1. School of Mechanical Engineering, Shandong University, Jinan 250061, China
2. State Key Laboratory of Advanced Equipment and Technology for Metal Forming, Shandong University, Jinan 250061, China
3. Key Laboratory of High Efficiency and Clean Mechanical Manufacture of Ministry of Education, Jinan 250061, China
4. Key National Demonstration Center for Experimental Mechanical Engineering Education, Jinan 250061, China
5. School of Mechanical, Electrical & Information Engineering, Shandong University, Weihai 264209, China