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Kinematics analysis of parallel rope traction skating training robot.

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Title: Kinematics analysis of parallel rope traction skating training robot.
Authors: Shi, Jizu1 shijizu666@163.com, Xia, Yuxin2 261591604@qq.com, Luan, Zhengrong3 807307354@qq.com, Xu, Zhongcheng4 290524803@qq.com, Wang, Baihang5 410576273@qq.com, Liu, Tianzhuo6 19904497675@163.com
Source: Metalurgija. 2026, Vol. 65 Issue 3, p229-239. 11p.
Subjects: Kinematics, Euler angles, Newton-Raphson method, MatLab (Computer software), Physical training & conditioning, Strength of materials
Abstract: To enhance skaters' competitive performance and training safety, this paper proposes 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. [ABSTRACT FROM AUTHOR]
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Database: Engineering Source
Description
Abstract:To enhance skaters' competitive performance and training safety, this paper proposes 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. [ABSTRACT FROM AUTHOR]
ISSN:05435846
DOI:10.64486/m.65.3.4