1. Key Laboratory of Green and Precise Synthetic Chemistry and Applications, Ministry of Education, School of Chemistry and Materials Science, Huaibei Normal University, Huaibei 235000, P. R. China
2. College of Mechanical and Electrical Engineering, Inner Mongolia Agricultural University, Hohhot 010018, P. R. China
3. College of Mechanical and Electrical Engineering, Zhengzhou University of Light Industry, Zhengzhou 450002, P. R. China
4. Jiangsu Key Laboratory of Special Robot Technology, Hohai University-Changzhou, Changzhou 213022, P. R. China
5. Anhui Province Key Lab of Aerospace Structural Parts Forming Technology and Equipment, Hefei University of Technology, Hefei 230009, P. R. China