[1] Lanzhou Univ Technol, Sch Mech & Elect Engn, Lanzhou 730050, Peoples R China
[2] Lanzhou Univ Technol, Key Lab Digital Mfg Technol & Applicat, Minist Educ, Lanzhou 730050, Peoples R China
[3] Osaka Univ, Dept Mech Sci & Bioengn, Osaka 5608531, Japan