1. School of Art and Design, Yanshan University, Qinhuangdao 066004, China
2. Intelligent Industrial Design Technology Innovation Center of Hebei Province, Yanshan University, Qinhuangdao 066004, China
3. Parallel Robot and Mechatronic System Laboratory of Hebei Province, School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China