1津大学机械工程学院,天津 300072
2天津大学机构理论与装备设计教育部重点实验室,天津30072
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1chool of Mechanical Engineering, Tianjin University, Tianjin 300072, China;
2key laborotary of mechanism theory and equipment design of ministry of education, tianjin university , tianjin 300072,china
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