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 detection, and workspace optimisation. Apply these skills to enhance engineering choices on link dimensions, joint constraints, and motor specifications, boosting your robotics and mechanism design proficiency.

from 4 to 360h flexible workload
valid certificate in your country
What will I learn?
This course offers a quick practical guide to mastering planar mechanisms, revolute joints, workspace analysis, singularities, and Gruebler/Kutzbach mobility criterion. Learners will establish frames and link parameters, calculate forward kinematics for 3R planar arms, construct and analyse Jacobians, and utilise these for improved motor choices, joint limits, and sturdy mechanism designs.
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 velocity mapping: convert joint velocities to Cartesian speeds for 3R mechanisms.
- Singularity and workspace analysis: 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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