1. MOE Key Lab for Mechanism Theory and Equipment Design, International Centre for Advanced Mechanisms and Robotics, Tianjin University, Tianjin 300350, China
2. MOE Key Lab for Mechanism Theory and Equipment Design, International Centre for Advanced Mechanisms and Robotics, Tianjin University, Tianjin 300350, China;
3. Advanced Kinematics and Reconfigurable Robotics Lab, Center for Robotics Research, King’s College London, Strand, London WC2R 2LS, UK