Simulation of a robotic device for maintenance of the feed table at cattle breeding complexes

This study was conducted in 2020-2021. During the research, the Russian and foreign literature devoted to the technological features of cattle feeding was analyzed, the experience of the production of technical facilities for feeding dairy and meat cattle by the companies of JSC "SMZ-Slobodskoy", Wasserbauer, Delaval, Afimilk, GEA Farm, Lely, etc. was studied. This research is aimed at simulation modeling of a robotic device for feed table maintenance at livestock complexes, using Simulink tools in the Matlab environment, in order to facilitate the modernization of the device or optimize the cost of system elements and reduce production costs. At the stage of designing the robot, a kinematic analysis of motion was performed with the construction of mathematical dependencies and displaying of the calculation scheme. To describe the dynamic characteristics of the device, the Appel equation was used, presented in matrix form, the trajectory of the robot's movement was theoretically set, and the deviation of its center of mass from the reference points was tracked. The maximum deviation level was 0.03 m. Based on the simulation model, an experimental sample with a controlled feed additive dispenser was developed, which can significantly facilitate the feeding process and optimize the dosing of concentrated additives. Currently, the experimental sample is being prepared for testing on a dairy farm.