Influence of interpolation of the method of mixing the liquid in the container on the mixing efficiency

Abstract

An anthropomorphic robot, i.e. a robot that can reproduce the movements of the human arm, is equipped with various types of interpolation. The robot can be used to mix two liquids enclosed in a shaker mixer. The problem to be solved is the selection of the optimal types of interpolation, as well as the sequence of these robot movements that is able to provide better results - higher mixing efficiency, in other words a more sustainable approach to the mixing process, using an anthropomorphic robot. The shaker-type container used - the shape of a truncated cone has a positive effect on the efficiency of the liquid mixing process. The difference in density between the two liquids contributes to a sustainable approach to the mixing process. It is preferable to use different shaker position with respect to the gravitational acceleration vector and to use different linear and arc interpolation. The use of variable position in relations to gravitional acceleration vector, due to the shape of the truncated cone of the mixer, will cause chaotic movement of particles inside the shaker, which is a desirable phenomenon, because then both mixed liquids mix quickly.