Abstract

This study investigates the behavioral adaptation and entry preferences of dairy cows entering a Lely Astronaut A5 Automatic Milking System (AMS). The research specifically focuses on the transition period required for cows to achieve independent AMS entry post-calving and evaluates daily milking frequencies across different parities (1st lactation, n = 31; 2nd lactation, n = 60; and ≥3rd lactation, n = 24). Spatial preferences for two physically distinct AMS units (left- versus right-sided configurations) were also assessed. Results show that primiparous cows achieved independent AMS entry (defined as a threshold of ≥2.5 voluntary milkings/day) by the 23rd day post-calving, whereas multiparous cows (both 2nd and ≥3rd lactation groups) established stable, autonomous visitation patterns much earlier, by day 4 postpartum. Furthermore, parity significantly influenced spatial unit-use patterns; while primiparous and second-lactation cows distributed their visits evenly between the two robots, older multiparous cows (≥3rd lactation) exhibited a higher utilization of the left-sided AMS unit, which accounted for 50.0% to 67.5% of their total daily visits. This spatial choice may be associated with differences in age and previous experience, and potentially with social hierarchy; however, this study does not include direct behavioral observations to confirm dominance relationships. Polynomial regression analyses revealed a non-linear relationship between voluntary visitation rates and daily milk yield, characterized by distinct performance plateaus. These findings underscore the importance of parity-specific management, such as pre-calving AMS training and familiarization protocols for heifers, to optimize robotic dairy efficiency and animal welfare.

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