Metalurgija, Vol. 65 No. 4, 2026.
Izvorni znanstveni članak
https://doi.org/https://doi.org/10.64486/m.65.4.6
Metallurgical Support and Kinematic Analysis of Cable-Driven Skating Training Robots
Dawei Liu
; Harbin Sport University, No.1 Dacheng Street, Nangang District, Harbin City, Heilongjiang Province, China, 150006
Fang Liu
; Harbin Sport University, No.1 Dacheng Street, Nangang District, Harbin City, Heilongjiang Province, China, 150006
*
Jiajun Wang
; Harbin University of Commerce, No.1 Xuehai Street, Songbei District, Harbin City, Hei-longjiang Province, China, 150028
* Dopisni autor.
Sažetak
To meet the high precision and stability requirements of skating training, this study investigates the metallurgical support and kinematic analysis of an 8-cable, 6-degree-of-freedom cable-driven skating training robot. Based on the robot’s oper-ating characteristics, key material performance requirements are identified, and core materials (structural steel, aluminum alloy, and bearing steel) are selected and optimized in terms of strength, toughness, lightweight properties, and wear resistance. The relationship between metallurgical properties and system perfor-mance—structural stability, motion accuracy, and response speed is systemati-cally established. To solve the forward kinematics problem, a simplified projec-tion-based iteration algorithm is proposed to overcome the computational com-plexity of traditional analytical methods and the slow convergence of the Newton–Raphson method. The algorithm’s stability and sensitivity to initial conditions are analyzed. Experimental mechanical tests and load stability experiments validate the structural reliability of the robot, while numerical simulations confirm the ef-fectiveness of the proposed kinematic solution. Results demonstrate that the opti-mized metallurgical design ensures structural strength and motion precision, and the simplified projection algorithm satisfies real-time control requirements. This work provides technical support for the integration of metallurgical engineering and high-precision sports training equipment.
Ključne riječi
skating training robot; metallurgical material; manufacturing process; projection iteration method; kinematic analysis
Hrčak ID:
347933
URI
Datum izdavanja:
1.10.2026.
Posjeta: 15 *