1. Collaborative Innovation Center of High-End Manufacturing Equipment, Xi’an Jiaotong University, Xi’an 710054, P. R. China
2. State Key Laboratory of Mechanical Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an 710049, P. R. China
3. State Key Laboratory of Digital Manufacturing Equipment & Technology, Huazhong University of Science and Technology, Wuhan 430074, P. R. China
4. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hanzhou 310027, P. R. China