1. Anhui Province Key Laboratory of Special Heavy Load Robot, Ma’anshan, 243032, China
2. Department of Mechanical Engineering, Anhui University of Technology, Ma’anshan, 243002, China
3. Department of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China
4. Department of Innovative Education, Anhui University of Technology, Ma’anshan, 243002, China