Kinematic Chain Course
Gain expertise in kinematic chains for planar mechanisms through this course. Delve into forward kinematics for 3R arms, Jacobian computations, degrees of freedom evaluation, singularity identification, and workspace optimisation. Apply these skills to enhance engineering choices regarding link lengths, joint constraints, and motor specifications, ensuring robust and efficient designs.

from 4 to 360h 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. Learners will establish frames and link parameters, calculate forward kinematics for a 3R planar arm, construct and analyse Jacobians, and utilise these concepts for improved motor selection, joint limits, and reliable mechanism design.
Elevify advantages
Develop skills
- Planar mechanism modelling: swiftly 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 accessible areas.
- Actuation design optimisation: leverage kinematics for precise motor selection and joint limits.
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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