Cam follower mechanisms

Dr. Sneha Singh

Post Doctoral Fellow

Department of Mechanical Engineering
Indian Institute of Technology Bombay
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Outline
 Introduction
 Cam-follower mechanism
 Classification of cam-follower mechanism
 Geometry & Nomenclature
 Steps in cam design
 Displacement diagram
 Simple harmonic follower motion
 Design of cam profile
 Construction of displacement diagram
 Construction of cam profile
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Introduction
 Till now, we studied planar mechanisms with lower
kinematic pair.

 Now, we will study two mechanisms that have at least

one higher kinematic pair. These mechanisms are:
 Cam – follower mechanism
 Meshing gears

Cam-follower A pair of meshed gears

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Introduction
 Discussion is limited to planar mechanisms.

 Focus will be on design of the machine component.

 Assumption that input and output motion is known,

the component dimensions are the unknowns.

 Thus, specific discussion on:

 How to design a cam-follower to achieve a specific
motion?
 How to design a gear train to achieve a specific
motion?
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Cam-follower mechanism
 It is a mechanism that has a
y(θ)
moving element, called “cam”, that
is used to drive another element,
called the “follower”, through a Follower
specified motion by direct contact.

 ‘Cam’ is input link.

 ‘Follower’ is output link. θ
Cam
 Cam-follower mechanism is an
exact function generator depending
on the eccentricity or irregularity of
the cam profile. (Eccentric circle,
θ = input motion
eccentric rectangle, etc.)
y(θ) = output motion
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Cam-follower mechanism
 Cam-follower mechanism is an exact function
generator depending on the eccentricity or
irregularity of the cam profile. (Eccentric circle,
eccentric rectangle, etc.)

y(θ)

Cam

θ
θ = input motion
y(θ) = output motion
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Applications

Internal combustion engine valve control by

plate cam follower mechanism
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Types of cam-followers
 Common ways of classifying the cam followers are as
follows:
 Based on the type of input motion
 Based on the type of output motion
 Based on the type of follower surface
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Types based on input motion
 Based on the type of input motion (or cam motion), 2-
D cam-followers are classified as:
 Plate cam / disk cam (rotational input motion)
 Wedge cam (translational input motion)
4 link mechanism.
1
Link 1 = ground
4 Link 2 = cam
y(θ)
Link 3 = roller
3 Link 4 = follower

1-2 = Revolute joint

θ 2 2-3 = Higher joint
1 3-4 = Revolute joint
Plate cam 4-1 = Prismatic joint
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Types based on input motion
 Based on the type of input motion (or cam motion), 2-
D cam-followers are classified as:
 Plate cam / disk cam (rotational input motion)
 Wedge cam (translational input motion)

4 4 link mechanism.
1 Link 1 = ground
Link 2 = cam
Link 3 = roller
Link 4 = follower
3 y(θ)
1-2 = Prismatic joint
2 θ 2-3 = Higher joint
3-4 = Revolute joint
1 Wedge cam 4-1 = Prismatic joint
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Types based on output motion
 Based on output motion (or motion allowed between the
follower and the frame), cam-followers are classified as:
 Translating followers
 Oscillating followers

4 link mechanism.
1
Link 1 = ground
4 Link 2 = cam
y(θ)
Link 3 = roller
3 Link 4 = follower

1-2 = Revolute joint

θ 2 2-3 = Higher joint
1 Plate cam with 3-4 = Revolute joint
translating follower 4-1 = Prismatic joint
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Types based on output motion
 Based on output motion (or motion allowed between the
follower and the frame), cam-followers are classified as:
 Translating followers
 Oscillating followers

3 link mechanism.
y(θ)
Link 1 = ground
3 1 Link 2 = cam
Link 3 = follower
2
θ 1-2 = Revolute joint
2-3 = Higher joint
1
3-1 = Revolute joint
1
Plate cam with oscillating follower
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Types based on output motion
 Based on output motion (or motion allowed between the
follower and the frame), cam-followers are classified as:
 Translating followers
 Oscillating followers

Internal combustion engine

Rotating follower with plate valve control by plate cam
cam in shaping machine - reciprocating follower
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Types based on follower contact surface
 Based on the type of surface that comes in contact
with the cam surface, followers are classified as:
 Knife-edge follower
 Roller follower
 Flat-face follower
 Curved face follower

* Knife is not used because of high cam wear rate

* Roller follower is more efficient and used to transmit
large forces
*Flat-face and curved-face is used for low space
requirement and force transmitted not large.
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Types based on follower contact surface

1 4 link mechanism.
Link 1 = ground
4
y(θ) Link 2 = cam
3 Link 3 = roller
Link 4 = follower

θ 2 1-2 = Revolute joint

2-3 = Higher joint
1 3-4 = Revolute joint
4-1 = Prismatic joint
Plate cam with translating
roller follower
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Types based on follower contact surface

1 1

3 y(θ) 3 y(θ)

θ 2 θ 2
Plate cam with
1 1 translating flat
face follower
Plate cam with
translating curve 3 link mechanism.
face follower Link 1 = ground 1-2 = Revolute joint
Link 2 = cam 2-3 = Higher joint
Link 3 = follower 3-1 = Prismatic joint
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Steps in cam design
Objective: Given a desired output motion what should
be cam profile?

Understanding cam Description of

geometry and nomenclature follower motion

Graphical method Analytical

method

Displacement
diagram

Construction of cam profile

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Nomenclature
 Trace point: a theoretical point on the follower
which is a reference point whose movement is used
to describe follower motion.
 For e.g. roller centre, point of the contacting surface
of flat face surface along the axis of follower motion.

Trace point
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Nomenclature
 Base circle: smallest circle centred on the cam shaft
axis and tangent to the cam profile.
 Pitch curve: Locus generated by the trace point after
kinematic inversion with cam as fixed and ground
link allowed to rotate around the cam profile in
opposite direction.
 Prime circle: smallest circle centred on the cam shaft
axis and tangent to the pitch curve.

• Base circle defines the cam size. Extra added shape

onto the base circle gives cam profile. The shape
depends on follower motion
 𝑟𝑝 = 𝑟𝑏 + 𝑟𝑟 20

𝑟𝑝 = radius of prime circle

𝑟𝑏 =radius of base circle
𝑟𝑟 =radius of roller
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Nomenclature
 Case 1: For a translating follower, ϕ
pressure angle (ϕ) is the angle
between direction of force applied by
cam and direction of follower
movement.
T
 OR, angle between the direction of
common normal at point of contact
and direction of follower movement.
N
 Pressure angle needs to be small else
jamming of follower and inefficient
force transmission. 𝜙𝑚𝑎𝑥 < 30°
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Nomenclature
 Case 2: For an oscillating v
N
follower, pressure angle (ϕ) is ϕ
the angle between direction of
force applied by cam and
direction of follower velocity at
point of contact T

 OR, angle between the direction

of common normal and follower
velocity at point of contact.

 Pressure angle needs to be small

𝜙𝑚𝑎𝑥 < 45°
inefficient force transmission.
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Steps in cam design
Objective: Given a desired output motion what should
be cam profile?

Understanding cam Description of

geometry and nomenclature follower motion

Graphical method Analytical

method

Displacement
diagram

Construction of cam profile

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Displacement diagram
 Cam-follower systems are usually 1 degree of freedom
system, where cam motion is the independent input and
follower motion is the dependent output.

 Input displacement = cam rotation, is represented as ‘θ(t)’

 Output displacement = translation distance of translating
follower or, angular rotation of oscillating follower.
 Output displacement can be represented as x(t)
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Displacement diagram
 Most cams run on constant velocity input.
 Representing input angular velocity as ω
𝜃 = 𝜔𝑡
𝜃∝𝑡
 Then, output motion (follower motion) can be directly
represented as function of θ: 𝑥 𝑡 = 𝑦 𝜃

 So, cam-follower motion can be represented graphically

by the function y(θ). y(θ) is the governing equation
that dictates the type & shape of cam-follower system.
 The graph of follower motion (y) versus cam motion ‘θ’
is called displacement diagram of the cam-follower
mechanism.
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Displacement diagram
 Ordinate = y = translation/rotational distance of trace point
measured from the lowest position of trace point (where
the path of follower motion first meets the prime circle).

 Abscissa = θ = 1 cycle of input motion (1 revolution of cam),

measured from the cam’s position when trace point is at its
lowest.
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Displacement diagram – 1

 Rise = portion of graph where follower motion is away

from cam center
 Lift = maximum rise of follower
 Dwell = portion of graph where follower is at rest
 Return = portion of graph where follower motion is
towards the cam center
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Lift

Dwell 2 >> Dwell 1

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Displacement diagram
 For the smooth motion of cam-follower mechanism, and
to reduce jerk during motion, the displacement diagram,
y(θ), must have finite derivatives at all points.

 Therefore, sinusoidal curves are the most commonly

used forms of displacement diagrams.

 Follower motion which is sinusoidal in time and where

𝑦 𝜃 = 𝐴 cos 𝑘𝜃 + 𝐶, is called Simple Harmonic
Motion (SHM) follower motion.
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Simple harmonic follower motion
 A translating follower rises in an SHM to a lift L when
cam rotates by θri, find equation for follower motion.

Let’s take a general SHM form of

L
follower motion as: y Dwell 1
𝑦 𝜃 = 𝐴 cos 𝑘𝜃 + 𝐶 Eq. (1) Rise
Here, 𝜃 = angle of rotation of cam, 0
θri
y = follower displacement θ
Putting initial condition as y(0) = 0 in eq. (1):
𝐴 = −𝐶 Eq. (2)

For continuity of curve: 𝑦 ′ 𝜃𝑟𝑖 = 0. Putting this in eq. (1):

𝑦 ′ 𝜃 = −𝐴𝑘 sin 𝑘𝜃; 𝑦 ′ 𝜃𝑟𝑖 = −𝐴𝑘 sin 𝑘𝜃𝑟𝑖 = 0 ⇒ 𝑘𝜃𝑟𝑖 = π
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Simple harmonic follower motion
 A translating follower rises in an SHM to a lift L when
cam rotates by θri, find equation for follower motion.

𝜋
So, 𝑘 = Eq. (3) L
𝜃𝑟𝑖 y Dwell 1
Rise
Putting final condition as y(𝜃𝑟𝑖 ) = L
in eq. (1): 0
𝜋 θri
θ
𝑦 𝜃 = 𝐴 cos 𝜃 −𝐴
𝜃𝑟𝑖
𝐿 𝐿
𝑦 𝜃𝑟𝑖 = 𝐴 cos 𝜋 − 𝐴 = L ⇒ −2𝐴 = L ⇒ 𝐶 = & 𝐴 = −
2 2
𝐿 𝜋 Equation for full rise SHM
𝑦= 1 − cos 𝜃
2 𝜃𝑟𝑖 follower motion
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Simple harmonic follower motion
 A translating follower returns in SHM from a lift L when
cam rotates by θre, find equation for follower motion.

Let’s take a general SHM form of

follower motion as: L
y
𝑦 𝜃 = 𝐴 cos 𝑘𝜃 + 𝐶 Eq. (1)
Here, 𝜃 = angle of rotation of cam, 0
y = follower displacement θre
θ
Apply following conditions & solve:
𝑦 0 =𝐿
𝑦 ′ 𝜃𝑟𝑒 = 0
𝑦 𝜃𝑟𝑒 = 0
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Simple harmonic follower motion
 A translating follower returns in SHM from a lift L when
cam rotates by θre, find equation for follower motion.

L
Solve in class y

0
θre
θ

𝐿 𝜋
Answer: 𝑦= 1 + cos 𝜃
2 𝜃𝑟𝑒

Equation for full return SHM follower motion

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Design of cam profile – Problem 1
 The reciprocating roller follower of a plate cam rises
by ‘L’ with simple harmonic motion in θri of cam
rotation, dwells for θd1 and returns with simple
harmonic motion in θre of cam rotation. Dwell after
return is for θd2. If the roller radius is rr and the
prime-circle radius is rp. Construct the displacement
diagram, the pitch curve, and the cam profile for anti-
clockwise cam rotation.
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Design of cam profile – Problem 1
Step 1: Construct displacement diagram.

• Draw coordinate axis.

• Mark θri, θd1, θre, θd2, on
horizontal axis assuming
360° as full axis length.
• Name above segments as y
rise, dwell1, return, & dwell2.
• Divide rise into ‘n’ equal 0
parts. θri θd1 θre θd2
• Name division points as 1,2, θ
to n.
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Design of cam profile – Problem 1
Step 1: Construct displacement diagram.

• Mark ‘L’ on Y-axis.

• With L as diameter draw a
semicircle.
• Divide semicircle L
circumference into ‘n’ equal y
parts.
• Name division points as 1,2, 0
to n. θri θd1 θre θd2
• Extend the division point on θ
X-axis vertically.
• Extend the division point on
Y-axis horizontally.
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Design of cam profile – Problem 1
Step 1: Construct displacement diagram.

• Mark points of intersection

of corresponding lines (e.g.
horizontal line 1 to vertical
line 1, and horizontal line 2 L
to vertical line 2). y
• Draw a smooth curve
through points of 0
intersection. θri θd1 θre θd2
• This curve = rise curve θ
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Design of cam profile – Problem 1
Step 1: Construct displacement diagram.

• Draw a straight horizontal

line at ‘L’ height for dwell 1.
• This curve = dwell 1 curve.
L
• Draw a straight horizontal y
line at ‘0’ height for dwell 2.
• This curve = dwell 2 curve. 0
θri θd1 θre θd2
θ
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Design of cam profile – Problem 1
Step 1: Construct displacement diagram.
• Repeat the same process as
rise for return section.
• But mark points of
intersection of L
complementary lines (e.g. y
horizontal line 0 to vertical
line n, and horizontal line 1 0
to vertical line n-1). θri θd1 θre θd2
• Draw a smooth curve θ
through points of
intersection.
• This curve = return curve
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Design of cam profile – Problem 1

L
y

0
θri θd1 θre θd2
θ

Displacement diagram
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Design of cam profile – Problem 1
Step 2: Construct Cam profile. 6’
4’ 5’ 7’8’
L
3’ 9’
y 10’
• Divide abscissa of displacement 2’
11’
diagram into ‘n’ equal parts. 1’ 12’13’14’15’
• Name division points 1,2, to n. 0 1 2 3 4 5 6 7 8 9 1011121314 150
360°
• Extend the division points θ
vertically.
• Draw the prime circle with 15 0 1
14 r 2
radius rp. 13 p 3
12 4
• Divide prime circle 11 5
10
circumference into ‘n’ equal 9 8 76
parts clockwise (opposite to θ
cam rotation)
• Name division points as 1,2, to
n.
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Design of cam profile – Problem 1
Step 2: Construct Cam profile. 6’
4’ 5’ 7’8’
L
3’ 9’
y 10’
• Extend the division points on 2’
11’
prime circle radially. 1’ 12’13’14’15’
• Transfer the heights of 0 1 2 3 4 5 6 7 8 9 1011121314 150
360°
segments from displacement θ
diagram into the 2’
15’ 1’
corresponding radial divisions 14’ 15 0 1 3’
on prime circle. 13’1314 rp 2 3
12’ 12 4 4’
• For e.g. 22’ of displacement 11 5
11’ 10 6
diagram = 22’ on prime circle 9 8 7
5’
and so on.
10’
• Mark 1’, 2’, 3’… n’ as locus of
6’
the roller center. 9’
7’
8’
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Design of cam profile – Problem 1
Step 2: Construct Cam profile. 6’
4’ 5’ 7’8’
L
3’ 9’
y 10’
• Draw circles with radius rr at 2’
11’
marked points to represent 1’ 12’13’14’15’
roller position. 0 1 2 3 4 5 6 7 8 9 1011121314 150
360°
θ
• Draw a smooth curve joining
these marked points. This 2rr
curve is pitch curve.
rp
• Draw a smooth curve that is
tangent to all roller positions.
• This curve is the cam profile

Cam profile Pitch curve

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Design of cam profile – Problem 2
 The reciprocating radial flat face follower of a plate
cam rises by ‘L’ with simple harmonic motion in θri of
cam rotation, dwells for θd1, then returns with simple
harmonic motion in θre of cam rotation. Dwell after
return is for θd2. If the prime-circle radius is rp.
Construct the displacement diagram, the pitch curve,
and the cam profile for clockwise cam rotation.
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Design of cam profile – Problem 2
Step 1: Construct displacement diagram.

• Draw the displacement

diagram following the same
process as for roller
follower. L
y

0
θri θd1 θre θd2
θ
Displacement diagram
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Design of cam profile – Problem 2
Step 2: Construct Cam profile. 6’
4’ 5’ 7’8’
L 3’ 9’
y 10’
• Divide abscissa of displacement 2’
11’
diagram into ‘n’ equal parts. 1’ 12’13’14’15’
• Name division points 1,2, to n. 150
0 1 2 3 4 5 6 7 8 9 1011121314360°
• Extend the division points θ
vertically.
• Draw the prime circle with 1 0 15
radius rp. 3
2 rp 1413
4 12
• Divide prime circle 5 11
circumference into ‘n’ equal 67 10
8 9
parts anti-clockwise (opposite θ
to cam rotation)
• Name division points as 1,2, to
n.
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Design of cam profile – Problem 2
Step 2: Construct Cam profile. 6’
4’ 5’ 7’8’
L 3’ 9’
y 10’
• Extend the division points on 2’
11’
prime circle radially. 1’ 12’13’14’15’
• Transfer the heights of 150
0 1 2 3 4 5 6 7 8 9 1011121314360°
segments from displacement θ
diagram into the
1’
15’
corresponding radial divisions 2’ 0 15 14’
1
3’ 2 rp 1413 13’
on prime circle. 3
4’ 4 12 12’
• For e.g. 22’ of displacement 5 11
5’ 67 10 11’
diagram = 22’ on prime circle 8 9
and so on. 10’
6’
• Mark 1’, 2’, 3’… n’ as locus of 7’ 8’ 9’
the flat face follower surface.
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Design of cam profile – Problem 2
Step 2: Construct Cam profile. 6’
4’ 5’ 7’8’
L 3’ 9’
y 10’
• Draw lines perpendicular to 2’
11’
lines 11’, 22’, and so on at the 1’ 12’13’14’15’
marked points. 150
0 1 2 3 4 5 6 7 8 9 1011121314360°
• These perpendicular lines θ
represent follower face.
1’ 15’
2’ 14’
• Draw a smooth curve that is
3’ rp 13’
4’ 4 12’
tangent to all the
perpendicular lines. 5’ 11’
• This curve is the cam profile = 10’
6’
the pitch curve. 7’ 9’
8’
Cam profile/ Pitch curve
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Reference books
 “Theory of Machines and Mechanisms” – by Dicker,
Pennock and Shigley, 3rd edition.
 Chapter 5

 “Design of Machinery: An introduction to the

synthesis and analysis of mechanisms and machines” –
by R. L. Norton, 2nd edition.
 Chapter 8
 Thank you for listening !

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