MOE Key Laboratory for Mechanism Theory and Equipment Design;
International Centre for Advanced Mechanisms and Robotics;
Tianjin University;
Tianjin;
China;
Advanced Kinematics and Reconfigurable Robotics Lab;
School of Natural and Mathematical Sciences;
King’s College London;
London;
UK;
Rutgers;
The State University of New Jersey;
New Brunswick;
New Jersey;
USA;
Metamorphic hands; Dimensional synthesis; Maximal workspace; Discretization;