Mathematical model of a milking machine manipulator based on stepper motors

Abstract

The automation of agriculture increases labour productivity and contributes to an increase in the output of agricultural products, an increase in their quality. These processes are closely related to the application of industrial production technology in agriculture, the improvement of planning and management. Also, the improvement of product quality and the growth of labour productivity are associated with the development of automated control systems that contribute to the autonomous operation of entire agricultural complexes. This paper deals with the development of a mathematical model of a milking installation based on stepper motors. The authors of the work recreated the operation of the milking installation, taking into account the operation of the kinematic scheme of the robot and the dynamics of the stepping motors, positioning of its working body near the tops of the teats of the udder of the animal, which are automatically recognized using image analysis from the 3D TOF camera. The uniqueness of this model lies in the fact that various stages of the operation of an autonomous milking installation are concentrated in one software product. This technology makes it possible to study the effect of each stage separately on the static positioning error of the manipulator working body. The model has been tested, an acceptable accuracy of the results of the model operation is achieved. This model can be recommended for use for engineering calculations and the development of control algorithms for the movement of the working body of the manipulator.