1. College of Mechanical Engineering Zhejiang University of Technology Hangzhou 310014 China
2. Key Laboratory of Special Purpose Equipment and Advanced Processing Technology Ministry of Education and Zhejiang Province Zhejiang University of Technology Hangzhou 310014 China
3. XGM Corporation Limited Taizhou 317100 China
4. School of Mechanical Engineering Nanjing University of Science and Technology Nanjing 210094 P. R. China
5. School of Civil and Environmental Engineering University of Technology Sydney Ultimo 2007 Australia
6. Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing 100081 China