1. Key Laboratory of Microsystems and Microstructure Manufacturing Ministry of Education Harbin Institute of Technology Harbin 150080 China
2. School of Mechanical and Power Engineering Harbin University of Science and Technology Harbin 150080 China
3. State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Harbin 150001 China
4. State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China