The definition of weld slope and weld rotation are described, and characteristics coordinates frame of seam are set up.
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。
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。
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。
The result shows that the velocity field changes with the increase of space from shoulder and stir tool and the flow of weld metal from top to bottom and stir zone to rotation zone also weakens.
实验结果表明：随着距轴肩和搅拌针距离的增大，速度场开始减弱，焊缝金属由顶面向底面、由搅拌区向旋转区的流动也随之减弱。
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。
When the annular parts of a spaceflight apparatus were welded, the centre of the rotation of electron gun and the centre of the annular weld are usually not superposed.
在真空电子束焊接航天器件的圆形焊缝时，由于工装等原因，出现电子枪回转中心与焊缝圆心不同心现象。
When the annular parts of a spaceflight apparatus were welded, the centre of the rotation of electron gun and the centre of the annular weld are usually not superposed.
在真空电子束焊接航天器件的圆形焊缝时，由于工装等原因，出现电子枪回转中心与焊缝圆心不同心现象。
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