1. Transportation Science and Engineering College, Civil Aviation University of China, Tianjin 300300, P. R. China
2. Aeronautical Engineering College, Civil Aviation University of China, Tianjin 300300, P. R. China
3. International Institute for Innovative Design and Intelligent Manufacturing of Tianjin University in Zhejiang Shaoxing, Zhejiang 312077, P. R. China
4. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education Tianjin University, Tianjin 300350, P. R. China