6.1 Continued (b) Maximum Velocity during rise + > iqg infieg = 2.222 (16*) ing Maximum Velocity during descent + 1/35 =-2.8511 (0) in/deg gc) in/deg ¢ PROB 6.2 30 . ye 2 es? 375938, Gao Baas! . 2s! in 29 —> SU 219010) in/deg mere a i-"Go dep Oar aniform increase) 6o«g<9" G=0 — 4=1910"*) Constant gor o «1807 g-2GRY 212004 Y=1916?}-+0 uniform decrease COnTINUED 144i j io = Bhor Sto 02 240° <0" ¢ 330° Brnl80° L's-2.4" (@% 150°) —> Sto 02 piat20°, Uatey o° Yuna 2610) 20" 30° 40° 50" cot 220° Ecsegrs% 8-40" Gore q's 180" 0" e. ., * 00° Brie cede 1G. 120° 430° 135° {40° 150° 160° 10° { 80° o § Woes) 190° -349 os 200° ~605 210° 699 220° ~605 230-349 240° 0 250° 159 260° 299 z10° = 403 Ze0 = 4.58 290 458 300” 403 299 154 0 212°» Seo U=-16—-Stedt (G10) — Scoot 2io’ £9" 330" pra" Ca-24 (G-150") Stoo 149 Gusta) Jost 31-66 “18-28PROB 66 y G-2a40uo ges Gazz22(10) Ay j+386(! I G=13.54065) in/deq? es ‘Go-z3.40U0%) 40, y seq Same as Prob.63 butuse cycloidal motion. Y must ie. 4 must be maximum at Qo° be zero at 40°, ea . = bt in 0S £90" Yoo *j {- cos 36s I= ae dq eq.® tat in “f1- COS (360° i > ae a —— eq.@ B= 21807 Yay = 180° Suir $4 = 2" Solving oe ©. &® Simultaneously we obtain : . then we start by plotting the displacement Lisle = Con ee 1506.6 CONTINVED OSbEW Yo Rees ee Check : Yop = 822 (271- E sinta Ws et80, y . = 180° 18 180" Sin (360° >$° ) on mi 180° =e N= one eo AS) = t= ELS 180° (2")- Bay Sin (360° 180) . 2° 1B0°< p< 255", Y=2% 180 (24). Z sin 360! o-198 Yeas = 2°. AB =tBe 150" (2) Be sin (360° ENC) = 2° Yeost = 2 SEBIB or)» 2 sin( aor ZEB) | 255° >< 330, yzo'- fi eZ Next, we plot 9: en Bar Sin ( 360" o os b4 40, Ye Ext-eosiaee 2) o {Bor 30° 60° 180°S Gs 255", §= FE Ci-cos a6 F185) 180° 255204330, Y= 221-cosiacor Sy 150° For acceleration : O's 490° i 2) oa 60° 46 hare Si" tae § (1*infdeg?) ° oO 15° 194 30° 336 45° 388 60° 336 15° 194 qo 0 120° 150° {80° 180" 205° 230° po 150 eon 305° 330° Go’s < 180° wo) y(1o” eq) ° 5.56 16.61 22.22 22.22 16.61 5.56 ° ° "6.61 ~20.00 ~26.67 “26.61 -20.00 -6.61 0 ij e202) oq (2h or Y= Tao 18 gor oF UC*in Zeger) qo" o 105° “194 120° -336 135° -388 {50° ~-336 165° = -194 180° 0 151 CONTINUED6.6 Concluded. 180°< @ £255" << p£330° E22 Gin ( 3" . i = CELE sin FEE (o-180) jets n{2Sio"- 1800) v (10% in/deg) ¢ Y(W0™ in deg?) 180° | 0 255° 0 192.5" -219 zens 299 Zo5* - 484 280° 484 2i1.5° -554 292.5° 559 230-484 305° 484 242.5° -2"9 3115" 214 255° 0 330° ° Far jerk : ors 02 0 = Gore % < 180" are 3 (Ta ) Gar Boo ge > gop Oot 3 ep Ot ier? y otis v 16% in/deg?) oe (3.54 q0° -13.54 45° 44-12 105° 1412 30° 6.11 120° - 6.71 45° ° {35° ° 60° - 6.17 150° 6-11 15° -11-92 165° 11-12 go* -13.54 180° 13.54 130°4 = 255° 255"< £ 330° qe ao cos (Fee 3b “(h°-{80°2) jy cose oe (g "= (30°) 0" {go -23.40 255° 23.40 192.5" -20.26 2615" 20.26 205° = - 11-10 280° 11-710 2190.5° 0. 2925" 0. 230° 11-10 305° ~U1-T0 242.5" 20.26 319.5°. -20.26 255° 23-40 330° -23.40 152PROB 6.7 r ” 5 oe) + 7 — , o oO 40° {90° 225° 360° O° ~ 180° Parabolic motion 180°~ 225° —— dwell 225'~ 360 —— Simple harmonic motion PROB 6.8 Litiliging the pressure -angle definition, We Find that the greatest pressure angle is at position C: = 305". 153PROB 6.9 By the pressure angle definition , the maximum Pressure angle is at position 4, Where it iS 24.5°. PROB 6.10 Abe —— 8, ——=}- — p.—J We want the ratio between 8, and fz so as to match velocities at point B. Let B:=262 . Gnd with harmonic motion we get the displacement graph as above. PROB 6111 Since the follower is to have cyclical motion, We use Simple harmonic motion and let PB, = Pz to match accelerations at points A,B and C. When CONTINUED 1546.11 P64 CONTINUED i = mr etre ee 2 Yebcrrcos te) , Yay sini By , j= Ber'cos Ss PROB 6.12 (a) The equation for the acceleration is given as A = ( 20S) sin( Ge 8) _ so ve * Ema sin Zr0) do = Husti-cos 10] S=fPvde = Bnw- Be sini re) (b) The maximum ( peak) value of the acceleration is 5 units was given when o-4 _ $0 Sunits =2 A hus" eB 2h B ah = 2h (ge Fk = B25 8 in Vinay =p) ( 8=-2) = Vina = a= SE units Smor= hw (8=p) 5p . — hes 0.658 nits = Simon= = SEE units 5p PROB 63 (a) The curve between B and C is a Straight line because of the constant velocity, Gnd the remaining ConrinveD 1556,13 Concrudep seqments are determined by, Say, parabolic motion. tb) See the Fig. s points A&B eS Gre the farthest Contact pts. _ we add 5mm eoch side for safty margin. CD is the face width. 156PROB 65 PROB 6.16 (a) See Fig. above (b) the pressure angle at the 4o* position (3) is 23°. CONTINUED 1576.16 Continued (c) the pressure Angle is reduced to 13° (position 3), and the stem length of the follower with Offset (b) is longer than the follower Without offset(a). PROB 6.17 Points A&B are the farthest contact pts. Qdd 5mm as safty margin. then the required face Wwidth=Q+b.Contact points . 8 Add 5mm for safty margin. then CD will be the required length. PROB 6119PROB 6.20 Qs we know, the expression of the velocity of the Simple harmonic motion is Ya-ppw sin tS where $ (Cam angle)=wt. So. jd. LT yy. Aus We bk TW cos TO y epg pe ee => Uo = “lees aS - eRe «+ THEY LA aes. 8 dee eee B =e WOE =O cog ae oie Yore pr rces TE = Es cost =- = Dw PROB 6.21 From the expression of acceleration of the Simple harmonic motion shown above , we can get gy as Grae Bur po venti Busses je pune Ren Be i, hoy fom rt ° PROB 6.22 From eg. 6.24 . the displacement of the cycloidal motion is Ya$u- rsin(226) / Where p= a- =a so jog ge- Be Bus cos 9) = tw “pp cee) = twl[i- cos(2t ao) Or 160PROB 6.23 The velocity of the cycloidal motion has been Proved as Shown in Prob. 6.22 , SO ij- 49 . L, en . ~ 2u0 am y-Se 58 Fw -sin( 2M 9) ~ BET ws" sin( Sto) PROB 6.24 The acceleration has been proved as shown in Prob.6.23, So yea) | 2u7 een 2m 4). ALW 3, en d°-at Be Ww. cos(FFo) oF uicos l=, PROB 6.25 From A to C. the follower accelerated according %) to Q@ Quarter sine wave ,from C to D the acceleration iS Constant, Gnd from D to E the acceleration decreases to cero According to A quarter sine wave, after &, the fotlower is decelerated in the same Way it Was accelerated. The equation of the displacement . velocity and acceleration curve from A to C are: Sea (4B - arsin ang) CONTINUED 161Ve + (2-2e0s4-4r-8-) 6.25 Conrinvep A= ae sinay B- When point C is reached, =F, and the displacement. velocity and acceleration are : ee eles u : SieUlg-or) oo. we s Ae ae then the genera] equations of displacement . velocity Gnd acceleration from C to D are: S-Si+veto-f+tace-2y V = Vo+A(o--B) A=A To get displacement , velocity and acceleration to match at the junction C, it is required that Vo = , a= 332 => Theegs. of the displacement. velocity and Occeleration of the curve from C to D are: SHU (f- eh) + Flo- + aml pL i ' Re v= BE 4 8M o-£) A ee Pp As point D is reached , o-29 1=> Ser + ME Since the cycloidal displacement is the sum of a Constant velocity displacement Qnd a harmonic displacement. So the displacement, Velocity » and Qcceleration eqs. of the Curve from D to E are: Pg oysin(anr2Z S~ S454 eH — 7) B Qa 40 o- a V = + Cog cos 4 7 160% o--& = -C3 SS sind tT A p & ConrinveD 1626.25 Continued there Ci. Ca, Gnd Cs Can be obtained in the Following procedures. An acceteration match at D (0-9?) requires Sa = Le 16¥ sina ot J ge3e = Ca=- a A velocity match at point D requires p QU BHU pp 8 ul 4% acs [Fo ee Pg (f-ee Fo ),ae => 2m) In addition, the total displacement at point D is S=S+Sa or B Oz $P BO mde +2L +97) OTP LL = [a C+) B a sing. p Fl op 2 Ged The eg. of iaplocement from D to & is: ee mt O=$P Sat EB EE Hy +h eu) B Chee: e-& - ti sina? p =t! or 6 toe o-& =U (-Er 2040) g-- aesinae B ] at point © (ies O--—) 3 gelCeEy) | 8,2 8-SinSa al gt Et ee) Finally , from the realationship Sa S+S+Sag, BUT) = alse therefore the displacement , velocity and acceleration OF the first three segments of the modified Craven 163trapezoidal motion are : 6.25 Courinved 20 osee& 3 Ss wae B “esa p) 2k 2u & ve emp ~ (#18 cos 4B = 23 oa A= a mF sina ~B Beoede: se gipld-e Fiero $7) ~ 2k ae -o V= ramp * Term (Oe?) Ae 2a (2+ TB Beosh s= set % seusm.g- fysinen OE J _ Bee) 2b o-& (2emp (2m PF e P 2 o- A= te wp sin41 p Since the motion is symmetric from £ to B, So Beoe tp: $= peel- Fr2+m-B-+ aysinan 2 Fy yo 2euem , 2b o-B (aemp ‘emp ot" B ~ (2emp* B Pecos: sa pheldeme ager pep He Pi) v= —ec__ Pe _ yg # (2rmp ~ (ermp! ) a fe A (2+)p> Beosp S- pigl Bere Flo Hoes sipsinaw SE] _2t 2k 6-$F V= feamp * eemp Ot" B o-$6 art. A= ~7ebiip Sinden A 164PROB 6.26 The equation of the polynomial profile is Ys 104?-15%44 6xF ye tt = (30%7= 60%? + 30%4) KH = 3O2*(4-1 ra iy ~-di = (60% [BoA {2OR?)K? = SOX (AN BHT) A™ => (20-3441) =(24-1)(4-1) So W=0,%= or X=! there is O peak value as x= Y=t-815% , letting Ww deg /sec)=p/sec => Ynae = 1-88 infsec — Occures at wat PROB 6.27 Based on Six boundary conditions, a fifth-degree Polynomial must be written with 6 Constant coefficients , let w (deg/sec)=B°/sec , X= 4/P. lS = Qe t Aix + O2% + OX? + ext + Osx? S = Ait 202% + 305K? + 4.04%? + 5O5%* S = 20a + 603% + 12 04K" + 20.05%? Substituting the boundary conditions then L=Q6 © = Oot Git Oat Os+Q4+ Os o-G O= Qit2Q:+ 303+ 404450 0= 20: 0 = 202 + GOs + 1204 +2005 > OQ=2l ,. A=0 , Gz=0 With these values , the remaining equations reduce to Conrimen 1651 fot Qs mL 3 4 5 }] Gq} =/0 6 12 20]] Qs ° aid the a for this set becomes A=|3 4 5/=% 6 12 20) ppet i then Qs=z]o4 5] =-{1oL 0 12 20 eo pia be Qeexla 0 5|=15L As=z]a 4 o [=-6L 6 0 20 ’ 6 12 0 resulting in the polynomial and its derivatives as Sa L-lOl x +15 K4— GLKF S =~30L X74 40L27~ 30Lx* S =-60L% + (20L%7~ {20L x? PROB 6.28 A fifth-degree polynomial must be written with Six constant Coefficients. again let Ww (deg /sec) =p'/sec X=O/p. "| S = Qo + ix + 02x? + A3%? + 4x4 + Osx S = Out 202% + BQox? + 4040? + 5O5%* § = 202+ 603% + 1204%" + 2005%? Substituting the boundary conditions. then 0O=Q. L= Qe+Gi+0.+Q3+Q4+Qs o=Q, V = Ot 202+ 303+ 40, + 50s 0=202 0 = 202+ 603 + {204 +2005 CONTINUED 1666.28 COnTINvED => Qo=0 , A=0 , Az=0 With these values , the remaining equations reduce to : bore )fasy fe 3 4 5 |/Osl=]v 6 12 20//As} lo a = aedly 4 5] sloL-4v , © 12 20 fe et}! | Os $3 v : eTv-I5L , O5*Zl5 4 y * | = GL-3V 6 0 20 6 12 oO} resulting in the polynomial and its derivatives as S = 2(5L-2V) 4? + (TWISL) A 43 (2L-V) 9? S = G(5L-2y) x7 + 4(TW-ISL)%? +15 (2L-V ) X & =2(SL-2V)% + 12TV-1BL) 7 + GO(ZL— VX? PROB 6.29 A Fifth-degree. polynomial must be written with six Constant coefficients, let wcdeg/sec)= A°/sec , x= olp. = S = ot Oixt Ganr+ OsK7+ ant + Osx | S = Ort 20% + 303474 404%? + 5O5%* 5 = 20. + 60a + (204K + 2005%? Substituting the boundary conditions » then CONTINUED 167(ae) LUDED L= Qo we O= Oot Git Qat Cs + Qet Os v=Q O= Qit+202+ 303+ 404+ 50s 0=2Qe —A= 202+ 60s +1204 +2005 => Q=Lb , G=VvV . Qa=0 With these values , the remaining egs. reduce to 4 4 4 ]{ [—(L+v) 3.4 5]]Qs)=]-V & 12 20) Os -A Qt"! ' | =-lot-6u-0.5A -v 4 -A {2 20 ppd eet Os =F] 3 -v 5 = BV+AtTI5L- 6 -A 20 ' { 4 4+) Os=313 4 -v | =-6L-3V-0.5A 6 12 -A resulting in the polynomial and its derivatives as S= Lt VX-(10L+6V + 0.50 x7 + (ISL+ BUTA)X* —(OL43V 40.50 )XF S= V- SOL +bv4 0.58 42+ 4USL + BVA )X? -5(6L43V+0.5A) x4 S =-6U0L+ OV F0.5A)X+IZ((5L+ SV +A) KX? -20(6L+3V+0.5A) x? 1686.30, P6.12 TABLE 1 1 2 3 4 5 6 7 e Ct A H2 B HEC HS DHS EBBEVE C4 G Due Sino’ ‘loz 4a OP * 44) 09" ars" 8 3. 10 052% 0 0.0285, agri 0 Pe 00529 ey #10 0,003; P0084 ag abosy' 005 "he preteens |actes'| Baise [and aera pape Azan oF 2, C-% (b) See the bottom line in the above table ; Cofeata tion: at A: V= 0052 infly = Kie-can)- 5% (el) age 44. (PP “Assay = 26.92" Gladohn o bas Fh en$h = 0,052= Ely TAR = 75.1" Boa apa. £3 hin Sf ) = FiO f= me Yea? Tealculate B;, observe that A, ot start of H-6=~Ay =00054 Weg = Fe bo f)- T°0.3in 7 7 Tope a LAGOS pp EE omy Vein the middle of H-Guith 9-015 )/2=h2 789 i Z sh Fons Oot. )-—D.0285 led he po The = r02 2987 5p 2 Tegel, used Ay Q00st Yas = Foe (094). FE tn OIE a ele tpn = 102.77 Tip Urpin the midile off -Siits = = Ol fae 500: [a= feage 1 20232 eg get sAyeA=- 00054 a = Fe. Fein A Min. pap atsads|A~4 5516 | kPa =e n= 00329 Hi Mth 7 valle negative,., Let B,=25° Tien S,=0.07 75; Let Profile 7=C- 4 Thon =~ BiltvconE$) = Sp MTP oo: Fe a yet ven Fa Fe bind)= waste daswere: (a) Profile A-B; H-2; Profile F-G: C-4 (O)Gj=26.92 5 037151305 = 16.5% B= 13.6% A; = 1.65 A.=253 8, =2,3556% Gy =250° L¢=0.8225in; Ly=0.0775in @)het w= 10.472 "Yee = 600 Yee. Then Vj =O052 "iy 600"%fe,= 31.2 "ee Vax OCCUFS at A: Wray= 31.2 Ved Ama ¢¢urs half wey between FeG: (Fran =Ara= 0.0439 "eg? 600° = 15804 Mec? 8.31, Fai Ve=Ve; -Eaebing nD) aie apt locos) = shine Fe ght Aes = Fei ine $= = may EAE 4 seb? 2 rmaag NT Le in/281-7045; »', Aca 1s maximum. CONTINUED 1696.31, PEAS CONCLUDED 0,00163 infolog® = —L, in/964, 756 Belen? > 2,=—0.5946" ing La=-A8425in) ety abs inl PEt 195 3ae9 6.32, Péis After several trials, it was found that 3E-06 in/deg? slope for sector 1 of the given acceleration profile, with a 7-th degree polynomial profile in a 90° 6-th sector can be bedesigned to satisfy the 1.5 inch full rise requirement. The solution proceeded as follows: a) Program the given part of the acceleration profile. This is IBM BASICA (advanced BASIC, which is standard in all IBM PC, $2 and PC Junior computers) Program File No. P632F14A.BAS, which follows in full listing: 1 -REM * This is File Pé632Fi4A.BAS . 1000 REM *This program, originated for Problem 6.32 (Fig. 6.14) 1020 REM *of Volume 1 of ESB, Edition 2, accepts input for va- 1030 REM *riable values and calculates cam follower motion pa- 1040 REM *rameters. The variables are: 1050 REM *YDDD, rate of cam follower acceleration, 1060 REM *in/degcb, for the cam sector; 1070 REM *YDD, cam follower acceleration, in./degsa., J1090 REM *YD, cam follower velocity, in/deg, {1110 REM *Y, cam follower rise, inches, 1130 REM *B, deg, angle of cam sector, and 1140 REM *S, in., cam follower rise in this sector. 1170 REM *Modelling the given acceleration diagram: 1172 REM In sector 1, beta 1 is from 0 to 45 degrees 1174 REM of cam rotation. The follower acceleration 1176 REM increases linearly from 0 to maximum. 1180 INPUT "Rate of acceleration, YDDD in/degeb"; YDDD 1190 LPRINT "YDDD =" YDDD 1200 B = 45 1210 LPRINT "B ="B"degrees 1215 FOR I = 1 TO B STEP 1 1220 YDD= YDDD*I 1230 YD = YDDD * .5 * 172 1240 Y = YDDD * 1/6 * I°3 1245 LPRINT I"deg;A="YDD"in/degsa; 1246 LPRINT "in 1247 NEXT I 1250 LPRINT "At 45 deg cam position, the follower 1260 LPRINT "acceleration, YDD ="YDD"in/degsa, 1270 LPRINT "the follower velocity, YD 1280 LPRINT i and the followe: 1290 LPRINT ; Y"inches. 1300 LPRINT 1310 LPRINT "In sector.2, beta2 is 90deg., from 45deg to 1320 LPRINT "135 deg of cam rotation. During sector 2 1330 LPRINT “cam rotation, YDD is unchanged, but YD 1340 LPRINT "increases linearly, and Y increases at .5* 1350 LPRINT "square of cam rotation from 45 degrees on. 1353 YDD1 = YDD:YD1=YD:Y1=¥ 1355 B=90:FOR I = 1 TO B STEP 1 1360 YD = YD1 + YDD1 * T 1370 Y = Yl + YDD1 * .5 * I72 1371 LPRINT "I="I+45"deg;A="YDD" in/degsq;V="YD"in/deg; 1372 LPRINT "S="Y"in 1373 NEXT I 1374 LPRINT "At end of sector 2, at 135deg cam rot 'YD"in/deg; ” CONTINUED 170492,P6.14 CONTINUED 1375 LPRINT "A="YDD"in/degsa;V="YD"in/deg;S="Y"in 1376 LPRINT : 1377 YD2=YD: Y2=¥: YDD2=YDD 1380 LPRINT "Sector 3 is a linear descent of the 1390 LPRINT "follower acceleration to 0 in 30 degrees. 1440 YDDD = -YDD/30:YD2=YD:Y2=¥ 1442 LPRINT "YDDD="YDDD"in/degcb 1645 B=30:FOR I = 1 TO B STEP 1 1450 YD = ¥YD2 + YDDD * .5 * 172 1460 Y = ¥2 - YDDD * 1/6 * I°3 1465 YDD = YDD2 + YDDD * I 1466 LPRINT "I="1+135"; 1467 LPRINT i 1468 NEXT I 1470 LPRINT "At the end of sector 3, at165 deg. cam position:" 1472 LPRINT "follower acceleration, velocity and rise" 1474 LPRINT "are, A="YDD"in/degsa, V="YD"in/deg, 1476 LPRINT "and S="Y"inches. 1480 YDD3=YDD: YD3=YD: Y3=Y 1490 LPRINT "Sector 4 is a further fall of 30 deg., 1500 LPRINT "from 165 deg. to 195 deg. cam rotation. 1510 YDDD = 10/8.5 * YDDD 1520 LPRINT "YDDD = "YDDD 1530 B = 30 1540 LPRINT "For sector 4, B =" B 1545 FOR I = 1 TO B STEP 1 1550 YDD = YDD3 +¥YDDD * I 1560 YD = YD3 + YDDD * I°2 * .5 1570 Y = ¥3 - YDDD * 173 * 1/6 1573 ;A="YDD" in/degsa;V="YD"in/deg 1574 eh) 1580 LPRINT "At the end of sect 4, at 195 de 1590 LPRINT "A="YDD"in/degsq,V="YD"in/deg;5= 1595 LPRINT 1597 YDD4=YDD: YD4=YD: Y4=Y 1600 LPRINT "Sector 5 is 60 deg with constant fol. accel." 1610 B = 60 1615 YDDD = 0 1620 FOR I = 1 TO B STEP 1 1640 YD = YD4 + YDD4 * I 1650 Y = Y4 - YDD4 * .5 * 172 'YDD" in/degsa; cam position "in 1652 LPRINT I+195"deg;A="YDD"in/degsa; 1654 LPRINT YD" in/deg;S="Y"in 1656 NEXT I 1657 LPRINT 1660 LPRINT "At the end of sector 5, at 255 deg cam position: 1670 LPRINT "A="YDD"in/degsaq, V="YD"in/deg;S="Y"in 1680 END . The autput is as follows: At &5 deg cam position, the follower acceleration, YDD = .000135 in/degsa, the follower velocity, YD = 0030375 in/deg, and the follower rise, ¥Y = .0455625 inches. In sector.2, beta2 is 90deg., from 45deg to 135 deg of cam rotation. During sector 2 cam rotation, YDD is unchanged, but YD CONTINVED 16,32, P614 CONTINUED. increases linearly, and Y increases at .5* square of cam rotation from 45 degrees on. Rt end of sector 2, at 135deg cam rot. A= .000135 in/degsq;V= .0151875 in/deg;S= .5923125 in Sector 3 is a linear descent of the follower acceleration to 0 in 30 degrees. YDDD=-.0000045 in/degcb At the end of sector 3, at1i65 deg. cam position: follower acceleration, velocity and rise R= 0 in/degsa, V= .0131625 in/deg, -6125626 inches. Sector 4 is a further fall of 30 deg., from 165 deg. to 195 deg. cam rotation. YDDD = -5.294118E-06 For sector 4, B= 30 At the end of sector 4, at 195 deg cam position R=-1.588235E-04 in/degsa,V= 1.078015E-02 in/deg;S= .6363861 in Sector 5 is 60 deg with constant fol. accel. Rt the end of sector 5, at 255 deg cam positio: A=-1.588235E-04 in/degsa,V= 1.250736E-03 in/deg;S= .9222684 in b) Next was the design to complete the acceleration profile by an appropriate choice for sector 6. For the sake of continuity both at the beginning and the end of sector 6, a 7-th degree polynomial was chosen with the following boundary conditions: At 255°cam position, the follower acceleration, 1.588235E-04in/deg®, follower velocity, -250736E-03in/deg, and the follower rise is $-0.9222684in. To avoid high peaks, B. was chosen to be 90°, and therefore, at the 345° cam position, the boundary conditions were chosen to be: follower acceleration, A=0, follower velocity, V=0, and the follower rise, S=1.5inches, as specified in the problem. For the coefficients of the 7-th degree polynomial, a system of linear equation was solved by way of the following IBM BASICA program, listed here in full: 1000 REM File No. P6321¥PH8.BAS. FOR A POLY PROFILE, SOLVE 1010 REM *SIMULTANEOUS LINEAR ALGEBRAIC EQUAIONS BY THE 1020 REM *GAUSS-JORDAN METHOD USING PARTIAL PIVOTING. * 7030 REM se EGOC KE EOE ARE Ea EEE CE I CCGOCOSGCIC OEE ICIEE 1040 1050 : 1120 REM **SET UP THE ARRAY** 1130 : 1140 DIM A(9,10),B(9,10) 1150 NROW = 8:NCOL = 9 1160 FOR J = 1 TO NROW 1170 FOR I = 1 TO NCOL 1180 READ A(J,1I) 1190 NEXT I 1200 NEXT J 1210 DATA .5777316,0,0,0,0,0,0,0,. 1220 DATA 0,6-41924E-03,0,0,0,0,0,0 1230 DATA 0,0,1.4265E-04,0,0,0,0,0, 1240 DATA 0,0,0,4.755E-06,0,0,0,0,0 1250 DATA .5777316,.5777316, .5777316, .5777316, .5777316, .5777316, .5777316, -5777316,1.5 CONTINUED 172 1.250736E-03 9222684 *11588235E-046.32, 1260 1270 1280 1300 1310 1320 1350 1360 : 1370 1380 1390 1400 1410 1420 1430 1440 1450 1460 1470 1480 2000 2010 2020 2030 2040 2050 2060 2070 2080 2090 2100 2110 2120 2130 2140 2150 2320 2330 2340 2350 2360 2370 2380 2390 2400 2410 2420 2430 2440 2450 2460 2470 2500 2530 2540 PG614 CONTINUED DATA 0,6.41924E-03, 01283848, .01925772, .2567696E-01, 0320962, 03851544, .4493468E-01,0 DATA '0,0,1.4265E-04,4.27949E-04,8.55899E-04,1.426498E-03, 21139747E-03 ,2.995645E-03,0 DATA 0,0,0,4.755E-06,1.902E-05,4.755E-05,9.51E-05, > 1.66425E-04,0 Lt, * REM SORDPLY GRUSS-JORDAN**ON RETURN THE ANSWERS WILT FE Rey XIN THE LAST COLUMN OF THE MATRIX "A. GOSUB 2000 REM **WRITE THE ANSWERS** LPRINT PRINT LPRINT. FOR J LPRINT NEXT J LPRINT " LPRINT “END ARIE JOGO CGB B OEE BO SOURS AIA GOI IORI ACK IAAI IIA REM * THIS SUBROUTINE APPLIES THE METHOD OF GAOSS-JORDAN* REM * ELIMINATION TO A MATRIX USING PARTIAL PIVOTING. * REM * : * REM * PARAMETERS: * REM * * REM * A - THE ORIGINAL AUGMENTED MATRIX DIMENSIONED x REM * (NROW+1, NCOL+1) * REM * * REM * B - A WORKING MATRIX SIZA SIMILAR TO "A." * REM * * REM * NROW- THE NUMBER OF ROWS IN THE A MATRIX * REM * * REM * NCOL- THE NUMBER OF COLUMNS IN THE "A" MATRIX. 2 REM * * REN SHS BEES SESS O DESH D EOD AE IAAI IIIA AIA IIA REM *4D0 THE PREBLEM IN STAGES** “FOR K = 1 TO NROW “REM *#FIND LARGEST PIVOT** PIVOT = A(K,K):IL = K FOR L = K + 1 TO NROW IF ABS (A(L,K)) < ABS (PIVOT) THEN GOTO 2470 PIVOT = A(L,K) ILb=L NEXT L REM **TRADE ROWS TO GET LARGEST PIVOT ** FOR LL TO NCOL LL) CONTINUED 173 TEMP = A6.32,P61% Continued 2550 A(K,LL) = A(IL,LL) 2560 A(IL,LL) = TEMP 2570 NEXT LL 2580 : 2590 : 2600 REM **NORMALIZE PIVOT ROW* 2610 : 2620 FOR J = 1 TO NCOL 2630 B(K,J) = A(K,J) / PIVOT 2640 NEXT J 2650 : 2660 REM **DO GAUSS-JORDAN ELIMINATION STEP¥* 2670 : 2680 : 2690 FOR I = 1 TO NROW 2700 IFT K GOTO 2740 2710 FOR J = i TO NCOL 2720 B(I,J) = A(I,J) - A(I,K) * B(K,J) 2730 NEXT J 2740 NEXT I 2750 : 2760 : 2770 “REM **UPDATE 'A' MATRIX WITH 'B' MATRIX ** 2780 : 1.596361 ‘e 2790 | visesese | fore ore 2800 FOR I = 1 TO NROW -1.113342 : 2810 FOR J = 1 TO NCOL C4=-3.982234E-05 }bing 2820 A(I,J) = B(I,J) Cs= &42.23615 a icienis 2830 NEXT J Ce=-97.49749 ti 2840 NEXT I Gi= 79.68439 ree. 2850 NEXT K =-22,5045 old, profile 2860 RETURN \) Conrinved6.32, P6.14 Concluded S curve fo peters) i r Sectors 3E-06-— 1405 E iMfheg® 6.33 Sectors 1 to 5 would remain the same, but the sector 6 polynomial plofile, although of the same form, would have 9 times as high peaks as for the Beta.=90° sector. , If in Program P632P14A, an acceleration slope (secomd acceleration) other than 3E-06 is specified, the shape of the acceleration profile for the first 5 sectors will not change, but its scale will be different. Also, if Betas is chosen to be different from 90° and the 1.5 inch rise must be maintained, the 7-th degree polynomial profile for the 6-th sector will have to be recalculated. 6.34 (a) Acceleration Profile for 1.5 inch Harmonic Rise 1000 LPRINT "6.34 (a) 1010 LPRINT "Acceleration Profile for 1.5 inch Harmonic Rise 1020 PI = 3.1415927# 1021 SCREEN 1,0: CLS:KEY OFF: COLOR 1,1 1022 LINE (48,86)-(214,86),2 1023 LINE (48,60)-(48,106),1 1024 LINE (148,60)-(148,106),1 1025 LINE (214,60)-(214,106),1 1027 PRESET (48,68) 1030 FOR I = 0 TO 165 STEP 1 1040 R1=(180/165)°2*.25*. 9¥*COS( (90*1/165)*(PI/180) ) 1051 LINE -(48+I*.603636,86-A1*65) 1060 NEXT I 1c70 L2 = .6: B2 = 110 1080 FOR J = 0 TO 110 STEP i 1085 J (180/110) *2*.25*. 6*SIN( (90*J/ 175 10)*(PI/180)) Continued6.34 (a) Continued. 1090 LINE ~(148+I* 603636 ,86-A2*65) LELONEXE I O2677 6% ig? 1000 LPRINT "6.34 (b) 1010 LPRINT "Acceleration Profile for 1.5 inch Cicloidal Rise 1020 PI = 3.1415927# 1021 SCREEN 1,0: CLS:KEY OFF: COLOR 1,1 1022 LINE (48,86)-(214,86),1 1023 LINE (48,60)~(48,106),1 1024 LINE (148,60)-(148,106),1 1025 LINE (214,60)-(214,106),14 1027 PRESET (48,86) 1030 FOR I = 0 TO 165 STEP 1 1040 Al=PIX.9/(165*PI/180 } “2*SIN( (PI¥ (1/165) *(PI/180)) 1045 LPRINT "PHI="I"degrees, accel. A1="A1"in/degsq 1051 LINE -(48+I*.603636,86-A1*65) 1060 NEXT I 1070 L2 = .6: B2 = 110 1080 FOR J 0 TO 110 STEP 1 4085 A2=-PI*.6/(110*PI/180)~*2*SIN( (PI*(J/110)*(PI/180 ») 1090 LINE -(148+J*.603636,86-A2*65) 1100 LPRINT "PHI="165+o"degrees, accel. A2="A2"in/degs¢ 1110 NEXT J 1120 END 6.34 (b) Acceleration Profile for 1.5 inch Cicloidal Rise : 0.3409182 “tg \ “0.514004 inffag Comparison with Prob. 6.32: ‘The maximum i ob. 6.32: acceleratio 6.32 was 0.000861 in/deg".. In Prob. 6.34, the maximum abvornce value of the acceleration is about 1000 times higher! And the +32 profile has 5 infinite jerk peaks, whil a have enly one each infinite jerk peaks) Ot (2) 9d CP 6.35, PE1S The key to this proble, make the follower hes a PETS : * veloities at the Junction of adjacent profile sectors equal. Starting with the Junction between sectors 2 and3: (@ Lk: Vos pappiaplt* 7) =0.9549 Yagi Ves*apem Bat Lette I a aa) 1766,35, P6.15 continued. Lae Ba beh Bien bin; ball F Gants Let A/ fp 2/T-0G36E then, 172(BS Ad =f. Ly= 05:0, La= O5%nj Aytog= h22O5 AEG POO =30°; Bu=PxW?2=47"; Ve, cae Me = bgp (Io Ve =- 2/9549 = 1.9099 "thes 5 Veg 1909 9= 558 > 0, 247°, TheS VadA curves were plotted on medium-resolution screens by way of algorithms coded in IBM-PC ADVANCED BASIC(BASICA), 1.8234 "eg? -0,716 2 "peg? CONTINUED 2.8648 "faeg* 1776.35, P6.15 Continued (b) TT : , - _Tk joe Ad the end of Sector 5: Vq=-19099 Wate =k, = arr Feed = 1201 rad fsec = 382 Yee; w= 44597 Yoect; Vy = 0.7162 Yaeg? 3,430,381 "%eor Yip = 12 dae ® 1459 Fad n B60 deg = Yop =~ 2.864789 Wags 14597 act 9 262.8% ad* 219, 721, 235 tig? = 120/t ser 2 . yy =-0 112g 20/0) ocr (2607/2T)"H pad = ~ 564, 2 75 Ve" Vojp=-2.86 4789 BOE" = ~ 2,257, O94 Meer 6.36 P16 @)The pressure angle curve was plotted ona mediure reso- lution screen by way of the following algorythm coded in IBM Advanced Basic (BASICAJA000 LPRINT "“V1E2636S, VOL1, ED2, PROB 6.36, P4.14 1020 SCREEN 1,0: CLS: KEY OFF: COLOR 0,1 1030 LINE (33,@8)-(33,112),1 1040 LINE (33, 100)-(283,100),1 1050 LINE (75,55) -(75, 112),1 1060 LINE (159,55)-(159,112),1 1065 LINE (223,88)-(223,112),1 1100 LINE (285,88) -(285,112),1 1110 PRESET (33,100) 1120 LPRINT "Sector 1,L1=1in,B1=60deg,Uniform rise 1130 PI=3. 1415927#:L1=1:B1=60: FD=.7:FS=45 1140 FOR I = 1 TO 60 STEP 1 1145 : 1150 S1 = 1 / 60 1160 LINE -(33+I%FD, 100-S1xFS) , 3 1170 LPRINT "At "“I"deg., Follower rise="Si"in 1180 NEXT I 1190 S11 = Si: PSI = 40 1200 LPRINT "At end of Sector 1, PSI1="PSI"deg, 1202 LPRINT "Follower rise S11="Si1"in 1205 PSI1 = PSI 1210 LPRINT 1220 LPRINT "Sector 2, L2=0in, B2=120deq, 1225 LPRINT "Dwell 1230 : 1240 L2=0: B2=120: S2=1 1250 FOR J = 1 TO 120 STEP 1 1260 §2 = S2 1265 LPRINT "“At"40+J"deg., S2="S2"in 1270 + 1275 NEXT J 1277 LINE(75,55)~(159,55) ,3 1278 S21=S2: PSI2=PS11+120 1280 LPRINT “At end of Sector 2,PSI2="PS11+120"deg, 1282 LPRINT "Follower rise ="i"in 1285 : 1290 LPRINT 1300 LPRINT "Sector 3, L3=1lin, B3=90deg, Uniform descent to 0 Continued 1786,36, P616@)1320 FOR K = 1 TO 90 STEF 1 i 1325 S3 = 1 - K/90 Contined = 325° 1332 LPRINT "At“180+K"deg. ,S3="S3"in 1334 LINE -(159+KxFD, 100-S3xFS) 1340 NEXT K 1345 PSI3=PSI2+90: S31=0 1350 LPRINT “At end of Sector 3, PSIS="PS12+90"deg, 1352 LPRINT "S31="S31"in 1355 LPRINT 1360 LPRINT "Sector 4 is a dwell of 90 deg. 1370 FOR N = 1 TO 90 STEP 1 1380 LPRINT "At"270+N"deg.,Follower rise S4="O"in 43,7° 1381 NEXT N 1382 LINE (223, 100)-(285,100),3 1383 LPRINT “At end of Sector 4, at 360deg., Rise=Oin 1430 END 32.5° ° 55 The maximum 3 6° occurs at paD+? ee. Angle 176, up ae Uniform descent sexs" From 1* too” Rise =O" | stoke! Sector 4 __| OS=tar(Viig+ SI; 5% ta WV Aafigs 0) = tari (tan (5) dan 5°=0.08 748 8664 = (3/1 tg -D[TG = 3/7 (0.08 74 88664) 10.4157] Esa) The algorithm for the cyebidat pressure angle plot 1s aspllouws: 1000 LPRINT "V12636CY, VOL1, ED2, PROBS. 36,P6.16,PA diag,Lyc rise 1020 SCREEN 1,03 CLS: KEY OFF: COLOR 0,1 1030 LINE (33, 88)-(33,112),1 1035 LINE (51,47)-(51,112),1 1040 LINE (33,100) -(283,100),1 1050 LINE (75,88)~(75,112),1 1080 LINE (159,88)-(159, 112),1 1085 LINE (223,88)~(223,112),1 1080 LINE (195,58)-(195,112),1 1100 LINE (285, 88)~(285,112) 51 1110 PRESET (33,100),3 1120 LPRINT “Sector 1,L1=1in,B1=60deg,C-SCycloidal rise 1130 PI=5,1415927#2L151:B1=602FD=. 7: FFAS1:RO=1 1140 FOR I = 1 TO 40 STEP 1 1145 S1 = 1 / 60 — (1/(2#P1) XSIN(2¥P14I/60)) 1147 Vi = 3/PIX (1~COS(2#P 141/60) ) 1150 PAL = ATN(V1/(1+81)) £180/P1 1160 LINE, -(33+I4FD, 100-PA1) ,3 1170 LPRINT “At “I"deg., Rise 1180 NEXT I 1190 PALI = PAL: PSI = 60 1200 LPRINT “At end of Sector 1, PSI 1202 LPRINT "Pressure Angle PA11="PAL1 1205 PSI1 = PSI 1210 LPRINT 1220 LPRINT "Sector 2, L2=0in, B2=120deg, S2=1in. . 1225 LPRINT “Dwell % Continued 179 1"an,Pressure Angl “PSI"dea, "degza L2=0: B2=120: PAZ=0 6.36, P6.16 () Continued 1240 PAZ = PAZ 1265 LFRINT “From"60-180"deg., PAZ: 1270 3 1277 LINE(75, 100)-(159,100),3 1278 PA21=PA2: PSI2=P511+120 1280 LPRINT “At end of Sector 2,PSI2="PS11+120"deg, 1282 LPRINT “Pressure Angle = “O"deg 1285 PRESET (159,100),3 1290 LPRINT 1300 LPRINT “Sector 3, L3=lin, B3=90deg, RO=lin, S21=lin. 1310 LPRINT "C-6 cycloidal descent to 0 1320 FOR K = 1 TO 90 STEP 1 1325 S3 = 1-K/90+(1/(24P1) KSIN(24PI&K/90) ) 1327 V3 = -2/P1*(1-COS(2*P1&K/90) ) 1330 PAS = ATN(V3/(14+53)) *180/P1 1332 LPRINT "At"180+K"deg. ,S3="S3"in, PAS="PAS"deg 1334 LINE -(159+K4FD, 100+PA3),3 7 1340 NEXT K 1343 LINE (223, 100-PAS&FPA) ~— (223, 100) 1345 PSI3=PSI2+90: S31=0 1350 LPRINT “At end of Sector 3, PSI3= 1352 LPRINT "S31="S3i"in, PA="PAS"deg 1355 LPRINT 1360 LPRINT “Sector 4 is a dwell of 90 deg. 1380 LPRINT "From"270T0360"deg.,Fol.rise S4="0"in, PA="0"deg 1382 LINE (223,100)-(285,100),3 1383 LPRINT “At end of Sector 4, at 360deg., S4=0in, PA=Odea 1630 ENI "PAZ"deg "PSI2+90"deg, iD 53,2°=5 max occurs at 276 cam rotation aa ©/d)In the cycloidal pressure angle curve, the highest vale of 5 is reached at 27° of cam rotation.’ 6=5°= Lan Wie {0 + Syra)) or tan = V6 + Sand) Voze =L ABI ~ Cos28 277609 = 3/1 1- cos 162°) = 1.863121792 "Yrad See =L, (@1/60~(/20) Sin (20 2760) = 400816418 ing 5°= bari (qe figs Sip) 2 Solving for 180Prodemn 637 cs c-6 A) S(h=220) 2? S$ fob=40°) = Leh SHEE | ot = 5Oma(1~ “ * Lewrig)) al - 4 Lsin gt = Omit Bhat, B) Voy 60° = Visto") ur (e-s) mo - =p ur L= Sor y= GOROT IHiN 3607 fro Hin Gosee Teor = 360°lsec . Ymay = 2" a ~cos(2T bo" ayes 120” Ste 3(30)(1= COST) mmjg = TSO samp, (22) Wmay= 300 vam/s, ) Gamay D 30” = Lo = am (some) seis aye = B8DTA SCE may <2 821 Hilge 9U mo 181Problem 6 3% cd Dwell ay ON prof de bY see sketch. OC) B37 2 fina Ve C sine C4 Steuart, @ = 50° 70 fy* 50 Cea Ltd =. 44 (a) Ve was ( 2056 1n)sea\ - Sqwest CB: OC j @ ptTAL 8 = =? Gee L, fit 1056: -96(\_ cos) 8, *B, +B * Byt Bg 360° Be , Bz? 0-6 C\-cos 5* 360-C PBs AytB) = [fe 86" ns a> “Seqnenk GS Bs? ayy? Gis05, B,> 150° Lz ye ag (-costa(e6) (ye 20a Tnleh, e> qt Th. M\ barn VV CA £0 Arcoudhost he eqn 182