1. School of Mechanical Engineering, Tianjin University of Technology and Education, Tianjin 300222, P. R. China
2. Tianjin High-end Intelligent Machine Tool Engineering Research Center, Tianjin University of Technology and Education, Tianjin 300222, P. R. China
3. School of Mechanical Engineering, Tianjin University, Tianjin 300072, P. R. China