Metallurgical Support and Kinematic Analysis of Ca-ble-Driven Skating Training Robots

Dawei Liu, Fang Liu, and Jiajun Wang

DOI: https://doi.org/10.64486/m.65.4.6
Online publication date: March 6, 2026

Abstract: 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 operating 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 systematically established. To solve the forward kinematics problem, a simplified projection-based iteration algorithm is proposed to overcome the computational complexity 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 effectiveness of the proposed kinematic solution. Results demonstrate that the optimized 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.

Keywords: skating training robot; metallurgical material; manufacturing process; projection iteration method; kinematic analysis

This article is published online first and will appear in Metalurgija, Vol. 65, Issue 4 (2026).