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] |
| Copyright of Metalurgija is the property of Croatian Metallurgical Society and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
| FullText | Links: – Type: pdflink Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 194737767 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Kinematics analysis of parallel rope traction skating training robot. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Shi%2C+Jizu%22">Shi, Jizu</searchLink><relatesTo>1</relatesTo><i> shijizu666@163.com</i><br /><searchLink fieldCode="AR" term="%22Xia%2C+Yuxin%22">Xia, Yuxin</searchLink><relatesTo>2</relatesTo><i> 261591604@qq.com</i><br /><searchLink fieldCode="AR" term="%22Luan%2C+Zhengrong%22">Luan, Zhengrong</searchLink><relatesTo>3</relatesTo><i> 807307354@qq.com</i><br /><searchLink fieldCode="AR" term="%22Xu%2C+Zhongcheng%22">Xu, Zhongcheng</searchLink><relatesTo>4</relatesTo><i> 290524803@qq.com</i><br /><searchLink fieldCode="AR" term="%22Wang%2C+Baihang%22">Wang, Baihang</searchLink><relatesTo>5</relatesTo><i> 410576273@qq.com</i><br /><searchLink fieldCode="AR" term="%22Liu%2C+Tianzhuo%22">Liu, Tianzhuo</searchLink><relatesTo>6</relatesTo><i> 19904497675@163.com</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Metalurgija%22">Metalurgija</searchLink>. 2026, Vol. 65 Issue 3, p229-239. 11p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Kinematics%22">Kinematics</searchLink><br /><searchLink fieldCode="DE" term="%22Euler+angles%22">Euler angles</searchLink><br /><searchLink fieldCode="DE" term="%22Newton-Raphson+method%22">Newton-Raphson method</searchLink><br /><searchLink fieldCode="DE" term="%22MatLab+%28Computer+software%29%22">MatLab (Computer software)</searchLink><br /><searchLink fieldCode="DE" term="%22Physical+training+%26+conditioning%22">Physical training & conditioning</searchLink><br /><searchLink fieldCode="DE" term="%22Strength+of+materials%22">Strength of materials</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: 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] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of Metalurgija is the property of Croatian Metallurgical Society and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.64486/m.65.3.4 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 11 StartPage: 229 Subjects: – SubjectFull: Kinematics Type: general – SubjectFull: Euler angles Type: general – SubjectFull: Newton-Raphson method Type: general – SubjectFull: MatLab (Computer software) Type: general – SubjectFull: Physical training & conditioning Type: general – SubjectFull: Strength of materials Type: general Titles: – TitleFull: Kinematics analysis of parallel rope traction skating training robot. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Shi, Jizu – PersonEntity: Name: NameFull: Xia, Yuxin – PersonEntity: Name: NameFull: Luan, Zhengrong – PersonEntity: Name: NameFull: Xu, Zhongcheng – PersonEntity: Name: NameFull: Wang, Baihang – PersonEntity: Name: NameFull: Liu, Tianzhuo IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 09 Text: 2026 Type: published Y: 2026 Identifiers: – Type: issn-print Value: 05435846 Numbering: – Type: volume Value: 65 – Type: issue Value: 3 Titles: – TitleFull: Metalurgija Type: main |
| ResultId | 1 |
