Kinematic Chain Course
Dive into kinematic chains for planar mechanisms in this comprehensive course. Gain expertise in 3R arm forward kinematics, Jacobian analysis, degrees of freedom evaluation, singularity detection, and workspace optimisation. Apply these skills to inform superior engineering choices on link lengths, joint constraints, and motor specifications, enhancing your robotics and mechanism design capabilities.

4 to 360 hours flexible workload
valid certificate in your country
What will I learn?
This course provides a quick, hands-on guide to mastering planar mechanisms, revolute joints, workspace analysis, singularities, and the Gruebler/Kutzbach mobility criterion. You'll establish frames and link parameters, calculate forward kinematics for a 3R planar arm, construct and analyse Jacobians, and use these insights for optimal motor selection, joint limits, and reliable mechanism design.
Elevify advantages
Develop skills
- Planar mechanism modelling: quickly classify chains, joints, and degrees of freedom.
- Forward kinematics for 3R arms: accurately determine end-effector positions from joint angles.
- Jacobian-based velocity analysis: convert joint velocities to Cartesian velocities for 3R mechanisms.
- Singularity and workspace evaluation: identify boundaries and maximise reachable areas.
- Actuation design optimisation: leverage kinematics for motor sizing and joint limit decisions.
Suggested summary
Before starting, you can change the chapters and the workload. Choose which chapter to start with. Add or remove chapters. Increase or decrease the course workload.What our students say
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