1. Key Laboratory of CNC Equipment Reliability Ministry of Education, Jilin University, Changchun 130025, China
2. School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, China
3. Key Laboratory of Bionic Engineering Ministry of Education, Jilin University, Changchun 130025, China
4. Weihai Institute for Bionics-Jilin University, Weihai 264207, China