8.1 Introduction 395 8.2. Classification of Cams 396 8.3 Types of Followers 399 8.4 Cam Nomenclature 400 8.5. Follower Motions 402 8.5.1 Simple Harmonic Motion (SHM) 402 8.5.2 Motion with Uniform Acceleration and Deceleration 405 8.5.3 Motion with Uniform Velocity 407 8.5.4 Parabolic Motion 408 8.5.5 Cycloidal Motion 411 8.6 Cam Profile with Knife-Rdge Follower 414 8.6.1 Radial Knife-Edge Follower 414 8.6.2. Offset Knife-Edge Follower 417 8.7. Cam Profile with Roller Follower 418 8.7.1 Radial Roller Follower 418 Chapter Outline ————_ 8.7.2. Offset Roller Follower 420 8.8 Cam Profile with Translational Flat-Faced Follower 427 8.9 Cam Profile with Swinging Roller Follower 433 8.10 Cam Profile with Swinging Flat-Faced Follower 434 8.11 Analytical Methods 444 8.11.1 Tangent Cam with Roller Follower 444 8.11.2 Circular Are Cam Operating Flat-Faced Follower 451 8.113. Circular Cam with Roller Follower 456 8.12. Radius of Curvature and Undercutting 464 8.12.1 Kloomok and Muffley Method 465 8.12.2 Pressure Angle 466 8.13 Cam Size 469 8.1 INTRODUCTION (6 camis a rotating or a reciprocating element of a mechanism, which imparts rotating, reciprocating oF Oscillating motion to another element, called the follower. There is line contact between the cam and the follower, and thereby forms a higher pair. Cams are used in clocks, printing machines, auto. matic screw cutting machines, internal combustion engines for operating the Valves, and shoe making machines etc) In this chapter, we shall study the various types of planar cams from the point of view of drawing their profile and motion analysis.i follows: The three essential components of a cam mechanism are as i the cam, Gir the follower, and i) the frame. ‘The cam revolves at a constant speed and drives the follower. The motion of the follower depends upon the profile of the cam. The frame supports and guides the follower and the cam. CLASSIFICATION OF CAMS The planar cams can be classified according to their shape as follows: fedge and flat cams: Such a cam has a wedge A to which translational motion is given to actuate the Pllower Bin ber to either reciprocate or oscillate it, as shown in Fig.8.1(a) and (b). The fol lower is guided in the guides C. In Fig.8.1(c), the cam is stationary and the follower guide C causes, the relative motion of the cam A and follower B. Fig.8.1(d) shows a flat plate with a groove in which the follower is held to obtain the desired motion. feloe eae , . C os8) { ] a Sy A- wedge am . A h- follower TTT rTP @ % C- frame Groove “ © ; . Fig.8. 19.8.1 Wedge and flat camsL patil and offset cams: A cam in which the follower moves radially fom the centre of rotation 9° dhe cams called a radial (or disc or plate) cain, as shown in Fig.8.2(2) and (b. In such a car, the axis of the follower passes through the axis of the cam. TFthe axis of the follower does not pass through the axis of the cam, itis called an offset cam 28 shown in Fig.8.2(c). A Cylindrical cams: In a cylindrical cam, a cylinder which has a circumfe Zarface, rotates about its axis, The follower motion can be either oscillatory or reciprocating type, as shown in Fig.8.3(a) and (b). They are also called barrel or drum cams. rential groove cut in the i (a) Knife-edge radial () Closed cam (©) Offset cam Fig.8.2 Radial and offset cams set camSFollower Rotation of cam Fig.8.3 Cylindrical cams Cylindrical caine 1 rtoner ® final etm iS wed ie cous aa © te positiow ob 4+he polewer Che be neret wher TIL Cae mover) te neverse Lincwtin Pin gear Fig.8.4 Spiral cam _ pial cams: A spiral cam is a face cam in which a groove is cut in the form of a spiral, as shown in ig 8.4. The spiral groove consists of teeth which mesh with a pin gear follower. _ A Conjugate cams.It is a double disc cam in which the two discs keyed together are in constant touch With the two rollers of a follower, as shown in Fig.8.5, Such a cam gives low wear, low noise, better control of follower, high speed, and high dynamic loads, etc. Joboidal cams: A globoidal cam has either a convex or a concave surface. A circumferential Zroove is cut on the surface of rotation of the cam to impart motion to the follower, which has oscil- tory motion, as shown in Fig.8.6(a) and (b). This is used where the angle of oscillation is large Spherical cams: In a spherical cam, the follower oscillates about an axis perpendicular to the xis of rotation of the cam. The spherical cam is in the form of a spherical surface, as shown 19 Fig.8.7Follower Cam disc 2 Cam disc 1 ‘motion oh . p a 1 Cc -— , Follower ae (ocighea) Follower motion oto (a) Convex cam (b) Concave cam Fig.8.6 Globoidal cam eapaigal cam __ Follower motion Cam rotation Fig.8.7 Spherical cam 8.3 TYPES OF FOLLOWERS The followers can be of the following types 1. Based on the surface in contact: The followers based on the type of surface in contact can be clas- sified as: knife cdge, roller, flat faced (or mush room), and ypherical-faced follower, as shown in Fig.8.8(a) to (g).(a) Knife-edge follower (b) Roller follower (©) Flat faced (plain/ (4) Spherical-faced mushroom) follower follower (mushroom) 6. —. 1 FR ofset (© Offset follower (0 Oscillating follower (@) Translating follower Fig.8.8 Types of followers 2. Based on the motion of the follower: Depending upon the motion, the follower could be of the reciprocating or translating, oscillating or rotating types. 3. Based on the path of motion of follower: When the axis of the follower passes through the centre of rotation of the cam, itis called a radial follower, and when the axis of the follower does not pass through the axis of the cam, it is called an offset follower. 8.4 CAM NOMENCLATURE A radial cam with reciprocating roller follower is s hown in Fig.8.9. The following nomenclature is used in reference to planar cam mechanisms: Base circle: It is the smallest circle that can be drawn to the cam profile from the centre of rotation.Follower motion ' angle Direction of an follower motion Pitch point Trace point Tangent Pitch curve Cam profile Pitch circle Prime circle Base circle Fig.8.9 Cam nomenclature Prime circle: Itis the smallest circle drawn to the pitch curve from the centre of rotation of the cam. Pitch point: Itis a point on the pitch curve having the maximum pressure angle Pitch circle: Ttis the circle drawn through the centre and pitch point. t is a reference point on the follower and is used to generate the pitch curve. In the case Trace point: 1 fhe knife edge, and in the case of a roller follower, it is the centre of the of a knife edge follower, it is roller. Pitch curve: It is the curve generated by the trace point as the follower moves relative to the cam. Cam angle: It is the angle turned through by the cam from the initial position. Pressure angle: It is the angle between the direction of the follower motion and a normal to the pitch curve. Lift Itis the maximum travel of the follower from the lowest position to the topmost position. It is also called throw or stroke of the cam.ntact with the follower is known as the cam profile. Cam profile: The surface in co Angle of ascent: Itis the angle of rotation of the cam during which the follower rises up. “Angle of descent: Ttis the angle of rotation o Angle of dwell: Itis the angle of rotation of cam during which the follower remains stationary. f the cam during which the follower lowers down. 8.5 FOLLOWER MOTIONS The follower can have following type of motions: LX. Simple harmonic motion (SHM) _% Uniform acceleration and deceleration _& Uniform velocity 4, Parabolic motion, and 5. Cycloidal motion. ‘We shall discuss all these motions. 8.5.1 Simple Harmonic Motion (SHM) Consider a particle at A rotating in a circle about point O with uniform angular speed, as shown in Fig.8.10(a), and executing simple harmonic motion (SHM). The displacement curve shown in Fig8.10(0) can be constructed as follows: 1. Draw a semicircle with follower lift as the vertical diameter. 2. Divide this semicircle into n equal parts (say 6, i.e., 30° each). 3, Draw cam rotation angle along the x-axis. Mark the angles of ascent, dwell, descent, and dwell on this line. Divide the angles of ascent and descent into same equal number of parts Draw vertical lines at these points. - . Draw horizontal lines from the points on the circumference of the semicircle to intersect the vertical lines. |. Mark the points of intersection and join by a smooth curve to obtain the displacement diagram. aye @ (6) Displacement curve Fig.8.10 Simple harmonic motion of followerMotion Analysis Let y= displacement of the follower h= lift of the follower (maximum displacement or rise) = angle turned through by the crank OA from given datum =cam rotation angle for the maximum follower displacement B= angle on harmonic circle Then y=0A-OB =(}}-c-s B) (8.1a) For the ascent or descent h of the follower displacement, the cam is rotated through an angle ca whereas a point on the harmonic semicircle traverses an angle 71 radians. Thus, the cam rotation is proportional to the angle turned through by the point on the harmonic semicircle, i.e., 70 es ¢ Thus Eq. (8.1a) becomes, r{ilet2) “ Now 0=at y= 4) [1-02] (8.1) ay Velocity, v= locity, v= Differentiating Eq. (8.1c), we get Gl “he ¢) ei) " Let 6,= angle of ascent 6, = angle of dwell 6, = angle of descent h)( xo 720 Then, Velocity during ascent, v, = (4) (2) sin (#) (8.3a) (t 2 (8.3b) (8.4)Maximum velocity of follower during ascent = (2) (ze @s ING Sa) Maximum velocity of follower during descent = (2) (8.5) , Acceleration, - f dt h)(no) (76 Differentiating Eq, (8.2), we get fe (ZF) «(3 (86) 5 z é 8 8 3 a ° -—e,—+-8,--+——1 8 ¢— (a) Displacement |e vy : (0) Velocity Acceleration, f (©) Acceleration Fig.8.11 Displacement, velocity and acceleration distribution in SHM of follower2 ‘Acceleration during ascent, fe G \&] cos 2 (8.7a) “ \2 ‘Acceleration during descent, fe ( h | mo, 4 2 le) . y 2) (8.76) The acceleration is maximum when @ = 0°. 2 Maximum acceleration of follower during ascent “(3 \z) (8.9a) , ho Maximum acceleration of follower during descent = Alea (8.9b) , The motion of the follower is shown in Fig.8.11 It can be observed from Fig.8.11 that there is an abrupt change of acceleration from zero to maxi- mum at the beginning of the follower motion and also from maximurh (negative) to zero at the end of the follower motion. The same pattern is repeated during descent This leads to jerk, vibration and noise etc. Therefore, SHM should be adopted only for low and moderate cam speeds. 8.5.2. Motion with Uniform Acceleration and Deceleration In such a motion, there is acceleration during the first half of the follower motion and deceleration dur- ing the later half. The magnitude of both acceleration ‘and deceleration is the same in the two halves. The displacement diagram, as shown in Fig.8.12, can be constructed as follows: _ Draw the cam rotation angle along the x-axis and the follower lift along the y-axis. Mark the angles of ascent, dwell, descent and dwell on the horizontal line and the lift on the vertical vo line at the origin Divide the angles of ascent and descent into equal number of parts (say 6). Also divide the lift line into same equal number of parts. Draw horizontal and vertical lines at these points. s —- x *F 5 6 Fig.8.12 Displacement diagram for uniform acceleration and deceleration of follower5. Join the origin with the points of intersection on the middle line of ascent upto half the lift. Also join the points on the other half of the middle line of lift with the topmost point of the last line. 6. Mark the points of intersection of these lines with the vertical lines. 7. Join these points with a smooth curve to get the displacement diagram. Motion analysis Let f= uniform acceleration or deceleration of the follower. ‘y= displacement of follower Then " = Integrating, we have v=fttC, where C, is a constant of integration If at t=0, v=0, then C, = 0. Hence v=ft dy Now wy _ 4 dt f Integrating again, we have fe yey where C, is another constant of integration. ‘As y= 0 at f= 0, therefore C, = 0. Hence we (8.10) (8.10 b) . q z 4ho* ‘Maximum acceleration during ascent, fig, =~ gi (8.11) ; 2 Maximum acceleration during descent, f,,, = (8.11) ; | “ fl -(#} (8.12) ?. ; ionic, ox The velocity is maximum when the follower is at midway position, 1. & Maximum velocity, ee (ae (2) wm = (Ge Sha (8.13) (8.14 a) Maximum velocity during ascent 2 =|F *|§ , Maximum velocity during descent = 22 (8.14) 8 The motion of the follower is shown in Fig.8.13. It may be observed from Fig.8.13 that there are abrupt changes in the acceleration at the begin- ning, midway and at the end of the follower motion. At the midway, an infinite jerk is produced. There- fore, this motion is adopted for moderate speeds only. 8.5.3 Motion with Uniform Velocity In this case, the displacement of the follower is proportional to the angle of cam rotation. Therefore, slope of the displacement curve is constant. Let y=c0 Where c= constant of proportionality, and @= angle of cam rotation If follower rise ngle through which the cam is to rotate to lift the follower by A Then so that (8.15) Velocity, _ ho (8.16) . h) (do \_ 8.17 Acceleration, s-(5)(S} ey) “The variation of displacement, velocity and acceleration are shown in Fig.8.14. It may be observed that although the acceleration is zero during ascent or descent of the follower, itis infinite at the begin ning and end of the motion. There are abrupt changes in velocity at these points, This results in infinite inertia forces and is therefore unsuitable from practical point of view. : This can be avoided by rounding the sharp comers of the displacement curve so that the velocity changes are gradual at the beginning and end of the follower motion. During these periods the accel- assumed to be constant and of finite values. A modified uniform velocity motion isLift —— Displacement —= Loe a—— {@) Displacement AS (b) Velocity OL (©) Acceleration Velocity, v Acceleration, f Fig.8.13 Motion with uniform acceleration and deceleration 8.5.4 Parabolic Motion In the parabolic motion, the displacement of the follower is proportional to the square of the angle of cam rotation. Tet the parabolic motion, forthe first half, be represented by e where constant of proportionality