&

Design rotating
-

machine element which

provides reciprocating
in

oscilatting motion to the follow.

Follower
or

terminology
a
⑪= cam

follower motion:
I Followers can have a or
rotating
translating motion, which are
analogous to the
Crank -

four-bur linkage and the

Rocker

crauk-slider four-bar linkage,

respectively.
 -
The choice between these two form ofthe Cam-follower is usually
motion desired.
type ofoutput
dictated
by the

joint closure:
-of
force closure: enternal force he
requires an
applied
to the
joint order to
in
keep the two

links, cam and

followers, physically in
contact. force is usually
The
provided
by a
spring-
Form closure:No enternalfree is
required, and joint
closes
by geometry.
followers:
Followers, in this content, refer only to that part of
the follower thatcontact
link the cam.

Flat-faced: smaller and low-cost

cam
package is
-

The roller followers.

e.g. automotive
value train.
roller: are most
frequently used
production machining.
in

wheretheir ease
ofreplacement and availability
from bearing manufacturer'sstuck in any quantities
are advantage.
mashroom curred): are
usually custom-designed and manufactured
For each
application.
of cams:

a
-
Radial cams: The follower is generally in

radial direction(As
previouscases)
Anial The followers
cams: moves
parallel to the
-

axis ofcan rotation,

- Three-dimensional cam:A combination ofradial and
anial cam. The
input rotation ofthe can drives
a
follower train having
both radial and anial
motion
motion constraints:
A

There are two ofmotionconstraint

general categories

1 Critical Extreme
position (CEp.):refer to the
case in which the design specification define
the startand finish position (i.e. extreme

positions) of the follower butdo not

specify
motion
my constraints
between
on the
path
extreme
the
positions.
 Critical motion (CPM): is constrained
A
path a more

motion and/or
problem than
Ep because the
path
one or more
over
deviativesare defined
ofits
all or
part ofthe intervalofmotion.
-Anemotion
program:
Dwells: define as no
output motion for a

motion.
specificperiod input
of
-
Rise-Fall (RF): ifyour need for
is rise-fall cEp
motion with no dwell, then
you should
be

considering a crank -
Rocker rather than a

can -
follower ease
due to its
ofconstruction,
love cost.
-if you have a
cpM design specification, and the

motion or
denitiatives are define
its over the
 interval. Then a cam- Follower system should to used.

-
Rise-Fall-dwell (RFD)

-Rise-dwell-Fall-dwell (RDFD.)

diagrams:
-

The
firsttask came
in design is to select the

mathematical function to the used to define the

motion
of the follower
 is
In so,
doing we
plot displacement fruchins its derivative

v, its
and derivativeacceleration, and its
velocity, a

3rd derivative. Jerk, j

we can consider the
independent variable these
in
plot
to eith tint or
shaft anglec, which can
easily
convert from angle to time and rise versa.

0 wt
=
 double-dwell
Example:Consider a cam with following
specifican. (EP)
dwell -> at zero
displacement for to slow dwell)

i
known rise ->
i 25um)in 40

dwell -> at incry". For 90" chigh dwell)

Full-sinezyme in 900

ad,
w-zn
Sec
-
we
Follower N

positi
(in)

- I I I >
O
0
90 100 270 360
Solution 1: stright-line function. bad cam
A
Conclusion:
men

The acceleration is zero during the intervals, but at

boundaries ofthe interval, there is infinite spikes ofacceleration

-
ofacceleration
or-infinity (Dirac delta Func.) at

boundaries will creat high stress and

rapid wear.

-
I infinity (Doublet Func)ofJeak at boundaries.

it is
result ->

an
inappropriate choice of
displacement.
-metal
law
of Cam design:
The cam must
function be continuous
through the first
and second deviatives ofdisplacementacross the entire
interval(360%) (i.e., C8 fruction]

- The jerk function mustthe across the

Limit entire

internal (360)
Solution2: simple harmonic motion-still a bad cam.

Here, we use a
that have
family offunction the

property ofremaining
continuous throughoutany number

of differentiation. i
equationofsimple
The harmonic
1

*
function (SH.) For a motion
rise are

#
s
=2(1-6(5)]:a = cs[n] =

v
sin (5)it -I
=

=
is
sin(
where he is the total rise or lift. O is the cam shaft angle.
and B is the total angle ofthe riseinterval

sion;
a

-note that the velocifraction

ty is continuous, as it
matches the zero
velocity of the dwells at

end. is
each The
peak value 6.28
se
3160msec) at the
midpoint ofthe rise.
-> the acceleration function, however, is not continuous, itis

a
half-period cosine curve and has non-zero value

at start and finish that are

178.8"/sec (2.0"Sec)
- there are discontinuities inthe accelerationat each end

ofthe interval that uses this simple harmonic

displacement
Function.

-
This violates the fundamental law ofcam design and
creates infinite
spikes ofJerk
atthe end ofthis

fall intervals.
sombini -

cycloidal displacement
sinusoidal
-
An
acceptatu cam.

acceleration)
with
approach is to start
the better

consideration of the higher deviatives

acceleration
especially acceleration. The
and to a lesser extent the Fork Fruction
should be
principal concern ofdesigner.
The
equation for a wave
sine is

a
Csin12x5]
= - c: amphotide of
the
↑

Sin

wave,
Integrate to obtain
velocity:
a
2 esin[2,]
= =
-> dx ado =

x/d=Jado
=

(dy=Jesin (255] do = v=
x -

CE,6s(2n,) +x

to find subsitute the BCS v =0 at 0-0 then

is,

k, 2
=

and
is cx(1 8s(2x=)
= -

Integrate againto
obtain displacement.
v
4 cf 6s(2x5))
=

= -
(ds=(5, 11-8s(25,!]} do
S
c0
= -

c sin(27) k2
+

is evaluate K2, subsitutethe BCS S =0,0 =0

- To evaluate
amplitude constante, subsitute the BCs.

S h.0 1,
=
=
where his the maximum follower rise

cor lift! k2 0;D

=

2uz
=

The the acceleration is

a 2π, sin (x)

=

B
Differentiation gives
expressionfor
not a the
Jerk

J 4x2
=

S 25)
Therefore, overally we have

S
h1 sin (5)] -cycloidal
=
-

funct

r
(1
=
-

cs(n)]
a
2isin (2n
=

I 4x
=

8S)2n
Conclusion:
-
The cycloidal disp. Function is an
acceptable one

for this double-dwell can

specification. Its

derivatives are continuous through the acceleration

function. The
peak
acceleration is 100.4"sea"
(2.55m/sec) ·

-> The Jerk curve is discountinous buti s offinite

magnitude, and thisisacceptable. Its

peak
value

2523"Ye 164 sec).

is ·
-
The velocity is smooth andmatches the zero ofthe
dwell at each end. Its peak value is "yes (0.2 "seal

- The
only drawback is that it has relatively large
magnitude ofpeak acceleration and peak velocity
compared to some other
possible functions for
the double-dwell case.
 constant accelerations

motivated simosoidalacceleration
by
and in order to control the maximum

magnitudevalue ofacceleration, we

use
square
wave function -
However

this function is not continuous at

beginning, middleand end ofthe

interval.Therefore this is an

unacceptable as a cam acceleration function

trapezoidal acceleration:
The discontinuties
wave
square
can be removed by simply
"Knocking the corners off" and Creating
the
trapezoidal acceleration. The area

lostfrom the "knocked off corners"

mustbe by increasing the

replace
Peak magnitude -
However, this

function result discountinuous Jen

in

- which leads to vibrationand noise.

modifiedtrapezoidal acceleration:
This function is a combinationof

sine acceleration and constant

acceleration curve-It has the &

advantage ofrelatively low

Theoremeal acceration and

peak
rapid, smooth transition at

and and of
the beginning
the interval.
Modified Sinosoidal acceleration:
This Function iscombination of
harmonic (siusiod)curves of

different frequencies. It has the

advantage ofsmoothness (Less

ragged Jerk curve).

polynomial motion functions
The
polynomial function is one
ofthe most versatile.

function them can be used for cam design.

The general form of a
polynomial

ezn..- enk"
S S=6n+2n4In7
D+ Px e.g.
= + +

The Construct 2, are unknowns to be determine.

- The number
ofBCs determine the degree of
polynomial. A BCs n K-1
-> =
For double Dwell Case. can in defined
example, for a Bas as

then

S
0 S 0
, V 0 ,a 0
=

for

~it
=
= 0 =

Lise

0
B,
=
then S=h, v
=0,
a= 0

d= O
,
=

For then
h,
E
0 5 v 0,a
Fall m
=
= = 0
=

0 -
z
then so, wow, aro
att ia
c
=

3-4-5
polynomial:
Let assume, we
a
polynomial as

s c =
+

4(B) 4(y) 3(5) 4(y)" 45(8)5

+

+
+
+

v
B(4 2x(B) 3x() 4)) 525(3)
-

+
+
= +

a =

f2x 6(y) 12xx() 20c,-()

+
+
+
 result in
subsituting Bas
3-4 -

polynomial
5

s
c(,) 4(y)" 45(8)5
=
+
+

v
(3x() 4(- 525(B)
= +
+

a
if6c(y) 12x(0)2 20c,-()
=
+
+
4-5-6-7 polynomial:
in left Jerk unconstrained,
previous case,
the we

Now we
impose some constrainton Jerk.

After subsitutingBCs, there will only

remain -

29,25, 46 and 2coefficients

Conclusion:
constant velocity motion:

constant acceleration motion:

Harmonic motion:

Cyloidalmotion:
 cam
profile design:
-Base circle is the smallestcircle

Centered on the can rotation

anis. The size ofthe

circle is
buse
typically
dictated
by the
spatial
restrictionofthe application
a
-Frace
point: is
reference
to determine the effective location ofthe follow
-

Kinfe-edge follower -> point of cam and follower contact

- roller-follower ->
pointat the center ofthe roller.
-Home the orientation thatcorresponds to the 0"
position -
is

trace
-

primecircle -
is a circle drawn through the
pointofthe follower
while the came is at its home
position
-

pitch curve -
is the
path ofthe center ofthe follows
 KnifeEdge.Awirre e
↳ine
radius b

② Draw the follower in the &

home position
③ Draw radial lines from the

Center ofthe cam,

corresponding
to the can angles identified
on the
displacementdiagrain
④ Transfer the
displacement from the disp.diagram to the radiallines.

⑤5
Draw a smooth curve through prescribeddisp
these