1. School of Mechatronic Engineering, Changchun University of Technology 1 , Changchun, Jilin 130012, China
2. School of Mechanical and Aerospace Engineering, Jilin University, Nanling Campus 2 , Changchun, Jilin 130025, China
3. Institute of Precision Machinery and Smart Structure, Zhejiang Normal University 3 , Jinhua 321004, China