1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300354, China
2. Intelligent Manufacturing Key Laboratory of Ministry of Education, Shantou University, Shantou 515063, China
3. International Institute for Innovative Design and Intelligent Manufacturing Tianjin University in Zhejiang, Shaoxing 312000, China
4. School of Materials Science and Engineering, Tianjin University, Tianjin 300354, China