1. School of Aeronautics, Northwestern Polytechnical University, 710072 Xi’an, Shaanxi, China
2. School of Mechanical Engineering, Baoji University of Arts and Sciences, 721016 Baoji, Shaanxi, China
3. Shaanxi Province Key Laboratory of Advanced Manufacturing and Evaluation of Robot Key Components Co-founded by Baoji and the Shaanxi Department of Science and Technology, 721016 Baoji, Shaanxi, China
4. School of Civil Engineering and Architecture, Xi’an University of Technology, 710048 Xi’an, Shaanxi, China