1. Engineering Research Center of Mineral Resources Development Technology and Equipment for Deep Sea and Deep Earth Ministry of Education Hunan University of Science and Technology Xiangtan Hunan 411201 P. R.China
2. School of Aerospace, Mechanical and Mechatronic Engineering The University of Sydney Sydney NSW 2006 Australia
3. Research Institute of Technology Jianglu Electromechanical Science & Technology Co., Ltd. Xiangtan Hunan 411202 P. R.China
4. The State Key Laboratory of Rolling and Automation Northeastern University Shenyang Liaoning 110819 P. R.China