Kinematics analysis of parallel rope traction skating training robot

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.