1. College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan 030024, China
2. Department of Mechanical and, Materials Engineering, University of Denver, Denver, CO 80208
3. College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan 030024, China;
4. The State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400044, China