Sloshing dynamics estimation for liquid-filled containers performing 3-dimensional motions: modeling and experimental validation

Abstract Many industrial applications require the displacement of liquid-filled containers on planar paths (namely, a horizontal plane), by means linear transport systems or serial robots. The movement liquid inside container, known as sloshing , is usually undesired, thus there necessity to keep under control peaks that free-surface exhibits during motion. This paper aims at validating model for estimating height, taking into account 2-dimensional motions cylindrical container occurring plane, with accelerations up 9.5 m/s 2 . can be exploited assessment optimization purposes. Experiments performed robot following three paths, each one them different motion profiles, are described. Comparisons between experimental results and predictions provided discussed. Finally, previous formulation extended in order take addition vertical acceleration, 5 resulting 3-dimensional experimentally validated prove effectiveness technique.