1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 220 Building 37th, Jinnan District, Tianjin 300354, China
2. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300354, China
3. Tianjin Key Laboratory of Advanced Joining Technology, Tianjin University, Tianjin 300354, China
4. Department of Industrial and Manufacturing Engineering, Pennsylvania State University, University Park, PA 16802