1. School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
2. School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China e-mail:
3. School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China;
4. State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400044, China
5. Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208;