Kinematic Chain Course
Gain expertise in kinematic chains for planar mechanisms through this course. Explore forward kinematics for 3R arms, Jacobian analysis, degrees of freedom evaluation, singularity detection, and workspace optimisation. Apply these concepts to enhance engineering choices on link lengths, joint constraints, and motor specifications, enabling smarter and more effective designs in mechanical systems.

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 3R planar arms, construct and analyse Jacobians, and use these skills for improved motor choices, 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 speeds for 3R mechanisms.
- Singularity and workspace evaluation: identify limits 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 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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