Kinematic Chain Course
This course provides a practical guide to mastering kinematic chains in planar mechanisms. Participants will learn forward kinematics for 3R arms, Jacobian computation, degrees of freedom analysis using Gruebler/Kutzbach criterion, singularity detection, and workspace optimization. These skills enable informed decisions on link lengths, joint limits, and motor selection for robust mechanism design.

4 to 360h flexible workload
certificate valid in your country
What will I learn?
Gain expertise in planar mechanisms, revolute joints, workspace analysis, singularities, and Gruebler/Kutzbach mobility criterion. Master frame setup, link parameters, forward kinematics for 3R planar arms, Jacobian interpretation, and their applications in motor selection, joint limits, and effective mechanism design.
Elevify advantages
Develop skills
- Planar mechanism modeling: classify chains, joints, and degrees of freedom quickly.
- Forward kinematics for 3R arms: compute end-effector positions from joint angles.
- Jacobian analysis: map joint velocities to end-effector speeds.
- Workspace and singularities: identify limits and optimize reachable areas.
- Actuation design: apply kinematics for motor sizing 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 are saying
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