Design And Motion Performance Analysis Of Milking Robot

In order to satisfy the development demand of modern dairy industry, the research on automatic milking equipment is necessary. The automatic milking equipment can provide modern technical means for sustainable development of animal husbandry and dairy industry.A milking robot with high level of automation is designed in this paper. In order to have choiceness of the work performance, this paper mainly focuses on the performance analysis of the milking robot.According to the research status and tendency of milking robot, the schematic of the milking robot is proposed. Based on the design parameters of the equipment, the mechanical structure is designed. Strength and stiffness analysis in different situation are check with the ANSYS workbench, and the model analysis is performed.The milking robot's mathematical model is established based on the D-H parameter method. And the forward and inverse kinematics equations are validated. Three kinds of geometry configurations are chosen based on the proportion limit of arm length. And the effect of the structure parameters to the workspace is obtained. Based on the operation demand, this paper calculates the performance index of the milking robot. And the calculation analysis of different geometry configurations' performance index is established with MATLAB.A simulation model is established with SOLID WORKS. According to the dynamic simulation of the milking robot based on ADAMS, the cylinder diameters are determined.Using ADAMS for the milking robot motion simulation, get the locus curve and the function curves of output speed and output acceleration. It is verified that the milking robot can satisfy work requirements and has better performance in velocity and acceleration.