Chinese Journal of Mechanical Engineering

Table 5 Step sizes of the active joints

From: Geometric Design-based Dimensional Synthesis of a Novel Metamorphic Multi-fingered Hand with Maximal Workspace

Joints	Step size	Range	Number of values
θ₁	0.02π	[0, π]	51
θ₅	0.02π	[0, π]	51
θ₂₁	0.01π	[0, 0.5π]	51
θ₂₂	0.01π	[0, 0.5π]	51
Pose	‒	‒	6765201

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