1. School of Mechatronic Engineering, Changchun University of Technology 1 , Changchun, Jilin 130012, China
2. Key Laboratory of CNC Equipment Reliability, Ministry of Education, Jilin University 2 , Changchun, Jilin 130022, China
3. Institute of Precision Machinery, Zhejiang Normal University 3 , Jinhua, Zhejiang 321004, China