Who were the many uncrowned heirs to Elizabeth I, and how did their role as unnamed successors shape their lives?   In this second episode of the series, we're back with Chief Curator Tracy Borman, as she follows the Tudor family tree back to Henry VII, to unpick the complicated web of successors to Elizabeth I's throne.     Find out more about the claimants to the Tudor Crown.    Read about the tragic story of Lady Katherine Grey.    Learn more about Edward VI's nursery at Hampton Court Palace.