I did a two part post a while back about how to build your own portable milking stanchion, complete with materials list and step by step instructions. It's working out pretty well for us this far so I thought I would share it here. This could easily be modified into a permanent setup with a little creativity, but for our system it was pretty important to have that mobility. I hope you find it useful!
http://traditionalcatholichomestead.com/2016/09/24/building-a-portable-milking-stanchion-pt-1-the-headgate/
http://traditionalcatholichomestead.com/2016/09/28/portable-milking-stanchion-pt-2-the-rest-of-the-story/
Here's a video of the stanchion in action...
And a nice pic of the finished product...