1. Department of Mechanical Engineering, Taiyuan Institute of Technology 1 , Taiyuan 030008, Shanxi, China
2. School of Mechanical Engineering, Taiyuan University of Science and Technology 2 , Taiyuan, Shanxi 030024, China
3. Department of Intelligent Manufacturing, Shanxi University of Electronic Science and Technology 3 , Linfen, Shanxi 041000, China