1. aSchool of Mechanical Engineering, Xiangtan University, Xiangtan, P.R. China
2. bKey Laboratory of welding robot and application technology of Hunan Province, Xiangtan University, Xiangtan, P.R. China
3. cEngineering Research Center of Complex Trajectory Processing Technology and Equipment of Ministry of Education, Xiangtan University, Xiangtan, P.R. China
4. dSchool of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, NSW, Australia
5. eAustralian Nuclear Science and Technology Organization, Lucas Heights, NSW, Australia
6. fState Key Laboratory of Powder Metallurgy, Central South University, Changsha, P.R. China