给出了焊缝倾角和焊缝转角的广义定义，提出建立焊缝特征坐标系的方法。
The definition of weld slope and weld rotation are described, and characteristics coordinates frame of seam are set up.
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。
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.
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。
Welding pose includes weld position and torch orientation, which is represented by weld slope, weld rotation, torch work Angle and traveling Angle.
结果表明，搅拌头形状和焊接速度、搅拌头转速、搅拌头偏转角度等工艺参数对焊缝成形有重要的影响。
The results show that the shape of pin, welding speed, rotating velocity, deflected Angle of pin and plunge depth have important influences on the welding formation.
结果表明，搅拌头形状和焊接速度、搅拌头转速、搅拌头偏转角度等工艺参数对焊缝成形有重要的影响。
The results show that the shape of pin, welding speed, rotating velocity, deflected Angle of pin and plunge depth have important influences on the welding formation.
应用推荐