1. Department of Mechanics, School of Mechanical Engineering, Tianjin University, Tianjin 300350, China
2. School of Mathematics, Statistics and Applied Mathematics, NUI Galway, University Road, Galway H91 TK33, Ireland
3. Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou 310027, China; Department of Engineering Mechanics, Zhejiang University, Hangzhou 310027, China
4. Department of Mechanics, School of Mechanical Engineering, Tianjin University, Tianjin 300350, China; Department of Mechanics, Beijing Jiaotong University, Beijing 100044, China