CAMS

INTRODUCTION
A cam is a mechanical device used to transmit motion to a follower by direct contact. The 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 synchronization with the motion of the pistons.
Types of cams
Cams can be classified based on their physical shape.
a) Disk or plate cam (Fig. 6.1a and b): The disk (or plate) cam has an irregular contour to
impart a specific motion to the follower. The 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.

Fig. 6.1 Plate or disk cam.

b) Cylindrical cam (Fig. 6.2): The cylindrical cam has a groove cut along its cylindrical surface.
The roller follows the groove, and the follower moves in a plane parallel to the axis of rotation of
the cylinder.

Fig. 6.2 Cylindrical cam.

c) Translating cam (Fig. 6.3a and b). The translating cam is a contoured or grooved plate
sliding on a guiding surface(s). The follower may oscillate (Fig. 6.3a) or reciprocate (Fig. 6.3b).
The contour or the shape of the groove is determined by the specified motion of the follower.
Fig. 6.3 Translating cam
Types of followers:
(i) Based on surface in contact. (Fig.6.4)
(a) Knife edge follower
(b) Roller follower
(c) Flat faced follower
(d) Spherical follower

Fig. 6.4 Types of followers

(ii) Based on type of motion: (Fig.6.5)

(a) Oscillating follower
(b) Translating follower
 Fig.6.5

(iii) Based on line of motion:

(a) Radial follower: The lines of movement of in-line cam followers pass through the centers
of the camshafts (Fig. 6.4a, b, c, and d).
(b) Off-set follower: For this type, the lines of movement are offset from the centers of the
camshafts (Fig. 6.6a, b, c, and d).

Fig.6.6 Off set followers

Cam nomenclature (Fig. 6.7):

 Fig.6.7
Cam Profile The contour of the working surface of the cam.
Tracer Point The point at the knife edge of a follower, or the center of a roller, or the center of
a spherical face.
Pitch Curve The path of the tracer point.
Base Circle The smallest circle drawn, tangential to the cam profile, with its center on the axis
of the camshaft. The size of the base circle determines the size of the cam.

Prime Circle The smallest circle drawn, tangential to the pitch curve, with its center on the axis
of the camshaft.

Pressure Angle The angle between the normal to the pitch curve and the direction of motion of
the follower at the point of contact.
Types of follower motion:
Cam 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. The
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.
Some of the standard follower motions are as follows:
They are, follower motion with,
(a) Uniform velocity
 (b) Modified uniform velocity
(c) Uniform acceleration and deceleration
(d) Simple harmonic motion
(e) Cycloidal motion
Displacement diagrams: In a cam follower system, the motion of the follower is very
important. Its displacement can be plotted against the angular displacement θ of the cam and it is
called as the displacement diagram. The displacement of the follower is plotted along the y-axis
and angular displacement θ of the cam is plotted along x-axis. From the displacement diagram,
velocity and acceleration of the follower can also be plotted for different angular displacements θ
of the cam. The displacement, velocity and acceleration diagrams are plotted for one cycle of
operation i.e., one rotation of the cam. Displacement diagrams are basic requirements for the
construction of cam profiles. Construction of displacement diagrams and calculation of velocities
and accelerations of followers with different types of motions are discussed in the following
sections.
(a) Follower motion with Uniform velocity:
Fig.6.8 shows the displacement, velocity and acceleration patterns of a follower having uniform
velocity type of motion. Since the follower moves with constant velocity, during rise and fall, the
displacement varies linearly with θ. Also, since the velocity changes from zero to a finite value,
within no time, theoretically, the acceleration becomes infinite at the beginning and end of rise
and fall.
 Fig.6.8

(b) Follower motion with modified uniform velocity:

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
strokes. 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
stroke. Accordingly, the displacement of the follower varies parabolically during these periods.
With this modification, the acceleration becomes constant during these periods, instead of being
infinite as in the uniform velocity type of motion. The displacement, velocity and acceleration
patterns are shown in fig.6.9.

fig.6.9

(c) Follower motion with uniform acceleration and retardation (UARM):

Here, 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. The acceleration/retardation of the follower becomes constant accordingly.
The displacement, velocity and acceleration patterns are shown in fig. 6.10.
 Fig.6.10
s = Stroke of the follower
θo and θr = Angular displacement of the cam during outstroke and return stroke.
ω = Angular velocity of cam.
o
Time required for follower outstroke = to =

r
Time required for follower return stroke = tr =

 s
Average velocity of follower =
t
s
Average velocity of follower during outstroke = 2  s  vomin  vomax
to to 2
2
vomin = 0
2 s 2s
 vomax   = Max. velocity during outstroke.
to o
s
Average velocity of follower during return stroke = 2  s  vrmin  vrmax
tr tr 2
2
vrmin = 0
2s 2s
 vrmax   = Max. velocity during return stroke.
tr r
vomax 4 2 s
Acceleration of the follower during outstroke = a o  
to o2
2
4 2 s
Similarly acceleration of the follower during return stroke = a r 
r2

(d) Simple Harmonic Motion: In fig.6.11, the motion executed by point Pl, which is the
projection of point P on the vertical diameter is called simple harmonic motion. Here, P moves
with uniform angular velocity ωp, along a circle of radius r (r = s/2).

p' p

y r
a
x
 Fig.6.11
Displacement = y  r sin   r sin  p t ; y max  r [d1]

Velocity = y   p r cos  p t ; y max  r p [d2]

2 2 2
Acceleration = y   p r sin  p t   p y ; ymax  r p [d3]

Fig.6.11
s= Stroke or displacement of the follower.
θo = Angular displacement during outstroke.
θr = Angular displacement during return stroke
ω = Angular velocity of cam.
o
to = Time taken for outstroke =

r
tr = Time taken for return stroke =

Max. velocity of follower during outstroke = vomax = rωp (from d2)
 s  s
vomax = 
2 t o 2 o
s  s
Similarly Max. velocity of follower during return stroke = , vrmax = 
2 t r 2 r
2
s   2 2 s
Max. acceleration during outstroke = ao max = rω2p (from d3) =    2
2  to  2 o
2
s    2 2 s
Similarly, Max. acceleration during return stroke = armax =   
2  tr  2 2 r
(e) Cycloidal motion:
Cycloid is the path generated by a point on the circumference of a circle, as the circle rolls
without slipping, on a straight/flat surface. The motion executed by the follower here, is similar
to that of the projection of a point moving along a cyloidal curve on a vertical line as shown in
figure 6.12.

a7
F
a6 O
L
L
a5 O
CYCLOIDAL W
E
MOTION
a4 R
66
M
a3 O
T
I
O
a2 N
a1
a

21

Fig.6.12
The construction of displacement diagram and the standard patterns of velocity and acceleration
diagrams are shown in fig.6.13. Compared to all other follower motions, cycloidal motion results
in smooth operation of the follower.
The expressions for maximum values of velocity and acceleration of the follower are shown
below.
s = Stroke or displacement of the follower.
s
d = dia. of cycloid generating circle =

θo = Angular displacement during outstroke.
θr = Angular displacement during return stroke
ω = Angular velocity of cam.
o
to = Time taken for outstroke =

r
tr = Time taken for return stroke =

2s
vomax = Max. velocity of follower during outstroke =
o
 2s
vrmax = Max. velocity of follower during return stroke =
r
2 2 s
ao max = Max. acceleration during outstroke =
o2
2 2 s
armax = Max. acceleration during return stroke =
 2r

Fig. 6.13
Solved problems
(1) Draw the cam profile for following conditions:
Follower type = Knife edged, in-line; lift = 50mm; base circle radius = 50mm; out stroke with
SHM, for 600 cam rotation; dwell for 450 cam rotation; return stroke with SHM, for 900 cam
rotation; dwell for the remaining period. Determine max. velocity and acceleration during out
stroke and return stroke if the cam rotates at 1000 rpm in clockwise direction.
Displacement diagram:
6 f g
5 e h
4 d i

c j LIFT = 50mm
3
b k
2
a l
1 10
0 1 2 3 4 5 6 7 8 9 11 12
OUT STROKE DWELL RETURNSTROKE DWELL

Cam profile: Construct base circle. Mark points 1,2,3…..in direction opposite to the direction of
cam rotation. Transfer points a,b,c…..l from displacement diagram to the cam profile and join
them by a smooth free hand curve. This forms the required cam profile.
 d
c
e
b
a
f
2 1
3
4
5
6 60°

45° 50

8 90°
g
9
10
11 12
h
l
i k
j

Calculations:
2N 2    1000
Angular velocity of cam =    =104.76 rad/sec
60 60
s
Max. velocity of follower during outstroke = vomax = =
2 o
  104.76  50
= =7857mm/sec =7.857m/sec
2
3
s
Similarly Max. velocity of follower during return stroke = , vrmax = =
2 r
  104.76  50
= = 5238mm/sec = 5.238m/sec
2
2
 2 2 s
Max. acceleration during outstroke = ao max = rω2p (from d3) = 2
=
2 o
  2  104.76   50
2
=  2469297.96mm/sec2 = 2469.3m/sec 2
 3
2 
2

 2 2 s
Similarly, Max. acceleration during return stroke = armax = =
2 2 r

 2  104.76 2  50
=  1097465.76mm/sec2 = 1097.5m/sec 2
 2
2 
2
(2) Draw the cam profile for the same operating conditions of problem (1), with the
follower off set by 10 mm to the left of cam center.
Displacement diagram: Same as previous case.

Cam profile: Construction is same as previous case, except that the lines drawn from 1,2,3….
are tangential to the offset circle of 10mm dia. as shown in the fig.

d c
e b
a
f 1 10
2
3
4
5 °
60
6

50mm
45°

7 90°
8
g
9
10 11 12

h l
k
i j
(3) Draw the cam profile for following conditions:
Follower type = roller follower, in-line; lift = 25mm; base circle radius = 20mm; roller radius =
5mm; out stroke with UARM, for 1200 cam rotation; dwell for 600 cam rotation; return stroke
with UARM, for 900 cam rotation; dwell for the remaining period. Determine max. velocity and
acceleration during out stroke and return stroke if the cam rotates at 1200 rpm in clockwise
direction.

Displacement diagram:

f g
e h
d i

25
c j
LIFT

b k
a l
0 1 2 3 4 5 6 7 8 9 10 11 12

OUT STROKE DWELL RETURNSTROKE DWELL

Cam profile: Construct base circle and prime circle (25mm radius). Mark points 1,2,3…..in
direction opposite to the direction of cam rotation, on prime circle. Transfer points a,b,c…..l
from displacement diagram. At each of these points a,b,c… draw circles of 5mm radius,
representing rollers. Starting from the first point of contact between roller and base circle, draw a
smooth free hand curve, tangential to all successive roller positions. This forms the required cam
profile.
 a
b
1 0
c
2
3
d
20mm

°
120
4

5
60°

°
e

90
12 l
6 11
k
10
9
f 7 8
j

h
g

Calculations:
2N 2    1200
Angular velocity of the cam =     125.71rad/sec
60 60
2s 2s
Max. velocity during outstroke = vomax   =
to o
2  125.71  25
=  2999.9mm/sec =2.999m/sec
2
3
2 s 2s 2  125.71  25
Max. velocity during return stroke = vrmax    
tr r 
2
= 3999.86mm/sec = 3.999m/sec
vomax 4 2 s
Acceleration of the follower during outstroke = a o   =
to o2
2
4  125.71  25
2
=  359975mm/sec2 = 359.975m/sec2
2
3

2

4 2 s
Similarly acceleration of the follower during return stroke = a r  =
r2
 4  125.71  25
2
=  639956mm/sec2 = 639.956m/sec2
 2 
2
(4) Draw the cam profile for conditions same as in (3), with follower off set to right of cam
center by 5mm and cam rotating counter clockwise.
Displacement diagram: Same as previous case.

Cam profile: Construction is same as previous case, except that the lines drawn from 1,2,3….
are tangential to the offset circle of 10mm dia. as shown in the fig.

a
1 b
c
5 2
20mm 120° 3
d

l 12 4
90°

11
60°
5 e
k
10 6
9
j 8
7
f

h
g
(5) Draw the cam profile for following conditions:
Follower type = roller follower, off set to the right of cam axis by 18mm; lift = 35mm; base
circle radius = 50mm; roller radius = 14mm; out stroke with SHM in 0.05sec; dwell for
0.0125sec; return stroke with UARM, during 0.125sec; dwell for the remaining period. During
return stroke, acceleration is 3/5 times retardation. Determine max. velocity and acceleration
during out stroke and return stroke if the cam rotates at 240 rpm.
Calculations:
60
Cam speed = 240rpm. Therefore, time for one rotation =  0.25 sec
240
0.05
Angle of out stroke =  o   360  72 0
0.25
0.0125
Angle of first dwell =  w1   360  18 0
0.25
0.125
Angle of return stroke =  r   360  180 0
0.25
Angle of second dwell =  w2  90 0
Since acceleration is 3/5 times retardation during return stroke,
3 a 3
a  r (from acceleration diagram)  
5 r 5
v max vmax a t r 3
But a  ;r    
ta tr r ta 5
Displacement diagram is constructed by selecting ta and tr accordingly.
 6 f g
5 e h i
4 d j
k
c LIFT = 35 mm
3 l
b
2 m
a
n
1
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14
OUT STROKE DWELL RETURNSTROKE DWELL

ta
tr

vr-max

2N 2    240
Angular velocity of cam =    =25.14 rad/sec
60 60
s
Max. velocity of follower during outstroke = vomax = =
2 o
  25.14  35
= = 1099.87mm/sec =1.1m/sec
2 2 5

2s 2  25.14  35
Similarly Max. velocity during return stroke = vrmax   
r 
= 559.9 mm/sec = 0.56m/sec
 2 2 s
Max. acceleration during outstroke = ao max = rω2p (from d3) = 2
=
2 o
2
 2  25.14  35
=  69127.14mm/sec2 = 69.13m/sec2
2 2
5

2

acceleration of the follower during return stroke =
2s 2
vrmax r 16   2  s 16  25.14  35
ar     = 7166.37 mm/sec 2 = 7.17m/sec2
ta 5 5    r 5 
8
similarly retardation of the follower during return stroke =
2s 2
vrmax r 16   2  s 16  25.14  35
rr     = 11943.9 mm/sec2 = 11.94m/sec2
tr 3   3    r 3 
8
18

a b c
1 d

2
3 e

4
72°
f
5

6
14 18°
n
7 g

13
m 180°
8
12
9
11 h
10
l

i
k
j
(6) Draw the cam profile for following conditions:
Follower type = knife edged follower, in line; lift = 30mm; base circle radius = 20mm; out stroke
with uniform velocity in 1200 of cam rotation; dwell for 600; return stroke with uniform velocity,
during 900 of cam rotation; dwell for the remaining period.
Displacement diagram:

f g
e h
d i
c j 30mm
b k
a l

1 2 3 4 5 6 7 8 9 10 11 12

OUT STROKE DWELL RETURNSTROKE DWELL

Cam profile:

b a
c 2 1
3
90

d
°
120

4
5 12
e 60° ° l
6 90 11
10 k
9
f 7 8
j

i
h
g
(7) Draw the cam profile for following conditions:
Follower type = oscillating follower with roller as shown in fig.; base circle radius = 20mm;
roller radius = 7mm; follower to rise through 400 during 900 of cam rotation with cycloidal
motion; dwell for 300; return stroke with cycloidal motion during 120 0 of cam rotation; dwell for
the remaining period. Also determine the max. velocity and acceleration during outstroke and
return stroke, if the cam rotates at 600 rpm.

76
B
76

36

40°
O


Lift of the follower = S = length AB  arc AB = OA    76  40  = 53 mm.
180
53
Radius of cycloid generating circle = = 8.4 mm
2
Displacement diagram;

9 8

16.8 10 7
11 12
f g
e h
d i

c j
53

b k
a l
4 5 1 2 3 4 5 6 7 8 9 10 11 12
3 6
2 1

OUT STROKE DWELL RETURNSTROKE DWELL

 2N 2    600
Angular velocity of cam =    = 62.86 rad/sec
60 60
2s 2  62.86  53
vomax = Max. velocity of follower during outstroke =  = 4240.2 mm/sec
o 
2
2s 2  62.86  53
vrmax = Max. velocity of follower during return stroke =  = 3180 mm/sec
r 2
3
2 s 2    62.86  53
2 2
ao max = Max. acceleration during outstroke =  = 533077 mm/sec2
o
2
 2 
2

= 533.1 m/sec2.
2 2 s 2    62.86  53
2
armax = Max. acceleration during return stroke =  =
 2r  2
3
 2

= 299855.8mm/sec 2 = 299.8 m/sec2.

Cam profile: Draw base circle and prime circle. Draw another circle of radius equal to the
distance between cam center and follower pivot point. Take the line joining cam center and pivot
point as reference and draw lines indicating successive angular displacements of cam. Divide
these into same number of divisions as in the displacement diagram. Show points 1’, 2’, 3’… on
the outer circle. With these points as centers and radius equal to length of follower arm, draw
arcs, cutting the prime circle at 1,2,3…. Transfer points a,b,c.. on to these arcs from
displacement diagram. At each of these points a,b,c… draw circles of 7mm radius, representing
rollers. Starting from the first point of contact between roller and base circle, draw a smooth free
hand curve, tangential to all successive roller positions. This forms the required cam profile.
 76
c
d b
a
1
36 2 12'
1' 3
e 4 120°
5
6

90°

120°
2'
f 11'
7 30°
8 12
9 10 11
3' m

l 10'
g
4'
k
h 9'
5' i

6' 8'
7'
(8) Draw the cam profile for following conditions:
Follower type = knife edged follower, in line; follower rises by 24mm with SHM in 1/4 rotation,
dwells for 1/8 rotation and then raises again by 24mm with UARM in 1/4 rotation and dwells for
1/16 rotation before returning with SHM. Base circle radius = 30mm.
1
Angle of out stroke (1) = θ01 =  360 0  90 0
4
1
Angle of dwell (1) =  360 0  45 0
8
1
Angle of out stroke (2) = θ02 =  360 0  90 0
4
1
Angle of dwell (2) =  360 0  22.5 0
16
  1 1 1 1  5
Angle of return stroke = θr = 1        360   3600  112.5 0
  4 8 4 16  16
Displacement diagram:
m n
l o
k
24 j p
i
f g h
e q
d
c 24mm r
b
a s

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19

OUT STROKE1 DWELL1 OUT STROKE2 DWELL 2 RETURNSTROKE

Cam profile:
 b s r
c a q
d 2
1 19
18
3 p
e 4 90° 17
5
112.5°
16
f 6
60
15
45° o
22.5°
14
7
90°
8 12 13
9
10 11 n
g
h
i m

j l
k
(9) Draw the cam profile for following conditions:
Follower type = flat faced follower, in line; follower rises by 20mm with SHM in 120 0 of cam
rotation, dwells for 300 of cam rotation; returns with SHM in 120 0 of cam rotation and dwells
during the remaining period. Base circle radius = 25mm.
Displacement diagram:

e f g
h
d i
c j

20
b k
a l
1 2 3 4 5 6 7 8 9 10 11 12

OUT STROKE DWELL RETURNSTROKE DWELL

Cam profile: Construct base circle. Mark points 1,2,3…..in direction opposite to the direction of
cam rotation, on prime circle. Transfer points a,b,c…..l from displacement diagram. At each of
these points a,b,c… draw perpendicular lines to the radials, representing flat faced followers.
Starting from the first point of contact between follower and base circle, draw a smooth free
hand curve, tangential to all successive follower positions. This forms the required cam profile.
 25
a
b
1
c 2
3

90
°
120
d

°
4
5
e °
30
6 120 12 l
°
11
f 7 10 k
8 9

g j

i
h
(10) Draw the cam profile for following conditions:
Follower type = roller follower, in line; roller dia. = 5mm; follower rises by 25mm with SHM in
1800 of cam rotation, falls by half the distance instantaneously; returns with Uniform velocity in
1800 of cam rotation. Base circle radius = 20m.

Displacement diagram:

f
d e
c g
25
b h
a
i j k l
12.5
1 2 3 4 5 6 7 8 9 10 11
OUT STROKE RETURNSTROKE

Cam profile:

a l
b 1
11 k
2 10
c
3 9 j 45
20 R
8
4
d 7 i
5 6
h
e g

f
(11) Draw the cam profile for following conditions:
Follower type = roller follower, off-set to the right by 5mm; lift = 30mm; base circle radius =
25mm; roller radius = 5mm; out stroke with SHM, for 1200 cam rotation; dwell for 600 cam
rotation; return stroke during 1200 cam rotation; first half of return stroke with Uniform velocity
and second half with UARM; dwell for the remaining period.

Displacement diagram:

f g
d e h
i
j k l m
c
n
o 30
b p
a q r
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18

Cam profile:
 5

a
1 b

2 c
r 18
q 60° 3
17
p 16 120° d
15 4
o
14 120°
13 5
n
12 60° e
6
m 11
10
9
l 8 7

k f

i
h
g

(12) A push rod of valve of an IC engine ascends with UARM, along a path inclined to the
vertical at 600. The same descends with SHM. The base circle diameter of the cam is 50mm and
the push rod has a roller of 60mm diameter, fitted to its end. The axis of the roller and the cam
fall on the same vertical line. The stroke of the follower is 20mm. The angle of action for the
outstroke and the return stroke is 600 each, interposed by a dwell period of 600. Draw the profile
of the cam.
Displacement diagram:
 f g
e
h
d
i
c
20 j

b k
a l
1 2 3 4 5 6 7 8 9 10 11 12
OUT STROKE DWELL RETURNSTROKE DWELL

Cam profile:

60°

c d e
b f
16 a
1 2
3
4
5
6
60°

66 50 60°
g
60° 7 h
8 i
9
12 11 10 j
l k
6.1 Introduction

6.1.1 A Simple Experiment: What is a Cam?

Figure 6-1 Simple Cam experiment

Take a pencil and a book to do an experiment as shown above. Make the book an inclined plane
and use the pencil as a slider (use your hand as a guide). When you move the book smoothly
upward, what happens to the pencil? It will be pushed up along the guide. By this method, you
have transformed one motion into another motion by a very simple device. This is the basic idea
of a cam. By rotating the cams in the figure below, the bars will have either translational or
oscillatory motion.

6.1.2 Cam Mechanisms

The transformation of one of the simple motions, such as rotation, into any other motions is often
conveniently accomplished by means of a cam mechanism A cam mechanism usually consists
of two moving elements, the cam and the follower, mounted on a fixed frame. Cam devices are
versatile, and almost any arbitrarily-specified motion can be obtained. In some instances, they
offer the simplest and most compact way to transform motions.

A cam may be defined as a machine element having a curved outline or a curved groove, which,
by its oscillation or rotation motion, gives a predetermined specified motion to another element
called the follower . The cam has a very important function in the operation of many classes of
machines, especially those of the automatic type, such as printing presses, shoe machinery,
textile machinery, gear-cutting machines, and screw machines. In any class of machinery in
which automatic control and accurate timing are paramount, the cam is an indispensable part of
mechanism. The possible applications of cams are unlimited, and their shapes occur in great
variety. Some of the most common forms will be considered in this chapter.

6.2 Classification of Cam Mechanisms

We can classify cam mechanisms by the modes of input/output motion, the configuration and
arrangement of the follower, and the shape of the cam. We can also classify cams by the
different types of motion events of the follower and by means of a great variety of the motion
characteristics of the cam profile. (Chen 82)
 Figure 6-2 Classification of cam mechanisms

4.2.1 Modes of Input/Output Motion

1. Rotating cam-translating follower. (Figure 6-2a,b,c,d,e)

2. Rotating follower (Figure 6-2f):
The follower arm swings or oscillates in a circular arc with respect to the follower pivot.
3. Translating cam-translating follower (Figure 6-3).
4. Stationary cam-rotating follower:
The follower system revolves with respect to the center line of the vertical shaft.

Figure 6-3 Translating cam - translating follower

6.2.1 Follower Configuration

1. Knife-edge follower (Figure 6-2a)

2. Roller follower (Figure 6-2b,e,f)
3. Flat-faced follower (Figure 6-2c)
4. Oblique flat-faced follower
 5. Spherical-faced follower (Figure 6-2d)

6.2.2 Follower Arrangement

1. In-line follower:
The center line of the follower passes through the center line of the camshaft.
2. Offset follower:
The center line of the follower does not pass through the center line of the cam shaft. The
amount of offset is the distance between these two center lines. The offset causes a
reduction of the side thrust present in the roller follower.

6.2.3 Cam Shape

1. Plate cam or disk cam:

The follower moves in a plane perpendicular to the axis of rotation of the camshaft. A
translating or a swing arm follower must be constrained to maintain contact with the cam
profile.
2. Grooved cam or closed cam (Figure 6-4):
This is a plate cam with the follower riding in a groove in the face of the cam.

Figure 6-4 Grooved cam

3. Cylindrical cam or barrel cam (Figure 6-5a):

The roller follower operates in a groove cut on the periphery of a cylinder. The follower
may translate or oscillate. If the cylindrical surface is replaced by a conical one, a conical
cam results.
4. End cam (Figure 6-5b):
This cam has a rotating portion of a cylinder. The follower translates or oscillates,
whereas the cam usually rotates. The end cam is rarely used because of the cost and the
difficulty in cutting its contour.
 Figure 6-5 Cylindrical cam and end cam

6.2.4 Constraints on the Follower

1. Gravity constraint:
The weight of the follower system is sufficient to maintain contact.
2. Spring constraint:
The spring must be properly designed to maintain contact.
3. Positive mechanical constraint:
A groove maintains positive action. (Figure 6-4 and Figure 6-5a) For the cam in Figure 6-
6, the follower has two rollers, separated by a fixed distance, which act as the constraint;
the mating cam in such an arrangement is often called a constant-diameter cam.

Figure 6-6 Constant diameter cam

A mechanical constraint cam also be introduced by employing a dual or conjugate cam in

arrangement similar to what shown in Figure 6-7. Each cam has its own roller, but the
rollers are mounted on the same reciprocating or oscillating follower.
 Figure 6-7 Dual cam

6.2.5 Examples in SimDesign

Rotating Cam, Translating Follower

Figure 6-8 SimDesign translating cam

Load the SimDesign file simdesign/cam.translating.sim. If you turn the cam, the follower
will move. The weight of the follower keeps them in contact. This is called a gravity constraint
cam.

Rotating Cam/Rotating Follower

Figure 6-9 SimDesign oscillating cam

The SimDesign file is simdesign/cam.oscillating.sim. Notice that a roller is used at the end
of the follower. In addition, a spring is used to maintain the contact of the cam and the roller.

If you try to calculate the degrees of freedom (DOF) of the mechanism, you must imagine that
the roller is welded onto the follower because turning the roller does not influence the motion of
the follower.

6.3 Cam Nomenclature

Figure 6-10 illustrates some cam nomenclature:

Figure 6-10 Cam nomenclature

 Trace point: A theoretical point on the follower, corresponding to the point of a fictitious
knife-edge follower. It is used to generate the pitch curve. In the case of a roller follower,
the trace point is at the center of the roller.
 Pitch curve: The path generated by the trace point at the follower is rotated about a
stationary cam.
 Working curve: The working surface of a cam in contact with the follower. For the
knife-edge follower of the plate cam, the pitch curve and the working curves coincide. In
a close or grooved cam there is an inner profile and an outer working curve.
 Pitch circle: A circle from the cam center through the pitch point. The pitch circle radius
is used to calculate a cam of minimum size for a given pressure angle.
 Prime circle (reference circle): The smallest circle from the cam center through the
pitch curve.
  Base circle: The smallest circle from the cam center through the cam profile curve.
 Stroke or throw:The greatest distance or angle through which the follower moves or
rotates.
 Follower displacement: The position of the follower from a specific zero or rest position
(usually its the position when the f ollower contacts with the base circle of the cam) in
relation to time or the rotary angle of the cam.
 Pressure angle: The angle at any point between the normal to the pitch curve and the
instantaneous direction of the follower motion. This angle is important in cam design
because it represents the steepness of the cam profile.

6.4 Motion events

When the cam turns through one motion cycle, the follower executes a series of events consisting
of rises, dwells and returns. Rise is the motion of the follower away from the cam center, dwell
is the motion during which the follower is at rest; and return is the motion of the follower
toward the cam center.

There are many follower motions that can be used for the rises and the returns. In this chapter,
we describe a number of basic curves.

Figure 6-11 Motion events

Notation
: The rotary angle of the cam, measured from the beginning of the motion event;
: The range of the rotary angle corresponding to the motion event;
h : The stoke of the motion event of the follower;
S : Displacement of the follower;
V : Velocity of the follower;
A : Acceleration of the follower.

6.4.1 Constant Velocity Motion

If the motion of the follower were a straight line, Figure 6-11a,b,c, it would have equal
displacements in equal units of time, i.e., uniform velocity from the beginning to the end of the
stroke, as shown in b. The acceleration, except at the end of the stroke would be zero, as shown
in c. The diagrams show abrupt changes of velocity, which result in large forces at the beginning
and the end of the stroke. These forces are undesirable, especially when the cam rotates at high
velocity. The constant velocity motion is therefore only of theoretical interest.

(6-1)

6.4.2 Constant Acceleration Motion

Constant acceleration motion is shown in Figure 6-11d, e, f. As indicated in e, the velocity

increases at a uniform rate during the first half of the motion and decreases at a uniform rate
during the second half of the motion. The acceleration is constant and positive throughout the
first half of the motion, as shown in f, and is constant and negative throughout the second half.
This type of motion gives the follower the smallest value of maximum acceleration along the
path of motion. In high-speed machinery this is particularly important because of the forces that
are required to produce the accelerations.

When

(6-2)

When

,
 (6-3)

6.4.3 Harmonic Motion

A cam mechanism with the basic curve like g in Figure 6-7g will impart simple harmonic motion
to the follower. The velocity diagram at h indicates smooth action. The acceleration, as shown at
i, is maximum at the initial position, zero at the mid-position, and negative maximum at the final
position.

(6-4)

6.5 Cam Design

The translational or rotational displacement of the follower is a function of the rotary angle of the
cam. A designer can define the function according to the specific requirements in the design. The
motion requirements, listed below, are commonly used in cam profile design.

6.5.1 Disk Cam with Knife-Edge Translating Follower

Figure 6-12 is a skeleton diagram of a disk cam with a knife-edge translating follower. We
assume that the cam mechanism will be used to realize the displacement relationship between the
rotation of the cam and the translation of the follower.
 Figure 6-12 A Skeleton Diagram of disk cam with knife-edge translation

Below is a list of the essential parameters for the evaluation of these types of cam mechanisms.
However, these parameters are adequate only to define a knife-edge follower and a translating
follower cam mechanism.

Parameters:

ro: The radius of the base circle;

e: The offset of the follower from the rotary center of the cam. Notice: it could be
negative.
s: The displacement of the follower which is a function of the rotary angle of the cam --
.
IW: A parameter whose absolute value is 1. It represents the turning direction of the cam.
When the cam turns clockwise: IW=+1, otherwise: IW=-1.

Cam profile design principle:

The method termed inversion is commonly used in cam profile design. For example, in a disk
cam with translating follower mechanism, the follower translates when the cam turns. This
means that the relative motion between them is a combination of a relative turning motion and a
relative translating motion. Without changing this feature of their relative motion, imagine that
the cam remains fixed. Now the follower performs both the relative turning and translating
motions. We have inverted the mechanism.

Furthermore, imagine that the knife-edge of the follower moves along the fixed cam profile in
the inverted mechanism. In other words, the knife edge of the follower draws the profile of the
cam. Thus, the problem of designing the cam profile becomes a problem of calculating the trace
of the knife edge of the follower whose motion is the combination of the relative turning and the
relative translating.

Design equations:
 Figure 6-13 Profile design of translating cam follower

In Figure 6-13, only part of the cam profile AK is displayed. Assume the cam turns clockwise. At
the beginning of motion, the knife edge of the follower contacts the point of intersection A of the
base circle and the cam profile. The coordinates of A are (So, e), and So can be calculated from
equation

Suppose the displacement of the follower is S when the angular displacement of the cam is . At
this moment, the coordinates of the knife edge of the follower should be (So + S, e).

To get the corresponding position of the knife edge of the follower in the inverted mechanism,
turn the follower around the center of the cam in the reverse direction through an angle of . The
knife edge will be inverted to point K, which corresponds to the point on the cam profile in the
inverted mechanism. Therefore, the coordinates of point K can be calculated with the following
equation:

(6-5)

Note:

 The offset e is negative if the follower is located below the x axis.

 When the rotational direction of the cam is clockwise: IW = +1, otherwise: IW = -1.

6.5.2 Disk Cam with Oscillating Knife-Edge Follower

Suppose the cam mechanism will be used to make the knife edge oscillate. We need to compute
the coordinates of the cam profile that results in the required motion of the follower.
 Figure 6-14 Disk cam with knife-edge oscillating follower

The essential parameters in this kind of cam mechanisms are given below.

ro: The radius of the base circle;

a: The distance between the pivot of the cam and the pivot of the follower.
l: The length of the follower which is a distance from its pivot to its knife edge.
: The angular displacement of the follower which is a function of the rotary angle of the
cam -- .
IP: A parameter whose absolute value is 1. It represents the location of the follower.
When the follower is located above the x axis: IP=+1, otherwise: IP=-1.
IW: A parameter whose absolute value is 1. It represents the turning direction of the cam.
When the cam turns clockwise: IW=+1, otherwise: IW=-1.

Cam profile design principle

The fundamental principle in designing the cam profiles is still inversion, similar to that that for
designing other cam mechanisms, (e.g., the translating follower cam mechanism). Normally, the
follower oscillates when the cam turns. This means that the relative motion between them is a
combination of a relative turning motion and a relative oscillating motion. Without changing this
feature of their relative motion, let the cam remain fixed and the follower performs both the
relative turning motion and oscillating motion. By imagining in this way, we have actually
inverted the mechanism.
 Figure 6-15 Cam profile design for a rotating follower

In Figure 6-15, only part of the cam profile BK is shown. We assume that the cam turns
clockwise.

At the beginning of motion, the knife edge of the follower contacts the point of intersection (B)
of the base circle and the cam profile. The initial angle between the follower (AB) and the line of
two pivots (AO) is 0. It can be calculated from the triangle OAB.

When the angular displacement of the cam is , the oscillating displacement of the follower is
which measures from its own initial position. At this moment, the angle between the follower
and the line passes through two pivots should be + 0.

The coordinates of the knife edge at this moment will be

(6-6)

To get the corresponding knife-edge of the follower in the inverted mechanism, simply turn the
follower around the center of the cam in the reverse direction of the cam rotation through an
angle of . The knife edge will be inverted to point K which corresponds to the point on the cam
profile in the inverted mechanism. Therefore, the coordinates of point K can be calculated with
the following equation:

(6-7)

Note:

 When the initial position of the follower is above the x axis, IP = +1, otherwise: IP = -1.
 When the rotary direction of the cam is clockwise: IW = +1, otherwise: IW = -1.

6.5.3 Disk Cam with Roller Follower

Additional parameters:

 r: the radius of the roller.

 IM: a parameter whose absolute value is 1, indicating which envelope curve will be
adopted.
 RM: inner or outer envelope curve. When it is an inner envelope curve: RM=+1,
otherwise: RM=-1.

Design principle:
The basic principle of designing a cam profile with the inversion method is still used. However,
the curve is not directly generated by inversion. This procedure has two steps:

1. Imagine the center of the roller as a knife edge. This concept is important in cam profile
design and is called the trace point) of follower. Calculate the pitch curve aa, that is, the
trace of the pitch point in the inverted mechanism.
2. The cam profile bb is a product of the enveloping motion of a series of rollers.

Figure 6-16 The trace point of the follower on a disk cam

Design equations:

The problem of calculating the coordinates of the cam profile is the problem of calculating the
tangent points of a sequence of rollers in the inverted mechanism. At the moment shown Figure
6-17, the tangent point is P on the cam profile.

Figure 6-17 The tangent point, P, of a roller to the disk cam

The calculation of the coordinates of the point P has two steps:

1. Calculate the slope of the tangent tt of point K on pitch curve, aa.

2. Calculate the slope of the normal nn of the curve aa at point K.

Since we have already have the coordinates of point K: (x, y), we can express the coordinates of
point P as
(6-8)