Kinematic Chain Course
Gain expertise in kinematic chains for planar mechanisms through this course. Explore forward kinematics for 3R arms, Jacobian computations, degrees of freedom evaluation, singularity identification, and workspace optimization. Apply these concepts to enhance engineering choices in link dimensions, joint restrictions, and motor specifications, enabling stronger mechanism performance and design reliability.

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 analyze Jacobians, and use these skills for improved motor choices, joint constraints, and reliable mechanism designs.
Elevify advantages
Develop skills
- Planar mechanism modeling: 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 enhance reachable areas.
- Actuation design optimization: leverage kinematics for motor selection and joint limit settings.
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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