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

Many industrial applications require the displacement of liquid-filled containers on planar paths (namely, paths on a horizontal plane), by means of linear transport systems or serial robots. The movement of the liquid inside the container, known as sloshing, is usually undesired, thus there is the necessity to keep under control the peaks that the liquid free-surface exhibits during motion. This paper aims at validating a model for estimating the liquid sloshing height, taking into account 2-dimensional motions of a cylindrical container occurring on a horizontal plane, with accelerations up to 9.5 m/s2. This model can be exploited for assessment or optimization purposes. Experiments performed with a robot following three paths, each one of them with different motion profiles, are described. Comparisons between experimental results and model predictions are provided and discussed. Finally, the previous formulation is extended in order to take into account the addition of a vertical acceleration, up to 5 m/s2. The resulting 3-dimensional motions are experimentally validated to prove the effectiveness of the extended technique.