1. Taiyuan University of Technology College of Mechanical and Vehicle Engineering, , Taiyuan 030024 , China
2. Taiyuan University of Technology College of Mechanical and Vehicle Engineering, , Taiyuan 030024 , China ;
3. Chongqing University The State Key Laboratory of Mechanical Transmissions, , Chongqing 400044 , China ;
4. Zhejiang Yiduan Precision Machinery Co., Ltd. , Ningbo 315702 , China ;
5. Tianjin University School of Electrical Automation and Information Engineering, , Tianjin 300072 , China
6. Zhejiang Yiduan Precision Machinery Co., Ltd. , Ningbo 315702 , China