Abstract
In this study, a fast shake mixing control system was developed that allows control of the quantity of air entrainment, involving low mechanical stress and fluid bubbling by suppressing the sloshing of a fluid's surface. For mixing by horizontal shaking in a circular motion, a CFD simulator was used for analysis of the liquid's behavior, and the quantity of air entrainment during mixing was evaluated. To design a fast mixing control system, the hybrid shape approach was applied. In addition, a 6DOF robot manipulator was used to achieve an arbitrary mixing trajectory and velocity. As a result, air entrainment caused by the sloshing of the liquid's surface was elucidated. The effectiveness of the mixing control technique employing sloshing suppression was shown by simulation and experiment.
