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The basic mechanism of AMS, Portable Milking Machines added to the article
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Machine milking works by using vacuum pressure to extract milk from cows. Specialized machines apply a steady vacuum to the cow's teat, gently sucking out the milk and transferring it to a container. Additionally, these machines periodically apply external pressure to the entire teat, which helps maintain proper blood circulation.<ref>{{Cite web |title=Milking, milk production hygiene and udder health |url=https://www.fao.org/3/T0218E/T0218E02.htm |access-date=2023-05-31 |website=www.fao.org}}</ref>
 
The final manual labour tasks remaining in the milking process were cleaning and inspection of teats and attachment of milking equipment (milking cups) to teats. Automatic cleaning and attachment of milking cups is a complex task, requiring accurate detection of teat position and a dextrousdexterous mechanical manipulator. These tasks have been automated successfully in the voluntary milking system (VMS), or automatic milking system (AMS).
 
==Automatic milking systems (AMS)==<!-- This section is linked from [[Dairy]] -->
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A new variation on the theme of robotic milking includes a similar robotic arm system, but coupled with a rotary platform, improving the number of cows that can be handled per robot arm.<ref>{{cite web|url=http://www.futuredairy.com.au/media/robotic_rotary11Nov2010/FD-Robotic%20Rotary%20Fact%20Sheet%20Web.pdf|archiveurl=https://web.archive.org/web/20120322164042/http://www.futuredairy.com.au/media/robotic_rotary11Nov2010/FD-Robotic%20Rotary%20Fact%20Sheet%20Web.pdf|archivedate=2012-03-22|url-status=dead|title=Robotic Rotary Fact Sheet|publisher=FutureDairy|date=November 2010}}</ref> A mobile variation of robotic milking, adapted to tie-stall configuration (stanchion barns), is used in Canada. In this configuration, the AMS travels in the centre isle of the barn approaching cows from behind to milk them in their stalls.
 
A portable milking machine is an AMS on wheels. Portable milking machines have gained popularity with their low cost of installation and ability to take them neatclose to animals who cannot be taken to the barn to milk.<ref>{{Cite web |date=2023-05-31 |title=Milking Machine |url=https://farmandranchdepot.com/base-units-include-vacuum-pump-motor/ |access-date=2023-05-31 |website=Farm and Ranch Depot}}</ref> However they are reliant on manual labour to do the milking and may not be suitable as the only method of milking in large farms.
 
===Advantages===
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* '''Elimination of labour''' - The farmer is freed from the milking process and associated rigid schedule, and labour is devoted to supervision of animals, feeding, etc.
* '''Milking consistency''' – The milking process is consistent for every cow and every visit, and is not influenced by different persons milking the cows. The four separate milking cups are removed individually, meaning that an empty quarter does not stay attached while the other three are finishing, resulting in less threat of injury. The newest models of automatic milkers can vary the pulsation rate and vacuum level based on milk flow from each quarter.
* '''Increased milking frequency''' – Milking frequency may increase to three times per day, however typically 2.5 times per day is achieved.<ref>{{Cite webjournal |last=Lessire |first=Françoise |date=2023-05-31 |title=Effect of Minimum Milking Interval on Traffic and Milk Production of Cows Milked by a Pasture Based Automatic Milking System |urljournal=https://www.ncbiAnimals |volume=12 |issue=10 |page=1281 |doi=10.nlm.nih.gov3390/ani12101281 |pmid=35625127 |pmc/articles/PMC9138149/=9138149 |websitedoi-access=NCBIfree }}</ref> This may result in less stress on the [[udder]] and increased comfort for the cow, as on average less milk is stored. Higher frequency milking increases milk yield per cow, however much of this increase is water rather than solids.{{Citation needed|date=November 2009}}
* '''Perceived lower stress environment''' – There is a perception that elective milking schedules reduce cow stress.
* '''Herd management''' – The use of [[computer]] control allows greater scope for data collection. Such data allows the farmer to improve management through analysis of trends in the herd, for example response of milk production to changes in feedstuffs. Individual cow histories may also be examined, and alerts set to warn the farmer of unusual changes indicating illness or injury. Information gathering provides added value for AMS, however correct interpretation and use of such information is highly dependent on the skills of the user or the accuracy of computer algorithms to create attention reports.
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[[File:Lely Astronaut Display.JPG|thumb|upright|[[Touchscreen]] display of a milking robot]]
* '''Increased complexity''' – While complexity of equipment is a necessary part of technological advancement, the increased complexity of the AMS milking unit over conventional systems, increases the reliance on manufacturer maintenance services and possibly increasing operating costs. The farmer is exposed in the event of total system failure, relying on prompt response from the service provider. In practice AMS systems have proved robust and manufacturers provide good service networks. Because all milking cows have to visit the AMS voluntarily, the system requires a high quality of management. The system also involves a central place for the computer in the daily working routines.
* '''Difficult to apply in pasture systems''' – as a continuous animal presence is pedimentrequired for an optimal utilization of the AMS unit, AMS works at their best in zero-grazing systems, in which the cow is housed indoors for most of the lactation period. Zero-grazing suits areas (e.g., the Netherlands) where land is at a premium, as maximum land can be devoted to feed production which is then collected by the farmer and brought to the animals in the barn. In pasture systems, cows graze in fields and are required to walk to the milking parlour. It has been found that it can be challenging to make cows maintain a high milking frequency if the distance to walk between pasture and milking unit is too great. Maintaining production on pasture has, however, been shown to be possible in amongst others the AUTOGRASSMILK project.<ref>{{Cite web|url=http://autograssmilk.dk/results/|title=Results and deliverables|last=|first=|date=|website=autograssmilk.dk|language=en-UK|access-date=2017-03-26}}</ref> There are currently research projects at the [[Dexcel facility]] in [[New Zealand]], [[University of Sydney]]'s FutureDairy site, [[Michigan State University]]'s [[Kellogg Biological Station]] and the [[Swedish University of Agricultural Sciences]]'s research facility [https://www.slu.se/en/faculties/vh/departments/the-swedish-livestock-research-center/ Lövsta Livestock Research Center], where cattle are on pasture and milked by AMS.
* '''Lower milk quality''' –With automatic milking, the number of anaerobic spores, the freezing point increases, the frequency of milk quality failure almost doubles, which fully reflects the quality of milk caused by automatic milking. Although the automatic milking machine cleans the cow's teat and tests the pre-squeezed milk, there is still a phenomenon that the infected milk is not transferred, and the device itself is also lack of cleaning, and the milk is not handled properly. This situation was also confirmed in 2002 when investigating nearly 98 farms in Denmark with automatic milking systems.<ref>{{Cite journal|date=2002-11-01|title=Milk Quality on Danish Farms with Automatic Milking Systems|journal=Journal of Dairy Science|language=en|volume=85|issue=11|pages=2869–2878|doi=10.3168/jds.S0022-0302(02)74374-9|pmid=12487454|issn=0022-0302|last1=Rasmussen|first1=M.D.|last2=Bjerring|first2=M.|last3=Justesen|first3=P.|last4=Jepsen|first4=L.|doi-access=free}}</ref> Bulk milk total bacteria count (BMTBC) and somatic cell count (BMSCC) are also affected by automatic milking. These two counts were studied when introducing an automatic milking system to cows that were previously milked conventionally. BMSCC was found to not significantly increase between pre and post-AMS installation but BMTBC was found to significantly increase in the first three months but then return to normal levels. BMSCC was found to significantly improve in the third year with respect to the pre-introduction level. <ref>{{cite journal |last1=Castro |first1=Angel |title=Long-term variability of bulk milk somatic cell and bacterial counts associated with dairy farms moving from conventional to automatic milking systems |journal=Italian Journal of Animal Science |volume=17 |pages=218–225 |publisher=Journal of Animal Science |doi=10.1080/1828051X.2017.1332498 |year=2018 |doi-access=free |hdl=10347/22393 |hdl-access=free }}</ref>
* '''Possible increase in stress for some cows''' – Cows are social animals, and it has been found that due to dominance of some cows, others will be forced to milk only at night.{{Citation needed|date=September 2010}} Such behaviour is inconsistent with the perception that AMS reduces stress by allowing "free choice" of milking time.
* '''Decreased contact between farmer and herd''' – Effective animal husbandry requires that the farmer be fully aware of herd condition. In conventional milking, the cows are observed before milking equipment is attached, and ill or injured cows can be earmarked for attention. Automatic milking decreases the time the farmer has such close contact with the animal, with the possibility that illness may go unnoticed for longer periods and both milk quality and cow welfare suffer. In practice, milk quality sensors at the milking unit attempt to detect changes in milk due to infection, and farmers inspect the herd frequently. (Farmers still need to provide bedding for the cows, provide reproductive health services, provide [[Cow hoof care|hoof care]], feed them, and occasionally repair parts of the barn.) However this concern has meant that farmers are still tied to a seven-day schedule. Modern automatic milking systems attempt to rectify this problem by gathering data that would not be available in many conventional systems including milk temperature, milk conductivity, milk color including infrared scan, change in milking speed, change in milking time or milk letdown by quarter, cow's weight, cow's activity (movements), time spent ruminating, etc.
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