Journal of Biosystems Engineering

  • 제30권3호
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  • Pages.179-184
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  • 2005
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  • 1738-1266(pISSN)
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  • 2234-1862(eISSN)
한국농업기계학회 (Korean Society for Agricultural Machinery)
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로봇 착유시스템을 위한 착유컵 착탈모듈 개발

Development of Teat-cups Attachment Module for Robot Milking System

  • Kim W. (Dept. of Bio-Mechatronic Engineering, Sung-Kyun-Kwan University) ;
  • Lee D. W. (Dept. of Bio-Mechatronic Engineering, Sung-Kyun-Kwan University)
  • 발행 : 2005.06.01
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초록

The purpose of this study was the development of teat-cup attachment module for robot milking system. The teat-cups attachment module was controlled on the two dimensional space independently, Each teat cup of an end effector was independently controlled via two axis control based on the position information data obtained from the image processing system. This system was developed install of all 4 teat cups at the same time after adjusting positions of each teat sequentially. The individual motion system was operated using two servo motors for the high speed of teat position adjustment. The errors fur the individual motion system of teat cups were maximum 1.0mm, minimum 0.0mm, and average 0.6mm. The operating time for adjusting the teat cups position required about 1.0 second. It is envisaged that teat cups attachment module can be applicate to milking robot being developed in consideration of the experiment results for the teat cups operation accuracy and the actuation speed of servo motors.

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참고문헌

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피인용 문헌

  1. Design of Driving Control Unit and Milking Robot Manipulator vol.51, pp.9, 2014, https://doi.org/10.5573/ieie.2014.51.9.238