Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University,Qinhuangdao 066004, China;
Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education,Yanshan University, Qinhuangdao 066004, China;
Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University,Qinhuangdao 066004, China;
Xi'an University of Architecture and Technology, Xi'an 710055, China;
Science and Technology Research Institute, Yanshan University, Qinhuangdao 066004, China;
Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University,Qinhuangdao 066004, China;
School of Design, Engineering and Computing, Bournemouth University, Dorset BH12 5BB, UK;