[1] Qilu Univ Technol, Sch Mech Engn, Shandong Acad Sci, Jinan 250353, Peoples R China
[2] Shandong Inst Mech Design & Res, Jinan 250031, Peoples R China
[3] Shandong Univ, Sch Mech Engn, Minist Educ, Key Lab High Efficiency & Clean Mech Manufacture, Jinan 250061, Shandong, Peoples R China