1. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China
2. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China e-mail:
3. School of Mechanical Engineering, Jiangsu Provincial Key Laboratory of Advanced Manufacturing for Marine Mechanical Equipment, Jiangsu University of Science and Technology, Zhenjiang 212003, China