This research is mainly addressed on solving the weld seam tracing problems existing in design of wheel mobile robot based spherical tank welding robot.
主要研究以轮式移动机器人为本体的球罐焊接机器人的焊缝跟踪问题。
Stress intensity evaluation shows that the spherical tank is safe under design condition.
应力强度评定结果表明，该球壳结构在设计条件下满足设计规范要求。
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