1. College of Mechanical Engineering, North China University of Water Resources and Electric Power, Zhengzhou 450045, China
2. College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing 400044, China
3. State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China
4. Department of Mechanical Engineering, Eindhoven University of Technology, NL 5600 Eindhoven, The Netherlands