詞，不宜割裂，“望之”是總起詞語，故應(yīng)從其后斷句?！窘虒W(xué)提示】引導(dǎo)學(xué)生在反復(fù)朗讀的過程中劃分朗讀節(jié)奏，在劃分節(jié)奏的過程中感知文意。對于部分結(jié)構(gòu)復(fù)雜的句子，教師可做適當(dāng)?shù)闹v解引導(dǎo)。目標(biāo)導(dǎo)學(xué)三：結(jié)合注釋，翻譯訓(xùn)練1學(xué)生結(jié)合課下注釋和工具書自行疏通文義，并畫出不解之處?！窘虒W(xué)提示】節(jié)奏劃分與明確文意相輔相成，若能以節(jié)奏劃分引導(dǎo)學(xué)生明確文意最好；若學(xué)生理解有限，亦可在解讀文意后把握節(jié)奏劃分。2以四人小組為單位，組內(nèi)互助解疑，并嘗試用“直譯”與“意譯”兩種方法譯讀文章。3教師選擇疑難句或值得翻譯的句子，請學(xué)生用兩種翻

55、譯方法進(jìn)行翻譯。翻譯示例：若夫日出而林霏開，云歸而巖穴暝，晦明變化者，山間之朝暮也。野芳發(fā)而幽香，佳木秀而繁陰，風(fēng)霜高潔，水落而石出者，山間之四時也。直譯法：那太陽一出來，樹林里的霧氣散開，云霧聚攏，山谷就顯得昏暗了，朝則自暗而明，暮則自明而暗，或暗或明，變化不一，這是山間早晚的景色。野花開放，有一股清幽的香味，好的樹木枝葉繁茂，形成濃郁的綠蔭。天高氣爽，霜色潔白，泉水淺了，石底露出水面，這是山中四季的景色。意譯法：太陽升起，山林里霧氣開始消散，煙云聚攏，山谷又開始顯得昏暗，清晨自暗而明，薄暮又自明而暗，如此暗明變化的，就是山中的朝暮。春天野花綻開并散發(fā)出陣陣幽香，夏日佳樹繁茂并形成一片濃蔭，秋天風(fēng)高氣爽，霜色潔白，冬日水枯而石底上露，如此，就是山中的四季?！窘虒W(xué)提示】翻譯有直譯與意譯兩種方式，直譯鍛煉學(xué)生用語的準(zhǔn)確性，但可能會降低譯文的美感；意譯可加強(qiáng)譯文的美感，培養(yǎng)學(xué)生的翻譯興趣，但可能會降低譯文的準(zhǔn)確性。因此，需兩