Here is a picture of our “flat barn” as we call it. The cows do not enter the inside of the building. The outside has a “box” where the cow enters through a gate, and the gate closes behind her, leaving her alone in the box to eat and be milked. There is an opening in the wall of the building that allows the robot to swing its arm under the cow. The arm brushes, cleans, & prepares the teats for milking, then the arm positions itself under the cow & the teat cups are attached to the teats individually.