1. Beijing Machinery Industry Automation Research Institute Co., Ltd., Beijing 100120, China
2. College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China
3. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Qinhuangdao 066004, China
4. National & Local Joint Engineering Research Center for Advanced Manufacture Forming Technology and Equipment, Qinhuangdao 066004, China
5. China Key Laboratory of Advanced Forging & Stamping Technology and Science, Yanshan University, Qinhuangdao 066004, China