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

flexible workload of 4 to 360h
valid certificate in your country
What will I learn?
This course offers a quick, hands-on way to master planar mechanisms, revolute joints, workspace analysis, singularities, and the Gruebler/Kutzbach mobility criterion. You'll learn to set up frames and link parameters, calculate forward kinematics for a 3R planar arm, construct and analyse Jacobians, and use these skills for smarter motor choices, joint limits, and sturdy mechanism designs.
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 end-effector speeds for 3R mechanisms.
- Singularity and workspace evaluation: identify limits and enhance 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 workloadWhat our students say
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