1. Department of Mechanics and Engineering Science, Sichuan University, Chengdu, China
2. Key Laboratory of Deep Underground Science and Engineering (Ministry of Education), School of Architecture and Environment, Sichuan University, Chengdu, China
3. State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, China
4. Department of Mechanical Engineering, University of Maryland, Baltimore County, Baltimore, MD, USA