Sloshing Dynamics Estimation for Liquid-filled Containers under 2-Dimensional Excitation

Many industrial applications require the displacement of liquid-filled containers on planar paths, by means of linear transport systems or serial robots. The movement of the liquid inside the container, known as sloshing , is usually undesired, so 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 planar motions of a cylindrical container, with accelerations up to 9 . 5 m/s 2 . 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.