자동 착유시스템을 위한 다관절 로봇 머니퓰레이터의 기구학적 분석

Kinematics Analysis of the Milti-joint Robot Manipulator for an Automatic Milking System

The purpose of this study was kinematics analysis of the multi-joint robot manipulator for an automatic milking system. The multi-joint robot manipulator was consisted of one perpendicular link and four revolution links to attach simultaneously four teat cups to four teats of a milking cow. The local coordinates of each joints on the robot manipulator was given for kinematics analysis. The transformation of manipulator was able to be given by kinematics using Denavit-Hatenberg parameters. The value of inverse kinematics which was solved by two geometric solution methods. The kinematics solutions was verified by AutoCAD, MATLAB, simulation program was developed using Visual C++.