基金This work was supported by the National Natural Science Foundation of China(Nos.51971040,52171101,52001036,51971044)the Natural Science Foundation of Chongqing,China(No.cstc2021jcyj-msxmX0613)the Independent Research Project of State Key Laboratory of Mechanical Transmissions,China(No.SKLMT-ZZKT-2022M12).