Calculation of the Manipulator’s Kinematic Model and Mounting Points of the Drive Equipment

The work is devoted to solving the kinematic problems of the manipulator, the working part of which is a milking machine designed for automatic service of cattle. The scenario of a manipulator deployment from initial state in operating one was described and calculation of fastening points of drive equipment, which provided the necessary turn of each installation element, depending on the scenario of deployment in final position is made. A significant advantage of the chosen robot structure is the absence of complex trajectories involving the simultaneous operation of two engines.