1. School of Mechanical Engineering, North University of China, Taiyuan, 030051, P. R. China
2. Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, 430081, P. R. China
3. School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, 430070, P. R. China
4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, P. R. China