Did you look at simple pulse milking machines? It is certainly doable what you want to do.
I did look at the Simple Pulses, but once I add the 6 CFM system (I live at 7k' elevation) and the accessories, it comes to $999, which is just too costly for me to justify. I only have two does, one who is pregnant and won't be milked for a few months yet, and I was trying to find a ~$500 machine option that could be used daily. But it seems like this is very much a "you get what you pay for" situation, and anything under $500 is going to either be unreliable or too hard on the girls' teats.Did you look at simple pulse milking machines? It is certainly doable what you want to do.