1. State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400030, China
2. State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400030, China e-mail:
3. Mechanical Engineering Department, École de technologie supérieure (ÉTS), 1100 Notre-Dame Ouest, Montreal, QC H3C1K3, Canada