1. School of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an 710048, China
2. Luoyang Bearing Science & Technology Co., Ltd., Luoyang 471039, China
3. Shaanxi Robot Automation Technology Co., Ltd., Xi’an 710061, China
4. Xi’an Research Institute Co., Ltd., China Coal Technology and Engineering Group Corp, Xi’an 710048, China