Metallurgy, Vol. 65 No. 3, 2026.
Original scientific paper
https://doi.org/10.64486/m.65.3.4
Kinematics analysis of parallel rope traction skating training robot
Jizu Shi
; Key Laboratory of Physical Fitness Monitoring and Evaluation, Jilin Provincial Department of Science and Technology, Jilin Sport University Changchun City, Jilin Province 130022, China
Yuxin Xia
; System Sports Trauma Hospital, Jilin Provincial Sports Bureau, Changchun City, Jilin Province, China
Zhengrong Luan
; Jilin City Sports School, Jilin Province, China
Zhongcheng Xu
; Jilin City Winter Sports Management Center, Jilin Province, China
Baihang Wang
; Udon Thani Rajabhat University, Ulongtani, Thailand, 10100
Tianzhuo Liu
; Shenyang Normal University, Huanggu District, Shenyang City, Liaoning Province 110034, China
*
* Corresponding author.
Abstract
To enhance skaters’ competitive performance and training safety, this paper pro-poses a novel parallel rope-traction skating training robot featuring a compact design and easy posture adjustment. The robot’s structural design integrates materials engineering principles, utilizing high-strength 7075-T6 aluminum alloy for the chassis, GCr15 bearing steel with nitriding treatment for the pulleys, and ultra-high-strength steel wires manufactured through specialized cold-drawing and patenting processes to ensure minimal elastic elongation under dynamic loads. A geometric model is established using Euler angles to describe the attitude of the moving platform, and the Newton–Raphson iterative method is applied to obtain the forward kinematics solution. MATLAB simulations confirm that the method accurately solves the forward kinematics problem, with a maximum pose error below 1 %, demonstrating that the robot can effectively support skating training tasks. This work demonstrates the successful integration of advanced materials and kinematic modeling for sport-specific robotic applications, providing a foundation for the development of next-generation athletic training systems.
Keywords
skating training robot; rope traction; Newton–Raphson iteration; kinematics analysis; materials selection; surface hardening; high-strength alloys
Hrčak ID:
344959
URI
Publication date:
1.7.2026.
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