e-Notes by Prof. S.L.

Ajith Prasad, PESCE, Mandya

Kinematics of Machines {ME44}
CHAPTER - I
Mechanics It is that branch of scientific analysis which deals with motion, time and
force.
!ine"atics is the study of motion, without considering the forces which produce that
motion. Kinematics of machines deals with the study of the relative motion of machine
parts. It involves the study of position, displacement, velocity and acceleration of
machine parts.
#yna"ics of machines involves the study of forces acting on the machine parts and the
motions resulting from these forces.
P$ane "otion A body has plane motion, if all its points move in planes which are
parallel to some reference plane. A body with plane motion will have only three degrees
of freedom. I.e., linear along two axes parallel to the reference plane and
rotational/angular about the axis perpendicular to the reference plane. (eg. linear along X
and and rotational about !."#he reference plane is called plane of motion. $lane motion
can be of three types. %" #ranslation &" rotation and '" combination of translation and
rotation.
Trans$ation A body has translation if it moves so that all straight lines in the body move
to parallel positions. (ectilinear translation is a motion wherein all points of the body
move in straight lie paths. )g. #he slider in slider cran* mechanism has rectilinear
translation. (lin* + in fig.%.%"
,ig.%.%
#ranslation, in which points in a body move along curved paths, is called curvilinear
translation. #he tie rod connecting the wheels of a steam locomotive has curvilinear
translation. (lin* ' in fig.%.&"
%
,ig.%.&
Rotation In rotation, all points in a body remain at fixed distances from a line which is
perpendicular to the plane of rotation. #his line is the axis of rotation and points in the
body describe circular paths about it. ()g. lin* & in ,ig.%.% and lin*s & - + in ,ig.%.&"
Trans$ation and rotation It is the combination of both translation and rotation which is
exhibited by many machine parts. ()g. lin* ' in ,ig.%.%"
Lin% or e$e"ent It is the name given to any body which has motion relative to another.
All materials have some elasticity. A rigid lin* is one, whose deformations are so small
that they can be neglected in determining the motion parameters of the lin*.
,ig.%.'
&inary $in% .in* which is connected to other lin*s at two points. (,ig.%.' a"
Ternary $in% .in* which is connected to other lin*s at three points. (,ig.%.' b"
'(aternary $in% .in* which is connected to other lin*s at four points. (,ig%.' c"
Pairin) e$e"ents the geometrical forms by which two members of a mechanism are
/oined together, so that the relative motion between these two is consistent are *nown as
pairing elements and the pair so formed is called *inematic pair. )ach individual lin* of a
mechanism forms a pairing element.
&
,ig.%.+ Kinematic pair
,ig.%.0
#e)rees of freedo" *#+,- It is the number of independent coordinates re1uired to
describe the position of a body in space. A free body in space (fig %.0" can have six
degrees of freedom. I.e., linear positions along x, y and 2 axes and rotational/angular
positions with respect to x, y and 2 axes.
In a *inematic pair, depending on the constraints imposed on the motion, the lin*s may
loose some of the six degrees of freedom.
Ty.es of %ine"atic .airs
*i- &ased on nat(re of contact bet/een e$e"ents
*a- Lo/er .air. If the /oint by which two members are connected has surface contact,
the pair is *nown as lower pair. )g. pin /oints, shaft rotating in bush, slider in slider
cran* mechanism.
,ig.%.3 .ower pairs
*b- Hi)her .air. If the contact between the pairing elements ta*es place at a point or
along a line, such as in a ball bearing or between two gear teeth in contact, it is
*nown as a higher pair.
'
,ig.%.4 5igher pairs
*ii- &ased on re$ati0e "otion bet/een .airin) e$e"ents
*a- Sidin) .air. 6liding pair is constituted by two elements so connected that one is
constrained to have a sliding motion relative to the other. 78, 9 %
*b- T(rnin) .air *re0o$(te .air-. :hen connections of the two elements are such that
only a constrained motion of rotation of one element with respect to the other is
possible, the pair constitutes a turning pair. 78, 9 %
*c- Cy$indrica$ .air. If the relative motion between the pairing elements is the
combination of turning and sliding, then it is called as cylindrical pair. 78, 9 &
,ig.%.; 6liding pair
,ig.%.< #urning pair
,ig.%.%= >ylindrical pair
*d- Ro$$in) .air. :hen the pairing elements have rolling contact, the pair formed is
called rolling pair. )g. ?earings, ?elt and pulley. 78, 9 %
+
,ig.%.%% (a" ?all bearing
,ig.%.%%(b" ?elt and pulley
*e- S.herica$ .air. A spherical pair will have surface contact and three degrees of
freedom. )g. ?all and soc*et /oint. 78, 9 '
*f- He$ica$ .air or scre/ .air. :hen the nature of contact between the elements of a
pair is such that one element can turn about the other by screw threads, it is *nown
as screw pair. )g. @ut and bolt. 78, 9 %
,ig.%.%& ?all and soc*et /oint
,ig.%.%' 6crew pair
*iii- &ased on the nat(re of "echanica$ constraint.
*a- C$osed .air. )lements of pairs held together mechanically due to their geometry
constitute a closed pair. #hey are also called formAclosed or selfAclosed pair.
*b- 1nc$osed or force c$osed .air. )lements of pairs held together by the action of
external forces constitute unclosed or force closed pair .)g. >am and follower.
0
,ig.%.%+ >losed pair ,ig. %.%0 ,orce closed pair (cam - follower"
Constrained "otion In a *inematic pair, if one element has got only one definite
motion relative to the other, then the motion is called constrained motion.
*a- Co".$ete$y constrained "otion. If the constrained motion is achieved by the pairing
elements themselves, then it is called completely constrained motion.
,ig.%.%3 completely constrained motion
*b- S(ccessf($$y constrained "otion. If constrained motion is not achieved by the
pairing elements themselves, but by some other means, then, it is called successfully
constrained motion. )g. ,oot step bearing, where shaft is constrained from moving
upwards, by its self weight.
*c- Inco".$ete$y constrained "otion. :hen relative motion between pairing elements
ta*es place in more than one direction, it is called incompletely constrained motion. )g.
6haft in a circular hole.
3
,ig.%.%4 ,oot strep bearing
,ig.%.%; Incompletely constrained motion
!ine"atic chain A *inematic chain is a group of lin*s either /oined together or
arranged in a manner that permits them to move relative to one another. If the lin*s are
connected in such a way that no motion is possible, it results in a loc*ed chain or
structure.
,ig.%.%< .oc*ed chain or structure
Mechanis" A mechanism is a constrained *inematic chain. #his means that the motion
of any one lin* in the *inematic chain will give a definite and predictable motion relative
to each of the others. Bsually one of the lin*s of the *inematic chain is fixed in a
mechanism.
,ig.%.&= 6lider cran* and four bar mechanisms.
If, for a particular position of a lin* of the chain, the positions of each of the other lin*s
of the chain can not be predicted, then it is called as unconstrained *inematic chain and it
is not mechanism.
4
,ig.%.&% Bnconstrained *inematic chain
Machine A machine is a mechanism or collection of mechanisms, which transmit force
from the source of power to the resistance to be overcome. #hough all machines are
mechanisms, all mechanisms are not machines. Cany instruments are mechanisms but
are not machines, because they do no useful wor* nor do they transform energy. )g.
Cechanical cloc*, drafter.
,ig.%.&% 7rafter
P$anar "echanis"sD :hen all the lin*s of a mechanism have plane motion, it is called
as a planar mechanism. All the lin*s in a planar mechanism move in planes parallel to the
reference plane.
#e)rees of freedo"2"obi$ity of a "echanis" It is the number of inputs (number of
independent coordinates" re1uired to describe the configuration or position of all the lin*s
of the mechanism, with respect to the fixed lin* at any given instant.
3r(b$er4s e5(ation @umber of degrees of freedom of a mechanism is given by
, 9 '(nA%"A&lAh. :here,
, 9 7egrees of freedom
n 9 @umber of lin*s 9 n
&
E n
'
EFFEn
/
, where, n
&
9 number of binary lin*s, n
'
9 number
of ternary lin*sFetc.
l 9 @umber of lower pairs, which is obtained by counting the number of /oints. If more
than two lin*s are /oined together at any point, then, one additional lower pair is to be
considered for every additional lin*.
h 9 @umber of higher pairs
E6a".$es of deter"ination of de)rees of freedo" of .$anar "echanis"s
*i-
;
, 9 '(nA%"A&lAh
5ere, n
&
9 +, n 9 +, l 9 + and h 9 =.
, 9 '(+A%"A&(+" 9 %
I.e., one input to any one lin* will result in
definite motion of all the lin*s.
*ii-
, 9 '(nA%"A&lAh
5ere, n
&
9 0, n 9 0, l 9 0 and h 9 =.
, 9 '(0A%"A&(0" 9 &
I.e., two inputs to any two lin*s are
re1uired to yield definite motions in all the
lin*s.
*iii-
, 9 '(nA%"A&lAh
5ere, n
&
9 +, n
'
9&, n 9 3, l 9 4 and h 9 =.
, 9 '(3A%"A&(4" 9 %
I.e., one input to any one lin* will result in
definite motion of all the lin*s.
*i0-
, 9 '(nA%"A&lAh
5ere, n
&
9 0, n
'
9%, n 9 3, l 9 4 (at the
intersection of &, ' and +, two lower pairs
are to be considered" and h 9 =.
, 9 '(3A%"A&(4" 9 %
*0-
<
, 9 '(nA%"A&lAh
5ere, n 9 %%, l 9 %0 (two lower pairs at the
intersection of ', +, 3G &, +, 0G 0, 4, ;G ;,
%=, %%" and h 9 =.
, 9 '(%%A%"A&(%0" 9 =
*0i- 7etermine the mobility of the following mechanisms.
(a"
, 9 '(nA%"A&lAh
5ere, n 9 +, l 9 0 and h 9 =.
, 9 '(+A%"A&(0" 9 A%
I.e., it is a structure
(b"
, 9 '(nA%"A&lAh
5ere, n 9 ', l 9 & and h 9 %.
, 9 '('A%"A&(&"A% 9 %
(c"
, 9 '(nA%"A&lAh
5ere, n 9 ', l 9 & and h 9 %.
, 9 '('A%"A&(&"A% 9 %
In0ersions of "echanis" A mechanism is one in which one of the lin*s of a *inematic
chain is fixed. 7ifferent mechanisms can be obtained by fixing different lin*s of the same
*inematic chain. #hese are called as inversions of the mechanism. ?y changing the fixed
lin*, the number of mechanisms which can be obtained is e1ual to the number of lin*s.
)xcepting the original mechanism, all other mechanisms will be *nown as inversions of
original mechanism. #he inversion of a mechanism does not change the motion of its
lin*s relative to each other.
,o(r bar chain
%=
,ig %.&& ,our bar chain
8ne of the most useful and most common mechanisms is the fourAbar lin*age. In this
mechanism, the lin* which can ma*e complete rotation is *nown as cran* (lin* &". #he
lin* which oscillates is *nown as roc*er or lever (lin* +". And the lin* connecting these
two is *nown as coupler (lin* '". .in* % is the frame.
In0ersions of fo(r bar chain
,ig.%.&' Inversions of four bar chain.
Cran%-roc%er "echanis" In this mechanism, either lin* % or lin* ' is fixed. .in* &
(cran*" rotates completely and lin* + (roc*er" oscillates. It is similar to (a" or (b" of
fig.%.&'.
%%
,ig.%.&+
#ra) $in% "echanis". 5ere lin* & is fixed and both lin*s % and + ma*e complete
rotation but with different velocities. #his is similar to %.&'(c".
,ig.%.&0
#o(b$e cran% "echanis". #his is one type of drag lin* mechanism, where, lin*s %- '
are e1ual and parallel and lin*s & - + are e1ual and parallel.
,ig.%.&3
#o(b$e roc%er "echanis". In this mechanism, lin* + is fixed. .in* & ma*es complete
rotation, whereas lin*s ' - + oscillate (,ig.%.&'d"
%&
S$ider cran% chain #his is a *inematic chain having four lin*s. It has one sliding pair
and three turning pairs. .in* & has rotary motion and is called cran*. .in* ' has got
combined rotary and reciprocating motion and is called connecting rod. .in* + has
reciprocating motion and is called slider. .in* % is frame (fixed". #his mechanism is used
to convert rotary motion to reciprocating and vice versa.
,ig%.&4
In0ersions of s$ider cran% chain Inversions of slider cran* mechanism is obtained by
fixing lin*s &, ' and +.
(a" cran* fixed (b" connecting rod fixed (c" slider fixed
,ig.%.&;
Rotary en)ine 7 I in0ersion of s$ider cran% "echanis". *cran% fi6ed-
,ig.%.&<
8hit/orth 5(ic% ret(rn "otion "echanis"7I in0ersion of s$ider cran% "echanis".
%'
,ig.%.'=
Cran% and s$otted $e0er 5(ic% ret(rn "otion "echanis" 7 II in0ersion of s$ider
cran% "echanis" *connectin) rod fi6ed-.
,ig.%.'%
%+
+sci$$atin) cy$inder en)ine7II in0ersion of s$ider cran% "echanis" *connectin) rod
fi6ed-.
,ig.%.'&
Pend($(" .(". or b($$ en)ine7III in0ersion of s$ider cran% "echanis" *s$ider
fi6ed-.
,ig.%.''
%0
#o(b$e s$ider cran% chain It is a *inematic chain consisting of two turning pairs and
two sliding pairs.
Scotch 79o%e "echanis".
#urning pairs H %-&, &-'G 6liding pairs H '-+, +-%.
,ig.%.'+
In0ersions of do(b$e s$ider cran% "echanis"
E$$i.tica$ tra""e$. #his is a device which is used for generating an elliptical profile.
,ig.%.'0
In fig. %.'0, if A> 9 p and ?> 9 1, then, x 9 1.cosI and y 9 p.sinI.
(earranging, % sin cos
& &
& &
+

,
_

,
_

p
y
q
x
. #his is the e1uation of an ellipse. #he path
traced by point > is an ellipse, with ma/or axis and minor axis e1ual to &p and &1
respectively.
%3
+$dha" co(.$in). #his is an inversion of double slider cran* mechanism, which is used
to connect two parallel shafts, whose axes are offset by a small amount.
,ig.%.'3
References
%. Theory of Machines and Mechanis"s by Joseph )dward 6higley and John Joseph
Bic*er,Jr. McGraw-Hill International Editions.
&. !ine"atics and #yna"ics of Machines by Keorge 5.Cartin. McGraw-Hill
Publications.
'. Mechanis"s and #yna"ics of Machinery by 5amilton 5. Cabie and ,red :.
8cvir*. John Wiley and Sons.
+. Theory of Machines by L.$.6ingh. hanpat !ai and "o.
0. The Theory of Machines thro()h so$0ed .rob$e"s by J.6.(ao. #ew a$e
international publishers.
3. A te6t boo% of Theory of Machines by 7r.(.K.?ansal. %ax&i Publications 'P( %td.
%4
Kinematics of Machines {ME44}
CHAPTER 7 I *contd.-
'(ic% ret(rn "otion "echanis"s.
Muic* return mechanisms are used in machine tools such as shapers and power driven
saws for the purpose of giving the reciprocating cutting tool a slow cutting stro*e and a
1uic* return stro*e with a constant angular velocity of the driving cran*. 6ome of the
common types of 1uic* return motion mechanisms are discussed below. #he ratio of time
re1uired for the cutting stro*e to the time re1uired for the return stro*e is called the time
ratio and is greater than unity.
#ra) $in% "echanis"
#his is one of the inversions of four bar mechanism, with four turning pairs. 5ere, lin* &
is the input lin*, moving with constant angular velocity in antiAcloc*wise direction. $oint
> of the mechanism is connected to the tool post ) of the machine. 7uring cutting stro*e,
tool post moves from )
%
to )
&
. #he corresponding positions of > are >
%
and >
&
as shown
in the fig. %.'4. ,or the point > to move from >
%
to >
&
, point ? moves from ?
%
to ?
&
, in
antiAcloc*wise direction. I), cutting stro*e ta*es place when input lin* moves through
angle ?
%
A?
&
in antiAcloc*wise direction and return stro*e ta*es place when input lin*
moves through angle ?
&
A?
%
in antiAcloc*wise direction.
,ig.%.'4
#he time ratio is given by the following e1uation.
8hit/orth 5(ic% ret(rn "otion "echanis"
#his is first inversion of slider mechanism, where, cran* % is fixed. Input is given to lin*
&, which moves at constant speed. $oint > of the mechanism is connected to the tool post
%;
( )
( ) cloc)wise anti * + *
cloc)wise anti * + *
urnstro)e ,i&e-orret
wardstro)e ,i&e-or-or

% &
& %
N
N
7 of the machine. 7uring cutting stro*e, tool post moves from 7
%
to 7
%%
. #he
corresponding positions of > are >
%
and >
%%
as shown in the fig. %.';. ,or the point > to
move from >
%
to >
%%
, point ? moves from ?
%
to ?
%%
, in antiAcloc*wise direction. I.).,
cutting stro*e ta*es place when input lin* moves through angle ?
%
8
&
?
%%
in antiAcloc*wise
direction and return stro*e ta*es place when input lin* moves through angle ?
%%
8
&
?
%
in
antiAcloc*wise direction.
,ig.%.';
#he time ratio is given by the following e1uation.
Cran% and s$otted $e0er 5(ic% ret(rn "otion "echanis"
#his is second inversion of slider mechanism, where, connecting rod is fixed. Input is
given to lin* &, which moves at constant speed. $oint > of the mechanism is connected to
the tool post 7 of the machine. 7uring cutting stro*e, tool post moves from 7
%
to 7
%%
.
#he corresponding positions of > are >
%
and >
%%
as shown in the fig. %.'<. ,or the point >
to move from >
%
to >
%%
, point ? moves from ?
%
to ?
%%
, in antiAcloc*wise direction. I.).,
cutting stro*e ta*es place when input lin* moves through angle ?
%
8
&
?
%%
in antiAcloc*wise
direction and return stro*e ta*es place when input lin* moves through angle ?
%%
8
&
?
%
in
antiAcloc*wise direction.
%<
&
%
&
&
N
N

* o *
* o *
urnstro)e ,i&e-orret
wardstro)e ,i&e-or-or
,ig.%.'<
#he time ratio is given by the following e1uation.
Strai)ht $ine "otion "echanis"s
6traight line motion mechanisms are mechanisms, having a point that moves along a
straight line, or nearly along a straight line, without being guided by a plane surface.
Condition for e6act strai)ht $ine "otion
If point ? (fig.%.+=" moves on the circumference of a circle with center 8 and radius 8A,
then, point >, which is an extension of A? traces a straight line perpendicular to A8,
provided product of A? and A> is constant.
&=
&
%
&
&
N
N

* o *
* o *
urnstro)e ,i&e-orret
wardstro)e ,i&e-or-or
,ig.%.+=
.ocus of pt.> will be a straight line, O to A) if, is constant
Proof
Pea(ce$$ier e6act strai)ht $ine "otion "echanis"
,ig.%.+%
5ere, A) is the input lin* and point ) moves along a circular path of radius A) 9 A?.
Also, )> 9 )7 9 $> 9 $7 and ?> 9 ?7. $oint $ of the mechanism moves along exact
straight line, perpendicular to ?A extended.
&%
+" +*
. .,
.
const +" i-+* const +E
const but+
+
+" +*
+E
+E
+*
+"
+
+* +E"

,o pro.e */ E and P lie on sa&e strai$ht line0
#riangles ?>7, )>7 and $>7 are all isosceles triangles having common base >7 and
apex points being ?, ) and $. #herefore points ?, ) and $ always lie on the perpendicular
bisector of >7. 5ence these three points always lie on the same straight line.
,o pro.e product o- *E and *P is constant.
In triangles ?,> and $,>,
& & &
1" 1* *" + and
& & &
1" P1 P" +
( )( ) *E *P P1 1* P1 1* P1 1* P" *" +
& & & &
?ut since ?> and $> are constants, product of ?$ and ?) is constant, which is the
condition for exact straight line motion. #hus point $ always moves along a straight line
perpendicular to ?A as shown in the fig.%.+%.
A..ro6i"ate strai)ht $ine "otion "echanis" A few four bar mechanisms with
certain modifications provide approximate straight line motions.
Robert4s "echanis"
,ig.%.+&
#his is a four bar mechanism, where, $>7 is a single integral lin*. Also, dimensions A>,
?7, >$ and $7 are all e1ual. $oint $ of the mechanism moves very nearly along line A?.
&&
Inter"ittent "otion "echanis"s
An intermittentAmotion mechanism is a lin*age which converts continuous motion into
intermittent motion. #hese mechanisms are commonly used for indexing in machine
tools.
3ene0a /hee$ "echanis"
,ig.%.+'
In the mechanism shown (,ig.%.+'", lin* A is driver and it contains a pin which engages
with the slots in the driven lin* ?. #he slots are positioned in such a manner, that the pin
enters and leaves them tangentially avoiding impact loading during transmission of
motion. In the mechanism shown, the driven member ma*es oneAfourth of a revolution
for each revolution of the driver. #he loc*ing plate, which is mounted on the driver,
prevents the driven member from rotating except during the indexing period.
Ratchet and .a/$ "echanis"
,ig.%.++
(atchets are used to transform motion of rotation or translation into intermittent rotation
or translation. In the fig.%.++, A is the ratchet wheel and > is the pawl. As lever ? is made
&'
to oscillate, the ratchet wheel will rotate anticloc*wise with an intermittent motion. A
holding pawl 7 is provided to prevent the reverse motion of ratchet wheel.
+ther "echanis"s
To))$e "echanis"
,ig.%.+0
#oggle mechanisms are used, where large resistances are to be overcome through short
distances. 5ere, effort applied will be small but acts over large distance. In the
mechanism shown in fig.%.+0, & is the input lin*, to which, power is supplied and 3 is the
output lin*, which has to overcome external resistance. .in*s + and 0 are of e1ual length.
>onsidering the e1uilibrium condition of slider 3,
,or small angles of P, , (effort" is much smaller than $(resistance".
#his mechanism is used in roc* crushers, presses, riveting machines etc.
&+

tan &
&
tan
P 1
P
1

Panto)ra.h
$antographs are used for reducing or enlarging drawings and maps. #hey are also used
for guiding cutting tools or torches to fabricate complicated shapes.
,ig.%.+3
In the mechanism shown in fig.%.+3 path traced by point A will be magnified by point )
to scale, as discussed below.
In the mechanism shown, A? 9 >7G A7 9?> and 8A) lie on a straight line.
:hen point A moves to + , ) moves to E and E + 2 also lies on a straight line.
,rom the fig.%.+3, 2"E 2+ and E " 2 + 2 .
"E
+
2E
2+
2"
2

and
E "
+
E 2
+ 2
" 2
2

?ut, . G G E 2E + 2+
E 2
+ 2
2E
2+
" 2
2
2"
2

+ + E E //
And
2
2"
2+
2E
+ +
E E

,
_

2
2"
+ + E E
:here
,
_

2
2"
is the magnification factor.
&0
Hoo%e4s joint *1ni0ersa$ joints-
5oo*eQs /oins is used to connect two nonparallel but intersecting shafts. In its basic
shape, it has two B Hshaped yo*es RaQ and RbQ and a center bloc* or crossAshaped piece,
>. (fig.%.+4(a""
#he universal /oint can transmit power between two shafts intersecting at around '=
=
angles (P". 5owever, the angular velocity ratio is not uniform during the cycle of
operation. #he amount of fluctuation depends on the angle (P" between the two shafts.
,or uniform transmission of motion, a pair of universal /oints should be used
(fig.%.+4(b"". Intermediate shaft ' connects input shaft % and output shaft & with two
universal /oints. #he angle P between % and & is e1ual to angle P between & and '. :hen
shaft % has uniform rotation, shaft ' varies in speedG however, this variation is
compensated by the universal /oint between shafts & and '. 8ne of the important
applications of universal /oint is in automobiles, where it is used to transmit power from
engine to the wheel axle.
,ig.%.+4(a"
,ig.%.+4(b"
Steerin) )ear "echanis"
#he steering mechanism is used in automobiles for changing the directions of the wheel
axles with reference to the chassis, so as to move the automobile in the desired path.
&3
Bsually, the two bac* wheels will have a common axis, which is fixed in direction with
reference to the chassis and the steering is done by means of front wheels.
In automobiles, the front wheels are placed over the front axles (stub axles", which are
pivoted at the points A - ? as shown in the fig.%.+;. :hen the vehicle ta*es a turn, the
front wheels, along with the stub axles turn about the pivoted points. #he bac* axle and
the bac* wheels remain straight.
Always there should be absolute rolling contact between the wheels and the road surface.
Any sliding motion will cause wear of tyres. :hen a vehicle is ta*ing turn, absolute
rolling motion of the wheels on the road surface is possible, only if all the wheels
describe concentric circles. #herefore, the two front wheels must turn about the same
instantaneous centre I which lies on the axis of the bac* wheel.
Condition for .erfect steerin)
#he condition for perfect steering is that all the four wheels must turn about the same
instantaneous centre. :hile negotiating a curve, the inner wheel ma*es a larger turning
angle I than the angle S subtended by the axis of the outer wheel.
In the fig.%.+;, a 9 wheel trac*, . 9 wheel base, w 9 distance between the pivots of front
axles.
,ig.%.+;
,rom
, I+E
cotI 9
%
+E
EI
+E

and
from
, *EI
cotS 9
( ) ( )
%
w
%
w
%
E+
%
w E+
EI
+* E+
EI
E*
+ +
+

+
cot
&4
%
w
cot cot
. #his is the fundamental e1uation for correct steering. If this
condition is satisfied, there will be no s*idding of the wheels when the vehicle ta*es a
turn.
Ac%er"ann steerin) )ear "echanis"
,ig.%.+<
R
S
A B
A'
B'
d
x
x
d
c
P
Q
fig.%.0=
Ac*erman steering mechanism, (6A? is a four bar chain as shown in fig.%.0=. .in*s (A
and 6? which are e1ual in length are integral with the stub axles. #hese lin*s are
connected with each other through trac* rod A?. :hen the vehicle is in straight ahead
position, lin*s (A and 6? ma*e e1ual angles P with the center line of the vehicle. #he
dotted lines in fig.%.0= indicate the position of the mechanism when the vehicle is turning
left.
&;
.et A?9l, (A96?9rG
* S 3 + ! P
N N
and in the turned position,

% %
N
-
N
* S * + ! + . I), the stub axles of inner and outer wheels turn by I and S
angles respectively.
@eglecting the obli1uity of the trac* rod in the turned position, the movements of A and
? in the hori2ontal direction may be ta*en to be same (x".
#hen,
( )
r
x d +
+ sin
and
( )
r
x d
sin
Adding,
( ) ( ) sin &
&
sin sin + +
r
d
T%U
Angle P can be determined using the above e1uation. #he values of I and S to be ta*en in
this e1uation are those found for correct steering using the e1uation
%
w
cot cot
.
T&U
#his mechanism gives correct steering in only three positions. 8ne, when I 9 = and other
two each corresponding to the turn to right or left (at a fixed turning angle, as determined
by e1uation T%U".
#he correct values of S, TS
c
U corresponding to different values of I, for correct steering
can be determined using e1uation T&U. ,or the given dimensions of the mechanism, actual
values of S, TS
a
U can be obtained for different values of I. # he difference between S
c
and
S
a
will be very small for small angles of I, but the difference will be substantial, for
larger values of I. 6uch a difference will reduce the life of tyres because of greater wear
on account of slipping.
?ut for larger values of I, the automobile must ta*e a sharp turnG hence is will be moving
at a slow speed. At low speeds, wear of the tyres is less. #herefore, the greater difference
between S
c
and S
a
larger values of I ill not matter.
As this mechanism employs only turning pairs, friction and wear in the mechanism will
be less. 5ence its maintenance will be easier and is commonly employed in automobiles.
References
4. Theory of Machines and Mechanis"s by Joseph )dward 6higley and John Joseph
Bic*er,Jr. McGraw-Hill International Editions.
;. !ine"atics and #yna"ics of Machines by Keorge 5.Cartin. McGraw-Hill
Publications.
<. Mechanis"s and #yna"ics of Machinery by 5amilton 5. Cabie and ,red :.
8cvir*. John Wiley and Sons.
%=. Theory of Machines by L.$.6ingh. hanpat !ai and "o.
%%. The Theory of Machines thro()h so$0ed .rob$e"s by J.6.(ao. #ew a$e
international publishers.
:. A te6t boo% of Theory of Machines by 7r.(.K.?ansal. %ax&i Publications 'P( %td.
&<
Cha.ter ;I
CAMS
INTR+#1CTI+N
A cam is a mechanical device used to transmit motion to a follower by direct contact. #he
driver is called the cam and the driven member is called the follower. In a cam follower
pair, the cam normally rotates while the follower may translate or oscillate. A familiar
example is the camshaft of an automobile engine, where the cams drive the push rods
(the followers" to open and close the valves in synchroni2ation with the motion of the
pistons.
Ty.es of ca"s
>ams can be classified based on their physical shape.
a- #is% or .$ate ca" *,i). :.<a and b-D #he dis* (or plate" cam has an irregular contour
to impart a specific motion to the follower. #he follower moves in a plane perpendicular
to the axis of rotation of the camshaft and is held in contact with the cam by springs or
gravity.
,ig. 3.% $late or dis* cam.
b- Cy$indrica$ ca" *,i). :.="D #he cylindrical cam has a groove cut along its cylindrical
surface. #he roller follows the groove, and the follower moves in a plane parallel to the
axis of rotation of the cylinder.
,ig. 3.& >ylindrical cam.
c- Trans$atin) ca" *,i). :.>a and b-. #he translating cam is a contoured or grooved
'=
plate sliding on a guiding surface(s". #he follower may oscillate (,ig. 3.'a" or reciprocate
(,ig. 3.'b". #he contour or the shape of the groove is determined by the specified motion
of the follower.
,ig. 3.' #ranslating cam
Ty.es of fo$$o/ers
(i" ?ased on surface in contact. *,i).:.?-
(a" Knife edge follower
(b" (oller follower
(c" ,lat faced follower
(d" 6pherical follower
,ig. 3.+ #ypes of followers
(ii" ?ased on type of motionD *,i).:.@-
(a" 8scillating follower
(b" #ranslating follower
'%
,ig.3.0
(iii" ?ased on line of motionD
(a" (adial followerD #he lines of movement of inAline cam followers pass through the
centers of the camshafts (,ig. 3.+a, b, c, and d".
(b" 8ffAset followerD ,or this type, the lines of movement are offset from the centers
of the camshafts (,ig. 3.3a, b, c, and d".
,ig.3.3 8ff set followers
Ca" no"enc$at(re *,i). :.A-
'&
,ig.3.4
"a& Pro-ile #he contour of the wor*ing surface of the cam.
,racer Point #he point at the *nife edge of a follower, or the center of a roller, or the
center of a spherical face.
Pitch "ur.e #he path of the tracer point.
*ase "ircle #he smallest circle drawn, tangential to the cam profile, with its center on
the axis of the camshaft. #he si2e of the base circle determines the si2e of
the cam.
Pri&e "ircle #he smallest circle drawn, tangential to the pitch curve, with its center on
the axis of the camshaft.
Pressure +n$le #he angle between the normal to the pitch curve and the direction of
motion of the follower at the point of contact.
Ty.es of fo$$o/er "otion
>am follower systems are designed to achieve a desired oscillatory motion. Appropriate
displacement patterns are to be selected for this purpose, before designing the cam
surface. #he cam is assumed to rotate at a constant speed and the follower raises, dwells,
returns to its original position and dwells again through specified angles of rotation of the
cam, during each revolution of the cam.
6ome of the standard follower motions are as followsD
#hey are, follower motion with,
''
(a" Bniform velocity
(b" Codified uniform velocity
(c" Bniform acceleration and deceleration
(d" 6imple harmonic motion
(e" >ycloidal motion
#is.$ace"ent dia)ra"s In a cam follower system, the motion of the follower is very
important. Its displacement can be plotted against the angular displacement I of the cam
and it is called as the displacement diagram. #he displacement of the follower is plotted
along the yAaxis and angular displacement I of the cam is plotted along xAaxis. ,rom the
displacement diagram, velocity and acceleration of the follower can also be plotted for
different angular displacements I of the cam. #he displacement, velocity and acceleration
diagrams are plotted for one cycle of operation i.e., one rotation of the cam. 7isplacement
diagrams are basic re1uirements for the construction of cam profiles. >onstruction of
displacement diagrams and calculation of velocities and accelerations of followers with
different types of motions are discussed in the following sections.
*a- ,o$$o/er "otion /ith 1nifor" 0e$ocity
,ig.3.; shows the displacement, velocity and acceleration patterns of a follower having
uniform velocity type of motion. 6ince the follower moves with constant velocity, during
rise and fall, the displacement varies linearly with I. Also, since the velocity changes
from 2ero to a finite value, within no time, theoretically, the acceleration becomes infinite
at the beginning and end of rise and fall.
'+
,ig.3.;
*b- ,o$$o/er "otion /ith "odified (nifor" 0e$ocity
It is observed in the displacement diagrams of the follower with uniform velocity that the
acceleration of the follower becomes infinite at the beginning and ending of rise and
return stro*es. In order to prevent this, the displacement diagrams are slightly modified.
In the modified form, the velocity of the follower changes uniformly during the
beginning and end of each stro*e. Accordingly, the displacement of the follower varies
parabolically during these periods. :ith this modification, the acceleration becomes
'0
constant during these periods, instead of being infinite as in the uniform velocity type of
motion. #he displacement, velocity and acceleration patterns are shown in fi).:.B.
fi).:.B
*c- ,o$$o/er "otion /ith (nifor" acce$eration and retardation *1ARM-
5ere, the displacement of the follower varies parabolically with respect to angular
displacement of cam. Accordingly, the velocity of the follower varies uniformly with
respect to angular displacement of cam. #he acceleration/retardation of the follower
becomes constant accordingly. #he displacement, velocity and acceleration patterns are
shown in fi). :.<C.
'3
,i).:.<C
s 9 6tro*e of the follower
I
o
and I
r
9 Angular displacement of the cam during outstro*e and return stro*e.
V 9 Angular velocity of cam.
#ime re1uired for follower outstro*e 9 t
o
9

o
#ime re1uired for follower return stro*e 9 t
r
9

r
'4
Average velocity of follower 9
t
s
Average velocity of follower during outstro*e 9
&
&
& max min
.o .o
t
s
t
s
o
o
+

vo
min
9 =
o o
s
t
s
.o

& &
max

9 Cax. velocity during outstro*e.
Average velocity of follower during return stro*e 9
&
&
& max min
.r .r
t
s
t
s
r
r
+

vr
min
9 =
r r
s
t
s
.r

& &
max

9 Cax. velocity during return stro*e.
Acceleration of the follower during outstro*e 9 &
&
max
+
&
o
o
o
s
t
.o
a

6imilarly acceleration of the follower during return stro*e 9
&
&
+
r
r
s
a

*d- Si".$e Har"onic Motion In fig.3.%%, the motion executed by point $

l
, which is the
pro/ection of point $ on the vertical diameter is called simple harmonic motion. 5ere, $
moves with uniform angular velocity V
p
, along a circle of radius r (r 9 s/&".
';
a
x
y
y
p
p'
r
,ig.3.%%
7isplacement 9
t r r y
p
sin sin
G
r y
max
Td%U
Lelocity 9
t r y
p p
cos
G p
r y
max

Td&U
Acceleration 9 y t r y
p p p
& &
sin
G
&
max p
r y
Td'U
,ig.3.%%
s9 6tro*e or displacement of the follower.
'<
I
o
9 Angular displacement during outstro*e.
I
r
9 Angular displacement during return stro*e
V 9 Angular velocity of cam.
t
o
9 #ime ta*en for outstro*e 9

o
t
r
9 #ime ta*en for return stro*e 9

r
Cax. velocity of follower during outstro*e 9 vo
max
9 rV
p
(from d&"
vo
max
9
o o
s
t
s

& &

6imilarly Cax. velocity of follower during return stro*e 9 , vr
max
9
r r
s
t
s

& &

Cax. acceleration during outstro*e 9 ao
max
9 rV
&
p
(from d'" 9
&
& &
&
& &
o o
s
t
s

,
_

6imilarly, Cax. acceleration during return stro*e 9 ar

max
9
r
r
s
t
s
&
& &
&
& &

,
_

+=
*e- Cyc$oida$ "otion
>ycloid is the path generated by a point on the circumference of a circle, as the circle
rolls without slipping, on a straight/flat surface. #he motion executed by the follower
here, is similar to that of the pro/ection of a point moving along a cyloidal curve on a
vertical line as shown in figure 3.%&.
21
a
a1
a2
a3
a4
a5
a6
a7
CYCLOIDAL
MOTION
F
O
L
L
O

!
R

M
O
T
I
O
N
66
,ig.3.%&
#he construction of displacement diagram and the standard patterns of velocity and
acceleration diagrams are shown in fig.3.%'. >ompared to all other follower motions,
cycloidal motion results in smooth operation of the follower.
#he expressions for maximum values of velocity and acceleration of the follower are
shown below.
s 9 6tro*e or displacement of the follower.
d 9 dia. of cycloid generating circle 9

s
I
o
9 Angular displacement during outstro*e.
I
r
9 Angular displacement during return stro*e
V 9 Angular velocity of cam.
t
o
9 #ime ta*en for outstro*e 9

o
t
r
9 #ime ta*en for return stro*e 9

r
vo
max
9 Cax. velocity of follower during outstro*e 9
o
s

&
+%
vr
max
9 Cax. velocity of follower during return stro*e 9
r
s

&
ao
max
9 Cax. acceleration during outstro*e 9
&
&
&
o
s

ar
max
9 Cax. acceleration during return stro*e 9
r
s
&
&
&

,ig. 3.%'
+&
+'
So$0ed .rob$e"s
*<- #ra/ the ca" .rofi$e for fo$$o/in) conditionsD
,ollower type 9 Knife edged, inAlineG lift 9 0=mmG base circle radius 9 0=mmG out stro*e
with 65C, for 3=
=
cam rotationG dwell for +0
=
cam rotationG return stro*e with 65C, for
<=
=
cam rotationG dwell for the remaining period. 7etermine max. velocity and
acceleration during out stro*e and return stro*e if the cam rotates at %=== rpm in
cloc*wise direction.
#is.$ace"ent dia)ra"
O#TSTRO$!
D!LL
R!T#RNSTRO$! D!LL
LIFT%5&''
& 1
2
3
4
5 6 7 ( )
1& 11 12
a
*
c
d
+
,
-
.
/
0
1
1
2
3
4
5
6
2
Ca" .rofi$e >onstruct base circle. Car* points %,&,'F..in direction opposite to the
direction of cam rotation. #ransfer points a,b,cF..l from displacement diagram to the
cam profile and /oin them by a smooth free hand curve. #his forms the re1uired cam
profile.
++
1
2
3
4
5
6
a
*
c
d
+
,
7
-
6
&
3
4
5
3
(
)
1&
11
12
.
/
0
1
2
)
&
3
5&
Ca$c($ations
Angular velocity of cam 9
3=
%=== &
3=
&

#
9<C?.A: rad2sec
Cax. velocity of follower during outstro*e 9 vo
max
9
o
s

&
9
9
'
&
0= 43 . %=+

94;04mm/sec 9A.D@A"2sec
6imilarly Cax. velocity of follower during return stro*e 9 , vr
max
9
r
s

&
9
9
&
&
0= 43 . %=+

9 0&';mm/sec 9 @.=>D"2sec
Cax. acceleration during outstro*e 9 ao
max
9 rV
&
p
(from d'" 9
&
& &
&
o
s

9
+0
9
( )
( )

&
& &
'
&
0= 43 . %=+

&+3<&<4.<3mm/sec
&
9 =?:B.>"2sec
=
6imilarly, Cax. acceleration during return stro*e 9 ar
max
9
r
s
&
& &
&

9
9
( )
( )

&
& &
&
&
0= 43 . %=+

%=<4+30.43mm/sec
&
9 <CBA.@"2sec
=
+3
*=- #ra/ the ca" .rofi$e for the sa"e o.eratin) conditions of .rob$e" *<-, /ith the
fo$$o/er off set by <C "" to the $eft of ca" center.
#is.$ace"ent dia)ra" 6ame as previous case.
Ca" .rofi$e >onstruction is same as previous case, except that the lines drawn from
%,&,'F. are tangential to the offset circle of %=mm dia. as shown in the fig.
1
2
3
4
5
6
7
(
)
1&
11
12
a
*
c d
+
,
-
.
/
0
1
2
6
&
3
4
5
3
)
&
3
5&''
1&
+4
*>- #ra/ the ca" .rofi$e for fo$$o/in) conditions
,ollower type 9 roller follower, inAlineG lift 9 &0mmG base circle radius 9 &=mmG roller
radius 9 0mmG out stro*e with BA(C, for %&=
=
cam rotationG dwell for 3=
=
cam rotationG
return stro*e with BA(C, for <=
=
cam rotationG dwell for the remaining period.
7etermine max. velocity and acceleration during out stro*e and return stro*e if the cam
rotates at %&== rpm in cloc*wise direction.
#is.$ace"ent dia)ra"
2
5
&
1 2 3
4
5
6 7 (
)
1& 11
12
a
*
c
d
+
,
-
.
/
0
1
2
O#TSTRO$! D!LL R!T#RNSTRO$! D!LL
LIFT
Ca" .rofi$e >onstruct base circle and prime circle (&0mm radius". Car* points
%,&,'F..in direction opposite to the direction of cam rotation, on prime circle. #ransfer
points a,b,cF..l from displacement diagram. At each of these points a,b,cF draw circles
of 0mm radius, representing rollers. 6tarting from the first point of contact between roller
and base circle, draw a smooth free hand curve, tangential to all successive roller
positions. #his forms the re1uired cam profile.
+;
1
2
&
3
6
&
3
)
&
3
& 1
2
3
4
5
6
7 (
)
1&
11
12
a
*
c
d
+
,
-
.
/
0
1
2
2&''
Ca$c($ations
Angular velocity of the cam 9

3=
%&== &
3=
&

#
<=@.A<rad2sec
Cax. velocity during outstro*e 9
o o
s
t
s
.o

& &
max

9
9

'
&
&0 4% . %&0 &

&<<<.<mm/sec 9=.BBB"2sec
Cax. velocity during return stro*e 9

&
&0 4% . %&0 & & &
max

r r
s
t
s
.r
9 '<<<.;3mm/sec 9 >.BBB"2sec
Acceleration of the follower during outstro*e 9 &
&
max
+
&
o
o
o
s
t
.o
a

9
9
( )
( )

&
&
'
&
&0 4% . %&0 +

'0<<40mm/sec
&
9 >@B.BA@"2sec
=
6imilarly acceleration of the follower during return stro*e 9
&
&
+
r
r
s
a

9
+<
9
( )
( )


&
&
&
&0 4% . %&0 +

3'<<03mm/sec
&
9 :>B.B@:"2sec
=
0=
*?- #ra/ the ca" .rofi$e for conditions sa"e as in *>-, /ith fo$$o/er off set to ri)ht
of ca" center by @"" and ca" rotatin) co(nter c$oc%/ise.
#is.$ace"ent dia)ra" 6ame as previous case.
Ca" .rofi$e >onstruction is same as previous case, except that the lines drawn from
%,&,'F. are tangential to the offset circle of %=mm dia. as shown in the fig.
6
&
3
1
2
&
3
)
&
3
1
2
3
4
5
6
7
(
)
1&
11
12
a
*
c
d
+
,
-
.
/
0
1
2
2&''
5
0%
*@- #ra/ the ca" .rofi$e for fo$$o/in) conditions
,ollower type 9 roller follower, off set to the right of cam axis by %;mmG lift 9 '0mmG
base circle radius 9 0=mmG roller radius 9 %+mmG out stro*e with 65C in =.=0secG dwell
for =.=%&0secG return stro*e with BA(C, during =.%&0secG dwell for the remaining
period. 7uring return stro*e, acceleration is '/0 times retardation. 7etermine max.
velocity and acceleration during out stro*e and return stro*e if the cam rotates at &+=
rpm.
Ca$c($ations
>am speed 9 &+=rpm. #herefore, time for one rotation 9
sec &0 . =
&+=
3=

Angle of out stro*e 9

=
4& '3=
&0 . =
=0 . =

o

Angle of first dwell 9

=
%
%; '3=
&0 . =
=%&0 . =

w

Angle of return stro*e 9

=
%;= '3=
&0 . =
%&0 . =

r

Angle of second dwell 9

=
&
<=
w

6ince acceleration is '/0 times retardation during return stro*e,

r a
0
'

(from acceleration diagram"

0
'

r
a
?ut
0
'
G
max max

a
r
r a
t
t
r
a
t
.
r
t
.
a
7isplacement diagram is constructed by selecting t
a
and t
r
accordingly.
0&
O#TSTRO$!
D!LL
R!T#RNSTRO$! D!LL
LIFT%35''
& 1
2
3
4
5 6 7
a
*
c
d
+
,
1
2
3
4
5
6
( ) 1& 11 12 13 14
-
. /
0
1
2
'
4
5
a
5r6'ax
a
r
7a
7r
Angular velocity of cam 9
3=
&+= &
3=
&

#
9=@.<? rad2sec
Cax. velocity of follower during outstro*e 9 vo
max
9
o
s

&
9
9
( )
0
& &
'0 %+ . &0

9 %=<<.;4mm/sec 9<.<"2sec
6imilarly Cax. velocity during return stro*e 9

'0 %+ . &0 & &
max
r
s
.r
9 00<.< mm/sec 9 C.@:"2sec
Cax. acceleration during outstro*e 9 ao
max
9 rV
&
p
(from d'" 9
&
& &
&
o
s

9
9
( )
( )

&
& &
0
&
&
'0 %+ . &0

3<%&4.%+mm/sec
&
9 :B.<>"2sec
=
0'
acceleration of the follower during return stro*e 9
( )

0
'0 %+ . &0 %3
0
%3
;
0
&
& &
max
r
r
a
r
s
s
t
.r
a
9 4%33.'4 mm/sec
&
9
A.<A"2sec
=
similarly retardation of the follower during return stro*e 9
( )

'
'0 %+ . &0 %3
'
%3
;
'
&
& &
max
r
r
r
r
s
s
t
.r
r
9 %%<+'.< mm/sec
&
9
<<.B?"2sec
=
723
1(3
1(&3
1(
1
2
3
4
5
6
7
(
)
1&
11
12
13
14
a *
c
d
+
,
-
.
/
0
1
2
'
4
0+
*:- #ra/ the ca" .rofi$e for fo$$o/in) conditions
,ollower type 9 *nife edged follower, in lineG lift 9 '=mmG base circle radius 9 &=mmG
out stro*e with uniform velocity in %&=
=
of cam rotationG dwell for 3=
=
G return stro*e with
uniform velocity, during <=
=
of cam rotationG dwell for the remaining period.
#is.$ace"ent dia)ra"
1 2 3 4 5 6 7 ( ) 1& 11 12
a
*
c
d
+
,
-
.
/
0
1
2
3&''
O#T STRO$! R!T#RNSTRO$! D!LL D!LL
Ca" .rofi$e
1
2
&
3
6
&
3
)
&
3
)
&
3
1
3
2
4
5
6
7
(
)
1&
11
12
a
*
c
d
+
,
-
.
/
0
1
2
00
03
*A- #ra/ the ca" .rofi$e for fo$$o/in) conditions
,ollower type 9 oscillating follower with roller as shown in fig.G base circle radius 9
&=mmG roller radius 9 4mmG follower to rise through +=
=
during <=
=
of cam rotation with
cycloidal motionG dwell for '=
=
G return stro*e with cycloidal motion during %&=
=
of cam
rotationG dwell for the remaining period. Also determine the max. velocity and
acceleration during outstro*e and return stro*e, if the cam rotates at 3== rpm.
76
36
4
&
3
76
A
B
O
.ift of the follower 9 6 9 length A? arc A? 9
%;=
+= 43

2+
9 0' mm.
(adius of cycloid generating circle 9
&
0'
9 ;.+ mm
#is.$ace"ent dia)ra"E
04
1 2
3
4 5
6
1 2 3 4 5 6
7
(
)
1&
11
12
7 ( ) 1& 11 12
53
168(
O#T STRO$!
R!T#RNSTRO$!
D!LL
D!LL
a
*
c
d
+
, -
.
/
0
1
2
0;
Angular velocity of cam 9
3=
3== &
3=
&

#
9 3&.;3 rad/sec
vo
max
9 Cax. velocity of follower during outstro*e 9
&
0' ;3 . 3& & &

o
s
9 +&+=.&
mm/sec
vr
max
9 Cax. velocity of follower during return stro*e 9
'
&
0' ;3 . 3& & &

r
s
9 '%;=
mm/sec
ao
max
9 Cax. acceleration during outstro*e 9
( )
( )
&
&
&
&
&
0' ;3 . 3& & &

o
s
9 0''=44
mm/sec
&
9 0''.% m/sec
&
.
ar
max
9 Cax. acceleration during return stro*e 9
( )
( )
&
&
&
&
'
&
0' ;3 . 3& & &

r
s
9
9 &<<;00.;mm/sec
&
9 &<<.;
m/sec
&
.
Ca" .rofi$e 7raw base circle and prime circle. 7raw another circle of radius e1ual to
the distance between cam center and follower pivot point. #a*e the line /oining cam
center and pivot point as reference and draw lines indicating successive angular
displacements of cam. 7ivide these into same number of divisions as in the displacement
diagram. 6how points %Q, &Q, 'QF on the outer circle. :ith these points as centers and
radius e1ual to length of follower arm, draw arcs, cutting the prime circle at %,&,'F.
#ransfer points a,b,c.. on to these arcs from displacement diagram. At each of these
points a,b,cF draw circles of 4mm radius, representing rollers. 6tarting from the first
point of contact between roller and base circle, draw a smooth free hand curve, tangential
to all successive roller positions. #his forms the re1uired cam profile.
0<
)
&
3
3&3
1
2
&
3
12&3
1
2
3
4
5
6
a
*
c
d
+
,
7
(
) 1& 11
12
-
.
/
1
2
'
36
76
1'
2'
3'
4'
5'
6'
7'
('
)'
1&'
11'
12'
3=
*D- #ra/ the ca" .rofi$e for fo$$o/in) conditions
,ollower type 9 *nife edged follower, in lineG follower rises by &+mm with 65C in %/+
rotation, dwells for %/; rotation and then raises again by &+mm with BA(C in %/+
rotation and dwells for %/%3 rotation before returning with 65C. ?ase circle radius 9
'=mm.
Angle of out stro*e (%" 9 I
=%
9
= =
<= '3=
+
%

Angle of dwell (%" 9
= =
+0 '3=
;
%

Angle of out stro*e (&" 9 I
=&
9
= =
<= '3=
+
%

Angle of dwell (&" 9
= =
0 . && '3=
%3
%

Angle of return stro*e 9 I
r
9
= =
0 . %%& '3=
%3
0
'3=
%3
%
+
%
;
%
+
%
%
1
]
1

,
_

+ + +
#is.$ace"ent dia)ra"
1 2 3 4 5
6 7 (
) 1& 11 12 13
14 15 16 17 1( 1)
a
*
c
d
+
, -
.
/
0
1
2
'
4
9
p
:
r
;
O#TSTRO$!1
D!LL1 O#TSTRO$!2
D!LL2
R!T#RNSTRO$!
24''
24
Ca" .rofi$e
3%
)&3
453
)&3
22853
112853
1
2
3
4
5
6
7
(
)
1&
11
12 13
14
15
16
17
1(
1)
a
*
c
d
+
,
-
.
/
0
1
2
'
4
9
p
:
r
;
6&
3&
*B- #ra/ the ca" .rofi$e for fo$$o/in) conditions
,ollower type 9 flat faced follower, in lineG follower rises by &=mm with 65C in %&=
=
of
cam rotation, dwells for '=
=
of cam rotationG returns with 65C in %&=
=
of cam rotation
and dwells during the remaining period. ?ase circle radius 9 &0mm.
#is.$ace"ent dia)ra"
1 2
3 4 5 6 7 ( ) 1& 11 12
a
*
c
d
+
, -
.
/
0
1
2
2
&
O#T STRO$! R!T#RNSTRO$!
D!LL
D!LL
Ca" .rofi$e >onstruct base circle. Car* points %,&,'F..in direction opposite to the
direction of cam rotation, on prime circle. #ransfer points a,b,cF..l from displacement
diagram. At each of these points a,b,cF draw perpendicular lines to the radials,
representing flat faced followers. 6tarting from the first point of contact between follower
and base circle, draw a smooth free hand curve, tangential to all successive follower
positions. #his forms the re1uired cam profile.
3'
1
2
3
4
5
6
7
(
)
1&
11
12
a
*
c
d
+
,
-
.
/
0
1
2
25
1
2
&
3
3
&
3
1
2
&
3
)
&
3
3+
*<C- #ra/ the ca" .rofi$e for fo$$o/in) conditions
,ollower type 9 roller follower, in lineG roller dia. 9 0mmG follower rises by &0mm with
65C in %;=
=
of cam rotation, falls by half the distance instantaneouslyG returns with
Bniform velocity in %;=
=
of cam rotation. ?ase circle radius 9 &=m.
#is.$ace"ent dia)ra"
1 2 3 4 5 6 7 ( ) 1& 11
a
*
c
d +
,
-
.
/
0
1
2
25
1285
O#T STRO$! R!T#RNSTRO$!
Ca" .rofi$e
45
2& R
1
2
3
4
5
6
7
(
)
1&
11
a
*
c
d
+
,
-
.
/
0
1
2
30
*<<- #ra/ the ca" .rofi$e for fo$$o/in) conditions
,ollower type 9 roller follower, offAset to the right by 0mmG lift 9 '=mmG base circle
radius 9 &0mmG roller radius 9 0mmG out stro*e with 65C, for %&=
=
cam rotationG dwell
for 3=
=
cam rotationG return stro*e during %&=
=
cam rotationG first half of return stro*e
with Bniform velocity and second half with BA(CG dwell for the remaining period.
#is.$ace"ent dia)ra"
1 2 3 4 5
6
7 ( )
1& 11 12 13 14
15 1617 1(
a
*
c
d +
,
-
.
/
0
1
2
'
4
9
p
:
r
3&
Ca" .rofi$e
33
12&3
6&3
12&3
6&3
1
2
3
4
5
6
7
(
)
1&
11
12
13
14
15
16
17
1(
a
*
c
d
+
,
-
.
/
0
1
2
'
4
9
p
:
r
5
*<=" A push rod of valve of an I> engine ascends with BA(C, along a path inclined to
the vertical at 3=
=
. #he same descends with 65C. #he base circle diameter of the cam is
0=mm and the push rod has a roller of 3=mm diameter, fitted to its end. #he axis of the
roller and the cam fall on the same vertical line. #he stro*e of the follower is &=mm. #he
angle of action for the outstro*e and the return stro*e is 3=
=
each, interposed by a dwell
period of 3=
=
. 7raw the profile of the cam.
#is.$ace"ent dia)ra"
34
2&
O#T STRO$!
D!LL R!T#RNSTRO$! D!LL
1
2
3 4 5 6
7 ( ) 1& 11 12
a
*
c
d
+
, -
.
/
0
1
2
Ca" .rofi$e
6&3
1
2
3
4
5
6
a
*
c
d +
,
7
(
)
1&
11
12
-
.
/
0
1
2
5& 66
16
6&3
6&3
6&3
3;
3<