Kinematics analysis of parallel rope traction skating training robot

Jizu Shi, Yuxin Xia, Zhengrong Luan, Zhongcheng Xu, Baihang Wang, and Tianzhuo Liu

DOI: https://doi.org/10.64486/m.65.3.4
Online publication date: January 5, 2026

Abstract: To enhance skaters’ competitive performance and training safety, this paper pro-poses a novel parallel rope-traction skating training robot featuring a compact de-sign and easy posture adjustment. The robot’s structural design integrates materi-als engineering principles, utilizing high-strength 7075-T6 aluminum alloy for the chassis, GCr15 bearing steel with nitriding treatment for the pulleys, and ul-tra-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 foun-dation for the development of next-generation athletic training systems.

Keywords: skating training robot; rope traction; Newton–Raphson iteration; kinematics anal-ysis; materials selection; surface hardening; high-strength alloys

This article is published online first and will appear in Metalurgija, Vol. 65, Issue 3 (2026).