1. School of Mechatronic Engineering, Southwest Petroleum University (Corresponding author)
2. School of Mechatronic Engineering, Southwest Petroleum University
3. Drilling & Production Technology Research Institute of CNPC Chuanqing Drilling Engineering Co., Ltd.
4. Engineering Technology Research Institute, CNPC Xibu Drilling Engineering Co., Ltd.
5. Hubei Tri-Ring Metal-forming Equipment Co., Ltd.
6. Engineering Technology Research Institute, CNPC Greatwall Drilling Engineering Co., Ltd.