1. School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, 100083, China
2. School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan, 056038, China
3. School of Intelligent Manufacturing and Electronic Engineering, Wenzhou University of Technology, Wenzhou, 325035, China (Corresponding author), e-mail: sunwei@syu.edu.cn, https://orcid.org/0000-0003-1607-3493
4. Key Laboratory of Intelligent Industrial Equipment Technology of Hebei Province, Handan, 056038, China (Corresponding author), e-mail: Lhzong@126.com, https://orcid.org/0000-0003-3445-2446
5. Faculty of Engineering, University of Nottingham, Nottingham, NG7 2RD, UK