1. The State Key Laboratory of Mechanical Transmission, Chongqing University, No. 174 Shazhengjie, Shapingba District, Chongqing 400044, China e-mail:
2. Mem. ASME The State Key Laboratory of Mechanical Transmission, Chongqing University, No. 174 Shazhengjie, Shapingba District, Chongqing 400044, China e-mail: