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图8 磁吸附轮式水下焊接机器人立面焊接实验过程[45]

Fig.8 Elevation welding test process of magnetic adsorption wheeled underwater welding robot[45] (a, c) welding site photographs at spatial attitude angles of 180° (a) and 270° (c) (b, d) welding process photographs at spatial attitude angles of 180° (b) and 270° (d)