1. State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400030, China e-mail:
2. State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400030, China
3. School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
4. Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208