1 Key Laboratory of Green Fabrication and Surface Technology of Advanced Metal Materials, Ministry of Education, Anhui University of Technology, Ma’anshan 243002, China
2 Anhui Province Key Laboratory of Special and Heavy Load Robot, Anhui University of Technology, Ma’anshan 243032, China
3 School of Mechanical Engineering, Anhui University of Technology, Ma’anshan 243032, China
4 College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China