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Design of a robotic manipulator for automatic application of milking cups

White, James (2006) Design of a robotic manipulator for automatic application of milking cups. Master of Engineering thesis, Dublin City University.

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The application of milking cups to cow teats has been identified as a significant component of net manual labour on the commercial dairy farm. Several automatic milking systems (AMS) are available commercially, however such commercial AMS have low capacity (typically 7.5 cows/unit/hr) and speed of teat detection and rmlking cup application is relatively low. Attempts to introduce commercial AMS into pasture-grazing systems have been unsuccessful as maximising milking efficiency in pasture-grazed herds involves optimizing throughput of cows during the milking session. This design project investgated the use of a commercial robot arm for high-speed milking cup application. Operating requirements and workspace parameters were determined horn field observation of cows in a milking parlour. An end-effector capable of handling four milking cups simultaneously was developed and interfaced with a 6-axis robot arm to form a robotic milking cup application mechanism The end-effector profile is sufficiently compact to allow access between the rear legs of the cow while enabhg full access to all four teats for application of milking cups. A control system was designed and implemented for the applicator and basic testing was performed to validate operation. Test results indicate that small changes in teat location (<20mm) may be tracked at a position update rate of approximately 200 ms.

Item Type:Thesis (Master of Engineering)
Date of Award:2006
Supervisor(s):Corcoran, Brian and Esmonde, Harry
Uncontrolled Keywords:automatic milking systems; AMS; teat detection; milking efficiency; robotic milking cup application mechanism
Subjects:Engineering > Mechanical engineering
DCU Faculties and Centres:DCU Faculties and Schools > Faculty of Engineering and Computing > School of Mechanical and Manufacturing Engineering
Use License:This item is licensed under a Creative Commons Attribution-NonCommercial-No Derivative Works 3.0 License. View License
ID Code:16974
Deposited On:10 May 2012 14:24 by Fran Callaghan. Last Modified 10 May 2012 14:24

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