Compared with the existing arc sensors, high speed rotating scanning arc sensor has up to 50 HZ rotating speed, and it can be much more compact, cheaper and more sensitive. The arc welding robot can weld for three movement types using the high speed rotating scanning arc sensor. Weld shaping and mechanical properties for three movement styles of arc welding robot torch are studied. The macrostructure appearance characteristics of mild steel bead-on-plate weld seam section and fillet weld seam section are analyzed. Experimental researches are undertaken in tension and bending test.The results show that the weld shaping of rotating arc weld for bead-on-plate weld and fillet weld is better than that of linear motion arc welding and oscillating arc welding. This investigation will provide the theoretical basis for the advantage and choice of three arc movement styles in the practical production.