1. School of Mechanical Engineering , Xiangtan University, Xiangtan , P.R. China
2. Key Laboratory of welding robot and application technology of Hunan Province , Xiangtan University, Xiangtan , P.R. China
3. Engineering Research Center of Complex Trajectory Processing Technology and Equipment of Ministry of Education , Xiangtan University, Xiangtan , P.R. China
4. State Key Laboratory of Powder Metallurgy , Central South University, Changsha , P.R. China