1. School of Mechanical Engineering, Northwestern Polytechnical University 1 , 710072 Xi’an, China
2. Shaanxi Engineering Laboratory for Transmissions and Controls, Northwestern Polytechnical University 2 , 710072 Xi’an, China
3. National Key Laboratory of Science and Technology on Helicopter Transmission, Nanjing University of Aeronautics and Astronautics 3 , 210016 Nanjing, China