Mechanism And Robot Kinematics

By Prof. Anirvan DasGupta   |   IIT Kharagpur
Learners enrolled: 1449
This course will be a foundation course in analysis of mechanisms and robots. After a brief introduction to the subject matter and terms, the audience will be introduced to kinematic analysis of planar constrained mechanisms, and closed and open chain robot manipulators. The course will dwell upon direct and inverse kinematics, velocity and acceleration analysis, kinematic motion generation, singularities in kinematic chains, principle of virtual work and force analysis, coordinate frames and transformations. The course will demonstrate various concepts by working out problems relevant to applications involving mechanisms and robotic chains. The course is expected to help students and researchers in their basic understanding and use of kinematic analysis. This course will also pave way for more advanced courses on mechanism and robot dynamics and design.

  • Mechanical
  • Electrical
  • Aerospace 
  • Bio-Medical Engineering
  • Engineering Mechanics
  • Undergraduate Mathematics

  • Automobile and Aerospace industries
  • Automation and robotic device manufacturers
  • Bio-Medical device manufacturers  

Course Status : Completed
Course Type : Elective
Duration : 8 weeks
Category :
  • Mechanical Engineering
Credit Points : 2
Level : Undergraduate/Postgraduate
Start Date : 22 Aug 2022
End Date : 14 Oct 2022
Enrollment Ends : 22 Aug 2022
Exam Date : 30 Oct 2022 IST

Note: This exam date is subjected to change based on seat availability. You can check final exam date on your hall ticket.

Page Visits

Course layout

Week 1: Introduction to Mechanisms and Robotics, Mobility Analysis-I

Week 2: Mobility Analysis-II, Displacement Analysis: constrained mechanisms and robots-I
Week 3: Displacement Analysis: constrained mechanisms and robots-II

Week 4: Displacement Analysis: constrained mechanisms and robots- III, Velocity Analysis: constrained mechanisms and robots-I

Week 5: Velocity Analysis: constrained mechanisms and robots-II

Week 6: Velocity Analysis: constrained mechanisms and robots-III

Week 7: Velocity Analysis: singularity and path generation,Acceleration Analysis, Force Analysis-I 

Week 8: Force Analysis-II, Coordinate Transformations and kinematics of serial robots

Books and references

  1. Theory of Mechanisms and Machines: A. Ghosh and A.K. Mallik
  2. Kinematics, Dynamics and Design of Machinery: K.J. Waldron and G.L. Kinzel
  3. Robotics: K.S. Fu, R.C. Gonzalez and C.S.G. Lee
  4. Foundations of Robotics: T. Yoshikawa 

Instructor bio

Prof. Anirvan DasGupta

IIT Kharagpur
Dr. Anirvan DasGupta is a faculty in Mechanical Engineering at IIT Kharagpursince 1999. His interests are in the mechanics of discrete and continuous systems.He has extensively taught courses at undergraduate and postgraduate levels likeMechanics, Kinematics of Machines, Dynamics, Dynamics of Machines, VibrationAnalysis, Wave Propagation in Continuous Media, and Rail Vehicle Dynamics.

Course certificate

The course is free to enroll and learn from. But if you want a certificate, you have to register and write the proctored exam conducted by us in person at any of the designated exam centres.
The exam is optional for a fee of Rs 1000/- (Rupees one thousand only).
Date and Time of Exams: 30 October 2022 Morning session 9am to 12 noon; Afternoon Session 2pm to 5pm.
Registration url: Announcements will be made when the registration form is open for registrations.
The online registration form has to be filled and the certification exam fee needs to be paid. More details will be made available when the exam registration form is published. If there are any changes, it will be mentioned then.
Please check the form for more details on the cities where the exams will be held, the conditions you agree to when you fill the form etc.


Average assignment score = 25% of average of best 6 assignments out of the total 8 assignments given in the course.
Exam score = 75% of the proctored certification exam score out of 100

Final score = Average assignment score + Exam score

YOU WILL BE ELIGIBLE FOR A CERTIFICATE ONLY IF AVERAGE ASSIGNMENT SCORE >=10/25 AND EXAM SCORE >= 30/75. If one of the 2 criteria is not met, you will not get the certificate even if the Final score >= 40/100.

Certificate will have your name, photograph and the score in the final exam with the breakup.It will have the logos of NPTEL and IIT Kharagpur. It will be e-verifiable at nptel.ac.in/noc.

Only the e-certificate will be made available. Hard copies will not be dispatched.

Once again, thanks for your interest in our online courses and certification. Happy learning.

- NPTEL team

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