1. Key Laboratory of Precision Machining of Shanxi Province, College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan 030024, China
2. State Key Laboratory of Mechanical Transmission, College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing 400044, China
3. Taizhou Jiuju Technology Co., Ltd., Taizhou 317600, China