Kinematic Chain Course
This course equips you with essential skills in kinematic chains for planar mechanisms. You will master forward kinematics for 3R arms, Jacobian analysis, degrees of freedom evaluation, singularity detection, and workspace optimisation. These tools enable smarter engineering choices on link lengths, joint limits, and motor selection for robust designs.

from 4 to 360h flexible workload
valid certificate in your country
What will I learn?
Gain a practical foundation in planar mechanisms, revolute joints, workspace analysis, singularities, and Gruebler/Kutzbach mobility criterion. Learn to set up frames and link parameters, derive forward kinematics for 3R planar arms, construct Jacobians, and use them for optimal motor selection, joint limits, and mechanism design.
Elevify advantages
Develop skills
- Planar mechanism modelling: classify chains, joints, and degrees of freedom quickly.
- Forward kinematics for 3R: compute end-effector x,y positions from joint angles accurately.
- Jacobian velocity analysis: map joint rates to Cartesian speeds for 3R arms.
- Singularities and workspace: identify limits and optimise reachable areas.
- Design for actuation: apply kinematics to motor sizing and joint limits.
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 workloadWhat our students say
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