State Key Laboratory of Mechanical Transmission College of Mechanical Engineering Chongqing University Chongqing 400030 China;
School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China;
School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China;
College of Mechanical Engineering and Applied Electronics Technology Beijing University of Technology Beijing 100124 China;