Kinematic Chain Course
This course equips you with essential skills in kinematic chains for planar mechanisms. Delve into forward kinematics for 3R arms, Jacobian computations, degrees of freedom evaluation using Gruebler/Kutzbach criterion, singularity analysis, and workspace optimisation. Gain practical expertise to enhance mechanism design, including optimal link lengths, joint constraints, and motor choices for robust engineering solutions.

4 to 360 hours of flexible workload
certificate valid in your country
What Will I Learn?
Gain rapid mastery of planar mechanisms, revolute joints, workspace analysis, singularities, and Gruebler/Kutzbach mobility criterion. Learn to establish frames and link parameters, compute forward kinematics for 3R planar arms, construct Jacobians, and leverage these for superior motor selection, joint limits, and resilient mechanism design.
Elevify Advantages
Develop Skills
- Planar mechanism analysis: classify chains, joints, and degrees of freedom quickly.
- Forward kinematics for 3R arms: calculate end-effector positions from joint angles accurately.
- Jacobian analysis: relate joint velocities to end-effector speeds in 3R mechanisms.
- Workspace and singularity detection: identify limits and optimise reachable areas.
- Actuation design: apply kinematics for motor selection and joint limit setting.
Suggested Summary
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