| 摘要 |
A milking arrangement in includes a milking robot with a gripper (10). The robot includes a base, a link arrangement attached to the base and rotatable around a base axis via a base joint. The gripper (10) has a proximal end and a distal end and is attached to the link arrangement at the proximal end. The gripper has an extension plane and a longitudinal center axis (x4) extending in the extension plane through the proximal end and the distal end. The longitudinal center axis divides the gripper in a primary side (10a) and a secondary side (10b). The gripper has a plurality of separate gripping recesses (11-14), each being configured to grip a respective teatcup. The gripping recesses are asymmetrically positioned with respect to the longitudinal center axis. |
