This work is about the influence rule of inclination of welding torch on the formation and characteristics of weld bead during the pulsed-gas metal arc welding (GMAW) process based on the robotic operation. The inclination of welding torch was an important operation condition during the pulsed-GMAW process, because it can affect the formation and quality of weld bead, which was the output of the process. In this work, the different inclination modes and values were employed to conduct actual welding experiments, and some influence rules can be obtained according to examine the surface topography and cross section. Then, to obtain further rules, serious measurements for the geometry characteristic parameters were conducted and corresponding curve fitting equations between inclination angles and the bead width, penetration and bead height were obtained, and the largest error of these curve fitting equations was 0.117 mm, whose corresponding mean squared error (MSE) was 0.0103. Corresponding verification experiments validated the effectiveness of the curve fittings and showed the second order polynomials were proper, and the largest errors between measurements and curve fitting equations for inclination angle under backward mode were larger than those under forward mode, and were 0.10 mm and 0.15 mm, respectively, which corresponded to the penetration and were below 10%, therefore the equations can be used to predict the geometry of the weld bead. This work can benefit the process and operation optimization of the pulsed-GMAW process, both in the academic researches and actual industrial production.
Keywords: arc welding process; curve fitting; inclination; penetration; weld bead.