1. The State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China; Aerospace System Engineering Shanghai, Shanghai Key Laboratory of Spacecraft Mechanism, Shanghai 201109, China e-mail:
2. College of Mechanical Engineering, Chongqing University, Chongqing 400044, China e-mail:
3. The State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China e-mail: