書誌事項
- タイトル別名
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- Development of Milking Robot System in Stanchion Stall Barns. (Part 1). System Component and Concept of Task Planning for Teat Cup Attachment.
- ツナギ ガイ ヨウ サクニュウ ロボット システム ノ カイハツ ダイ1ポウ ティートカップ ソウチャク ニ ムケタシステム コウセイ ト ドウサ ケイカク ノ ガイネン
- System Component and Concept of Task Planning for Teat Cup Attachment
- ティートカップ装着に向けたシステム構成と動作計画の概念
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抄録
The aim of this study is to develop a milking robot system that satisfies the necessary requirements to attach teat-cups for cows automatically in stanchion stall barns. The prototype system consists of three components, a mobile truck that travels on rails, the cow's body positioning arm from the truck by roller, and the automatic milking unit mounted on one end of the cow's body positioning arm. The teat-cup manipulator is an articulated robot provided with three degrees of freedom in horizontal planes, where an AC servomotor controls each axis. A pneumatic gripper is used for the end-effector to hold the teat cup, and a local sensor with the area, 80mm×66mm, a matrix of 10 infra-red light beams is arranged across the top of the end-effector to detect the teat and allow correction of the robot position to centralize the cup on the teat. For attachment the co-ordinates from the database are used to provide the approximate location for each teat. And then positional commands are sent to the servo drivers at intervals of 20ms via the positioning pulse distributor so that the deviation in less than the set value.
収録刊行物
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- 農業機械学会誌
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農業機械学会誌 63 (2), 109-117, 2001
農業食料工学会
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詳細情報 詳細情報について
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- CRID
- 1390282679289316608
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- NII論文ID
- 10012318282
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- NII書誌ID
- AN00200470
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- ISSN
- 18846025
- 02852543
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- NDL書誌ID
- 5694793
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可