Kinematic model of a cow milking manipulator with simultaneous positioning at four given points

Abstract

During the study, the authors have solved the problems associated with the kinematics of a manipulator intended for the automatic care of cattle. The working unit of the manipulator is a system positioning all four milking cups in the individual location of the udder teats. A significant advantage of this manipulator kinematics is the ability to simultaneously connect milking cups to the teats of a cow’s udder to provide physiologically more correct milking and reduce the total milking time.

Development of scanning systems and a three-coordinate manipulator for the installation of a milking robot

“…This robotic system contributes to complete replacement of human labor and improved product quality, as well as ensures preventive protection against diseases resulting from dry milking [16][17][18][19]. The most expensive and complex part of the milking robot is the system for manipulating the working units, and a feedback system for spatial orientation required for manipulations [20][21][22][23][24][25][26][27]. This work is devoted to the development and testing of such systems for further use in a milking robotic installation.…”