1. Shandong Tianli Technology Engineering Co., Ltd , Jinan 250100 , China
2. School of Mechanical Engineering, Shandong University , Jinan 250061 , China
3. Key Laboratory of High Efficiency and Clean Mechanical Manufacture (Shandong University), Ministry of Education , Jinan 250061 , China
4. National Experimental Teaching Demonstration Center of Mechanical Engineering, Shandong University , Jinan 250061 , China