According to the model of the welding position, giving a weld seam point, the weld orientation then can be resolved from the weld rotation angle and the weld slope angle. 根据焊缝位置的数学模型,得到了描述焊缝焊接位置的参数&焊缝转角和焊缝倾角与焊缝姿态的关系。
Welding pose includes weld position and torch orientation, which is represented by weld slope, weld rotation, torch work angle and traveling angle. 焊接位姿包括焊缝位置和焊枪姿态,可以用焊缝倾角、焊缝转角、焊枪工作角和焊枪行走角四个参数来表征。
The results showed that the weld detects on the surface of the axle was the reason to cause low stress fatigue under rotation bending stress which finally lead to the fatigue cracks on the axle. 结果表明,该轴断裂是由于轴表面存在焊接缺陷,在旋转弯曲应力作用下产生低应力疲劳开裂。