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 computations, degrees of freedom analysis using Gruebler/Kutzbach criterion, singularity detection, and workspace optimisation. These tools enable smarter choices in link lengths, joint limits, and motor sizing for robust mechanism design in engineering projects.

from 4 to 360h flexible workload
certificate valid in your country
What will I learn?
Gain practical expertise in 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 and analyse Jacobians, and leverage these for optimal motor selection, joint limits, and reliable 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 singularities: identify limits and optimise reachable areas effectively.
- Actuation design: apply kinematics for motor selection 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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