Milking robot, and a milking arrangement
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United States of America Patent
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Aug 13, 2013
Grant Date -
Mar 28, 2013
app pub date -
Jun 1, 2011
filing date -
Jun 3, 2010
priority date (Note) -
In Force
status (Latency Note)
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Abstract
A milking arrangement includes a milking robot (10) having a first link (L1), a second link (L2), a third link (L3), an end effector (E), sensor (16) and a control unit (15). The first link is rotatable to a first angle within a first angle range (α1) via a first joint (11). The second link is rotatable to a second angle within a second angle range (α2) via a second joint (12). The third link (L3) is rotatable to a third angle within a third angle range (α3) via third joint (13). The links (L1, L2, L3) are rotatable so that the end effector is movable within a three-dimensional workspace (W). Each position of the end effector within the workspace corresponds to a single combination of the first, second and third angles.
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