I need to solve a problem within mechanic of fluids for a part of my thesis. Robot will pick up a bottle of beer, cola, julebrus or any other kind of beverage. And then it has to bring it to the glass and pour it in the glass. But now I came to some problems, because I have to pour only half of the volume in side of the glass, and pouring process will be controlled by robot controller. I have to find out mathematical models that are governing the process of pouring, within this I have to find dependencies between flow from the bottle, angle of the bottle. And with this I will use force sensor to control the pouring process.
Some of the assumptions I made for the beginning:
- The flow is laminar and there is no viscosity
- Flow will be constant and intake of air will be constant
But later when I started to do the math many problems appeared here. First is the gulping of the air into the bottle neck, in the beginning of the pouring it's a big problem, later when there is smaller volume of fluid in a bottle that's not a problem anymore. And I can't count that my flow will be constant because of the air intake and foam that is constantly forming.
And also because the area from where fluid is going out is changing constantly how can you relate it to the angle of bottle tilt? And before I forget I have to take inertial and gravity compensation in account for this.