1. School of Mechanical Engineering, Taiyuan University of Science and Technology, Taiyuan 030024, China
2. College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan 030024, China
3. Engineering Research Center of Advanced Metal Composites Forming Technology and Equipment, Ministry of Education, Taiyuan 030024, China
4. National Key Laboratory of Metal Forming Technology and Heavy Equipment, Ministry of Science and Technology, Taiyuan 030024, China
5. School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong, NSW 2522, Australia