LECTURE SLIDES

• Chapter 10
Profile Cam Design

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1
 Chapter 10 Contents
• 10.1 Introduction 539
• 10.2 Cam-Follower Systems 540
• 10.3 Synthesis of Motion Programs 543
• 10.4 Analysis of Different Types of Follower Displacement Functions 546
• 10.4.1 Uniform Motion 547
• 10.4.2 Parabolic Motion 548
• 10.4.3 Harmonic Follower-Displacement Programs 553
• 10.4.4 Cycloidal Follower-Displacement Programs 556
• 10.4.5 General Polynomial Follower-Displacement Programs 556
• 10.5 Determining the Cam Profile 561
• 10.5.1 Graphical Cam Profile Layout 561
• 10.5.2 Analytical Determination of Cam Profile 573

Kinematics, Design, and Dynamics of Machinery 2

 Introduction
• Advantages
• Generation of irregular motion
• Can be designed for very tight tolerances
• Cam design is simpler than linkage design
• Can be used at high speeds
• Disadvantages
• Costly to manufacture (Small lots: NC machining; large lots: molding or casting)
• Very high contact stresses – hard material required
• High wear unless roller followers are used
• Roller followers will require a large cam so can be bulky
• Large cams create dynamic problems – need to be balanced
• Can be very noisy at high speeds
• Can have follower bounce at high speeds

Kinematics, Design, and Dynamics of Machinery 3

 Cam Design Steps

• Cam Design Steps

• Synthesis of follower motion
• Generation of cam profile
• Graphical
• Analytical

• Cam motion programs

• Whole cycle required (stitch pattern cams in sewing machines)
• Only part of profile really important (valve train in IC engine)

• Generation of cam profile – will use inversion with cam

fixed and frame and follower moving about the cam

Kinematics, Design, and Dynamics of Machinery 4

 Elements of a Cam Follower System
• Cam
• Follower
• Means to constrain the follower against the cam. This can
elements like a spring, weight and gravity, or a groove in
the cam

Kinematics, Design, and Dynamics of Machinery 5

Grooved Cam

Kinematics, Design, and Dynamics of Machinery 6

Conjugate Cam

Kinematics, Design, and Dynamics of Machinery 7

Self Conjugate Cam

Kinematics, Design, and Dynamics of Machinery 8

 Cam Follower Characteristics
• Follower is characterized by the type of motion it exhibits and by the
geometry of the face
• Faces can be flat or curved
• Translating followers can be radial or offset. Kinematics are the same
for both, but friction affects machine-design aspects of offset followers.

Kinematics, Design, and Dynamics of Machinery 9

Follower Types We Will Consider

• Different Followers
a) Oscillating round-faced follower
b) Translating, offset roller follower
c) Translating flat-faced follower
d) Oscillating flat-faced follower
10
 Types of Follower Faces
• Roller follower
• Cylindrical follower
• Flat faced follower
• Knife edged follower

Kinematics, Design, and Dynamics of Machinery 11

 Types of Cams
• (a) Offset flat-faced translating follower; (b) Oscillating
cylindrical-faced follower;. (c) Radial (heart) cam and
translating knife-edged follower. (d) Radial two-lobe frog
cam and translating roller follower. (e) Wedge cam and
translating roller follower.  

Kinematics, Design, and Dynamics of Machinery 12

 Types of Cams Cont’d
• (f) Cylindrical cam and oscillating roller follower. (g) End
or face cam and translating roller follower. (h) Yoke cam
and translating roller follower. 

Kinematics, Design, and Dynamics of Machinery 13

 Synthesis of Motion Programs
• Will be given only parts of input-output curve
• Cam design requires a continuous curve
• We need to fill in the missing parts by putting in curves and
matching end conditions.
• We will use several standard mathematical functions to do this.

Kinematics, Design, and Dynamics of Machinery 14

 Preliminary Issues

• Before approaching the synthesis of the

displacement curve, we need to address two issues
• Coordinate transformations
• Relationship between time derivatives and displacement
derivatives

15
 Coordinate Transformation Rationale

• When synthesizing the follower displacement profiles we will have to fill in pieces at
various places in the displacement schedule
• However, it will be most convenient mathematically if we can always start at  = 0.
• To do this, we need to use a simple coordinate transformation.
• This will be transparent most of the time, because we will only do the first part of the
curve.
• However, for real problems, the coordinate transformations will be handy.

16
 Coordinate Transformation
• If we do not start at 0,0, consider a change in coordinates.
    0      0
y  y  y 0  y  y  y0
• We will start our functions at 0,0, so we will be essentially working with the
barred system; however, we will write them as just and y.

17
 Relationship Between Geometry and Time
Derivatives
• For practical considerations, we can design a cam system for
only one angular acceleration of the cam.
• The acceleration used is 0 (constant velocity  for cam).
• If a = 0, the derivative relationships are as follows:
y  y( )
   0  t
y is any generic output variable.
dy(  ) dy d dy
y = = =  = y'
dt d dt d

d 2 y(  ) d  dy d  d  dy  d dy d  d  d  dy  d d dy  d 2 
y = =  =          
dt 2 dt  d dt  dt  d  dt d dt  dt  d   d  dt dt d  dt 2 
2
 d 2 y   d  dy  d 2   d 2 y  2 dy
=  2     2    2     y ''  2  y '
 d   dt  d  dt   d  d
but  =0, so
y  y ''  2
The other derivatives follow the same form. Therefore,

y =y '''  3, 
y  y ''''  4 , etc. 18
 Relationship Between Geometry and Time Derivatives,
Continued

• Therefore,
y = y'
y  y ''  2

y =y '''  3

y  y ''''  4
• Since  is a constant, the derivatives are linearly related to each other.
• The only difference between the time derivative curves and the derivatives respect to  is a scaling factor.
• We will use the derivatives with respect to t and interchangeably.

19
 Basic Follower Displacement Schedule
• A typical follower curve involves:
• One or more dwells
• At least one rise region – this is where we need to provide a piece of the curve
• At least one return region – we usually need to provide this piece too
• The inflection points are where the curvature changes sign, i.e., the curvature is zero (radius of curvature is infinite).

20
 Different Follower Displacement Functions

• Uniform Motion (Linear)

• Parabolic Motion
• Simple Harmonic Motion
• Cycloidal Motion
• General Polynomial Motion

• These are the functions used to fill in the missing

pieces of the follower displacement curves.
• Each function has different dynamic characteristics.

21
 Uniform Motion
• With this curve, we simply connect one segment to the other by a
straight line.
• To derive the curve, we will write the equation for the curve in
terms of as many parameters as possible.
• Determine the parameters by enforcing continuity at the two ends.
• Would like to match as many derivatives as possible
• Position (zero derivative)
• Velocity (first derivative)
• Acceleration (second derivative)
• Jerk (third derivative)
• Jounce (fourth derivative)
• Must always match at least position.

22
 Uniform Motion – Basics

• We will consider derivatives with respect to q to match

conditions (recall time derivatives are linearly related to
position derivatives).
• Assume that
• y = C0+C1
• L = amount of rise
  = cam rotation to generate rise
• We can match only two positions, the start and the end of
the rise.

23
 Uniform Motion – Determining C’s for Rise

• y = C0+C1
• At beginning, y = 0 at  = 0 so C0 = 0
• At the beginning of the dwell, y = L at  so

L  C1
L
C1 

L 
y  C1   L
 
L
y'  (constant)

y''=y'''=y''''=...=0

24
 Uniform Motion – Determining C’s for Return
• For the return, use

•
y C C 3  =  so
At end of upper dwell, y2 = L at 1

• L yC= 0atC
At end of the return,
2   so
3 1

• Solve for the C’s using the two position equations

0  C2  C3 2

L L 2
C3  ; C2  
1   2 1   2

25
 Uniform Motion – Final Equation
• The return function is

L L  2   
y  C2  C3   2 
    
1   2  2  1
• The first derivative (slope) is

• The other L
y '  derivatives are
(constant)
 2  1

y''=y'''=y''''=...=0

26
 Uniform Motion – Plot of Derivatives

• Slope is discontinuous at the beginning and end of each dwell

• Therefore, the acceleration is infinite at the beginning and end
of each dwell
• This means that an infinite force will be required to force the
follower against the cam at the beginning and end of each
dwell.

27
 Uniform Motion – Summary

• Because of infinite acceleration at the beginning and end of each

dwell, this displacement function cannot work.
• Almost never used
• Note: The follower displacement profile is not the cam; we will
derive the cam profile from the follower displacement function
later.

28
 Parabolic Motion
• For parabolic motion, we will fit parts of two parabolas to the rise (and
return)
• We will look only at rise here. See book for return which is similar
• Basic equations for each parabola

y  C0  C1  C2 2
y '  C1  2C2
y ''  2C2
y '''  y ''''  ...  0

29
 Parabolic Motion-First Parabola
• Fit a parabola to the first half of the rise. We have 3 parameters (C’s) so we
can match 3 conditions.
• At the beginning of the rise: y = y’ = 0 so C0 = C1 = 0
• At midpoint, y = L/2 at  = /2. Then

y  C2 2
2
L 
 C2  
2 2
or
2L
C2 
2
and
2L 2
y 
2

30
 Parabolic Motion-Second Parabola
• Fit second parabola to second half of the rise. Again we have 3 parameters (C’s) so we can match 3 conditions.

• The boundary conditions are:

y  C3  C4  C5 2
• Solve for the three C’s by matching boundary conditions:

at    / 2, y  L / 2
at    , y  L and y '  0.

2
L  
 C3  C4    C5  
2 2 2
L  C3  C4   C5 2
0  C4  2C5

31
 Parabolic Motion-Second Parabola, Cont’d

• Solve for C’s L  

 C3  C4    C5  
2

2 2 2
L  C3  C4   C5 2
0  C4  2C5
C3   L
4L
C4 

2L
C5   2

Then
   2 
y=L 1-2 1-  
   
4L   
y '  1- 
  
4L
y ''   2
 32
 Parabolic Motion-Both Parabolas

 
For 0    For   
2 2
2L 2
y     2 
2 y=L 1-2 1-  
4L
y'  2    
 4L   
y'  1-
4L
y ''  2    
 4L
y ''   2


33
 Parabolic Motion-Plots

• Acceleration is discontinuous so jerk is infinite at discontinuities.

• Poor dynamics makes this a bad choice for high speeds.
• Infinite jerk will excite vibrations at high speeds.

34
 Parabolic Motion-Return Part of Curve

• Rise and returns are symmetric in shape

• If y is rise and y is return, y  L  y

35
Example 10.1 Problem Statement

36
Example 10.1 Solution (1/4)

37
Example 10.1 Solution (2/4)

38
Example 10.1 Solution (3/4)

39
Example 10.1 Solution (4/4)

40
 Harmonic Motion Equation

• An offset circle driving a translating radial follower

generates simple harmonic motion with no dwell.
• Entire rise covered by one equation

41
 Harmonic Motion Equation
• The equation works for the entire rise
• We will look only at rise here. See book for return which is similar
• Basic equation:
• Boundary conditions:

• Final equations:
 C 
y  C0  C1 cos C2  C0 1  1 cos C2 
 C0 
at   0  y  0
at     y  L, y '  0

L  
y  1  cos 
2  
 L 
y'  sin
2 
2
L  
y ''    cos
2  
3
L  
y '''     sin
2  
42
 Harmonic Motion Plot
• The jerk is infinite at the beginning and end of rise.
• Limited to moderate speeds
L    L 
y 1  cos y'  sin
2    2 
2 3
L   L  
y ''    cos y '''     sin
2   2  

43
Example 10.2 Problem Statement

44
Example 10.2 Solution (1/2)

45
Example 10.2 Solution (2/2)

46
 Cycloidal Motion

• Cycloidal motion gives a single curve for the rise.

• It is a better curve than the harmonic curve because the jerk is finite. However, there are
discontinuities at the beginning and end of the rise so the jounce is infinite there.
• The acceleration is zero at the beginning and end of the rise so it works for high speeds

 1 2  L 2 
y  L   sin y'  1  cos
  2      
2L 2 4L 2 
y ''  2 sin y '''  cos
  3 

47
 Cycloidal Motion Plots

 1 2  L 2 
y  L   sin y'  1  cos
  2      
2L 2 4 L 2 
y ''  2 sin y '''  cos
  3 
48
General Polynomial Follower Displacement Program

• Used for high speeds

• By using polynomial, theoretically we are able to match any number of conditions
• Manufacturing limitations makes using anything beyond a fifth order polynomial of limited value
• Possible equation:

• The A’s are constants and n+1 conditions can be met. Note that i starts at 0.
•  is the cam angle (in degrees or radians depending on units of the A’s.

n
y  f ( )   Ai i
i 0

49
 Polynomial Motion-Scaling Function
• Problem: When  is in degrees, there is a potential problem of round-off error especially in matrix calculations.

• Let =300 degrees, and consider the sizes of the power term when i = 1 and i = 5.

• To fix, normalize with respect to .

n
•
y  f ( )   Ai i
This also simplifies the analysis since = at the end of the rise.

i 0

i  1   1  (300)1  300
i  5   5  (300)5  2,430,000,000,000

i
 
n
 
y   Ci   0    1
i 0    

50
 Polynomial Motion-Design Procedure
i
n
   
y   Ci   0    1
i 0    

• The problem statement will indicate the conditions that are to be

matched at both ends of the rise or return.
• The first step is to determine n. The number of conditions that can
be matched is n+1. Therefore, n is one fewer than the number of
conditions to be matched.
• The conditions will be given in terms of continuity. E.g., the
position, velocity, acceleration are to be continuous at the
beginning of the rise.
• But we will use slope, and curvature instead of velocity and
acceleration.

51
 Polynomial Motion-Derivatives

i
n

y   Ci  
i 0  
i 1 i 1
1 n    n
 
y '   iCi   y   iCi 
 i1     i 1 
 
i 2 2 n i 2
1 n
  
y ''  2  i (i 1)Ci   y     i (i 1)Ci  
 i 2      i 2  
i 3 3 n i 3
1 n
     
3 
y '''  i (i  1)(i  2) Ci   y     i (i 1)(i  2)Ci  

i 3      i 3  

52
 Polynomial Motion-Example

• For the problem given, the position, velocity, and acceleration are to be
continuous at the beginning and end of the rise. Find the coefficients of
the polynomial function for the displacement curve.
• 6 condition (3 at =0 and 3 at )

at   0, y  0; y '  0; y ''  0
at    , y  L; y '  0; y ''  0
53
 Polynomial Motion-Example (Cont’d)
2 3 4 5
         
y  C0  C1    C2    C3    C4    C5  
         
2 3 4
1 2  3  4   5 
y '  C1    C2    C3    C4    C5  
          
2 3
2 6   12    20   
y ''  C2 2  C3 2    C4 2    C5 2  
         
• Always start solving the equations at =0 if possible

at   0, y  y '  y ''  0  C0  C1  C2  0
3 4 5
     
y  C3    C4    C5  
     
2 3 4
3  4   5 
y '  C3    C4    C5  
     
2 3
6   12    20   
y ''  C3 2    C4 2    C5 2  
         54
 Polynomial Motion-Example (Cont’d)
3 4 5
     
y  C3    C4    C5  
     
2 3 4
3   4  5  
y '  C3    C4    C5  
     
2 3
6   12    20   
y ''  C3 2    C4 2    C5 2  
        
• Next go to the other end of the rise
at    , y  L; y '  0; y ''  0

L  C3  C4  C5
3 4 5
0  C3  C4  C5  3C3  4C4  5C5  0
  
6 12 20
0  C3 2  C4 2  C5 2  6C3  12C4  20C5  0
  
55
 Polynomial Motion-Example (Solution)

L  C3  C4  C5
3 4 5
0  C3  C4  C5  3C3  4C4  5C5  0
  
6 12 20
0  C3 2  C4 2  C5 2  6C3  12C4  20C5  0
  
• Solve for C’s
C3  10 L; C4  15 L C5  6 L
3 4 5
  
y  10 L   15 L    6 L  
     
• Called 3-4-5 polynomial transition.
• Visually similar to cycloidal curve

56
 Polynomial Motion-Example (Plot)

3 4 5
  
y  10 L   15 L    6 L  
     
2 3 4 2 3 4
30 L    60 L    30 L    30 L        
y'     2     
                    
30 L  2    6    4     60 L         
2 3 2 3

y ''     3  2  
                2         
60 L  1  6    6     60 L      
2 2

y '''  2           3 1  6    6    57
                   
Comparison of Motions Curves

• Assume:
L=1
  = 1

• Curves are similar.

• Accurate cam manufacturing required to benefit
from differences.

58
 Determining the Cam Profile

• The actual shape of the cam can be determined only after the follower motion is known for the entire rotation of the cam.
• Profile can be determined graphically or analytically.
• Graphical is only used for low speed cams
• Design procedure:
• Determine follower displacement schedule
• Separate displacement schedule into a series of increments of . Determine y for each  value. Put -y values in a table.
• Invert motion by fixing cam and rotating follower about cam as defined by -y values.
• Follower motion will form an envelope of the cam profile.
• May need to interpolate between positions of follower

59
 Cam-Follower Configurations

• In the displacement schedule, y may be either s or .

• We will consider only rotating plate cams
• In cylindrical followers, the cylinder may be either fixed to the follower or a roller.
• We will consider in class a translating roller follower (graphical) and a translating flat faced follower (analytical). All other cases are in the book.

60
 Cam Design for Radial Cylindrical Follower
(Graphical)
• Divide Displacement profile into segments. We will use 10 deg, but this is too course for an accurate cam. Determine follower displacement for each angle
• Pick base circle radius, rb. This will determine size of cam. We will discuss it later.
• Pick cylinder radius, r, for follower
• Compute prime circle radius (r p=r+rb)
• Determine direction of cam rotation. (Assume CW here).

61
Cam Design for Radial Cylindrical Follower –Base
and Prime Circles

62
 Cam Design for Radial Cylindrical Follower –Ray
Lines
• Draw ray lines at 10 degree increments around the prime circle. Label the ray lines in a CCW direction.
• If the cam rotates CW, the follower appears to rotate CCW relative to the cam.

63
 Cam Design for Radial Cylindrical Follower –
Displacements
• On each ray line, lay off the displacement of the follower from the PRIME circle.

64
Cam Design for Radial Cylindrical Follower –Draw
Rollers
• On each displacement ray, draw a circle of the roller radius

65
Cam Design for Radial Cylindrical Follower –Draw
Cam
• Draw the cam tangent to the roller surfaces

66
 Cam Design for Radial Cylindrical Follower –
Observations
• Note pressure angle and dwell region

67
 Pressure Angle and Radius of Curvature
• Ideal pressure angle is 0 (only in dwell region)
• Would like to keep absolute value less than 30 deg (why?)

• If pressure angle becomes too large, must increase size of base circle
• Note that cam can have plus and minus curvatures with roller follower
• However, the cam radius of curvature cannot be smaller than roller radius
• If cam radius of curvature becomes too small, must also increase base circle radius.

68
 Radius of Curvature and Radius of Roller

• If the roller radius is very large, i.e., flat faced follower, the cam must be entirely convex (cam
radius vector must point toward inside of cam)

• To make this happen, the base circle radius must be large.

• Cams for flat faced followers tend to be larger than for round faced followers.

69
Example 10.3 Problem Statement

70
Example 10.3 Solution (1/5)

71
Example 10.3 Solution (2/5)

72
Example 10.3 Solution (3/5)

73
Example 10.3 Solution (4/5)

74
Example 10.3 Solution (5/5)

75
Example 10.4 Problem Statement

76
Example 10.4 Solution (1/6)

77
Example 10.4 Solution (2/6)

78
Example 10.4 Solution (3/6)

79
Example 10.4 Solution (4/6)

80
Example 10.4 Solution (5/6)

81
Example 10.4 Solution (6/6)

82
Example 10.5 Problem Statement

83
Example 10.5 Solution (1/8)

84
Example 10.5 Solution (2/8)

85
Example 10.5 Solution (3/8)

86
Example 10.5 Solution (4/8)

87
Example 10.5 Solution (5/8)

88
Example 10.5 Solution (6/8)

89
Example 10.5 Solution (7/8)

90
Example 10.5 Solution (8/8)

91
Example 10.6 Problem Statement

92
Example 10.6 Solution (1/5)

93
Example 10.6 Solution (2/5)

94
Example 10.6 Solution (3/5)

95
Example 10.6 Solution (4/5)

96
Example 10.6 Solution (5/5)

97
 Analytical Determination of Cam Profile
• For high speeds, it is necessary to determine the cam profile more accurately than graphical techniques permit
• The analytical approach for determining a cam profile depends on inverting the motion
• Successive positions of the follower will generate an envelop from which the cam profile can be determined
• An alternate method which does not require a knowledge of envelop theory is based on instant centers

98
 Analytical Determination of Cam Profile for an
Offset, Translating Cylindrical Follower
• The follower displacement is given in the form z=f()
• Also,
• r b = base circle radius
• r 0 = follower radius
• d = offset
• Kinematics the same for both a roller follower and cylindrical follower
• Cam is initially assumed to rotate in the CW direction
• During inversion, the follower will move in the CCW direction relative to the cam
• Make link 1 the frame, link 2 the cam, and link 3 the follower.

99
 Instant Centers for an Offset, Translating
Cylindrical Follower

• Locate follower in initial and general positions

• Locate three ICs, I12, I13, I23
• The three ICs will be
colinear
• I12 and I13 known by
inspection
• Variables:
• D = center of cam
rotation
• C = center of
cylindrical follower
• B = location of I23
100
 Geometry for an Offset, Translating Cylindrical
Follower
R  ( rb  r0 ) 2  d 2  z

• For I23
v B2  v B3
v B2  2 b

vB3  dR  dR d  2 dR  2 R '
dt d dt d
2b  2 R '
b  R' z'
z '  sgn f '( )

101
 Handling Direction for Cam Rotation

z '  sgn f '( )

• There is a sign ambiguity in the follower displacement diagram
• The same diagram for f() is used for both CW and CCW rotation directions for cam

• sgn = 1 for CW rotation

• sgn = -1 for CCW rotation

102
 Pressure Angle

 is angle between common normal at

point of contact and follower velocity
direction

 
  tan 1 b  d  tan 1  R ' d    
R  R 

103
 Coordinates of Contact Point

• Coordinates of A based on components of r.

• Direction of r given by .

• Magnitude of r

• Components of A

 d  r0 sin 
       tan                                       
1
 R  r0 cos 

r  (d  r0 sin ) 2  ( R  r0 cos ) 2   

x A  r cos(   )
y A  r sin(   )
104
 Computing Radius of Curvature of Cam
• Importance of radius of curvature at cam surface
• Typically will change at every point on the cam surface
• Must be convex to work with flat-faced follower
• For roller follower, can be concave but must be larger than radius of follower and of milling cutter
• Contact stresses are a function of radius of curvature
• Assume that we have parametric expressions for x and y in terms of . That is x = x() and y = y(). The radius of curvature as a function of  is:

dx d   dy d   x '   y ' 2 2 3 2 2 3

     
dx d d 2 y d 2   dy d d 2 x d 2   x ' y ''   y ' x ''
   convex
   concave
105
 Approximate Calculation of Radius of
Curvature of Cam
• Derivatives can be complex and difficult to compute
• Approximate method determines approximate radius for osculating circle.
• Define positions of series of points on cam surface

• Center of curvature given by

pi 1  ( xi 1 , yi 1 )
pi  ( xi , yi )
pi 1  ( xi 1, yi 1 )

pc  ( xc , yc )

2( xi1  xi ) 2( yi1  yi ) yc  

2( xi1  xi ) 2( yi1  yi ) xc  ( xi21  xi2 )  ( yi21  yi2 )
( xi21  xi2 )  ( yi21  yi2 ) 106
 Approximate Calculation of Radius of
Curvature of Cam Cont’d

 
2( xi1  xi ) 2( yi1  yi ) xc  ( xi21  xi2 )  ( yi21  yi2 )
2( xi1  xi ) 2( yi1  yi ) yc ( xi21  xi2 )  ( yi21  yi2 )
2 2
  rpi / pc   xi  xc    yi  yc 

• For direction of , use cross product

 xi  xi1  yi1  yi  
rpi / pi1  rpi1 / pi   k
  xi1  xi  yi  yi1 

rpi / pi1  rpi1 / pi  0    0

rpi / pi1  rpi1 / pi  0    0

107
Interpretation of the Sign of 

108
Example 10.7 Problem Statement

109
Example 10.7 Solution (1/2)

110
Example 10.7 Solution (2/2)

111
 Analytical Determination of the Cam Profile for a
Translating Flat Faced Follower
• Invert the mechanism so that the follower again rotates about the cam.

• The distance R is given by

R = rb + z

where rb = base radius

z = displacement schedule
for the follower

112
Instant Center for a Translating Flat Faced Follower

• Let B be the instant center I23

vB2  vB3

v B2  2b

vB3  dR  dR d  2 dR  2 R '
dt d dt d

2b  2 R '
b  R'
R'  z'
z '  sgn f '( )
• sgn = 1 for CW rotation
• sgn = -1 for CCW rotation
113
 Cam Coordinates for a Translating Flat Faced
Follower
• Once b is known,

x  R cos  b sin
y  R sin  b cos
x  rb  zcos  z 'sin
y  rb  zsin  z 'cos

114
 Face Width for a Translating Flat Faced Follower

• Max and min b give limits for face width

Fmax  bmax
Fmin  bmin

F  Fmax  Fmin

115
 Base Circle Considerations

• In general we want the smallest base circle possible.

• The pressure angle is ALWAYS zero so that does not help.
• Select based on minimum radius of curvature.
• The absolute minimum of the radius of curvature is zero. This
corresponds to a sharp point (cusp) on the cam.

116
Base Circle Radius and Cusps

117
 Computing the Radius of Curvature
3
dx / d 2  dy / d 2 
  
dx / d  d 2 y / d 2   dy / d  d 2 x / d 2 

x  rb  f ( )cos  f '( )sin 

y  rb  f ( )sin   f '( )cos

• Substitution gives
3
dx / d 2  dy / d 2 
    rb  f ( )  f ''( )
 dx / d   d 2
y / d  2
 
 dy / d  d 2
x / d  2


• We want
 0  rb  f ( )  f ''( )  0
or
rb   f ( )  f ''( )  0
118
 Finding Minimum Radius of Base Circle

rb   f ( )  f ''( )  0

• To avoid cusps, we must look at the

entire cycle.
• To find minimum value of base circle rb   f ( )  f ''( )
radius, find the largest (maximum) value
for  f ( )  f ''( ) in the range of .
• At the maximum

drb d

d d
 f ( )  f ''( )   f '( )  f '''( )  0  min     max 
•
•
After finding , find the corresponding rb using
r   f ( )  f ''( )
b positive value for rb will work.
If the determined value of  makes rb negative, then the corresponding value for rb should be set to zero. This means that any

119
Example 10.8 Problem Statement

120
Example 10.8 Solution (1/4)

121
Example 10.8 Solution (2/4)

122
Example 10.8 Solution (3/4)

123
Example 10.8 Solution (4/4)

124
 Analytical Determination of Cam Profile for an
Oscillating Cylindrical Follower
• The follower angular displacement is given in the form = f()
• Also,
• rb = base circle radius
• r0 = follower radius
• r1 = pivot distance
• r3 = distance from the follower pivot to the center of the cylindrical contour

125
 Analytical Determination of the Cam Profile for an
Oscillating Cylindrical Follower Cont’d
• Invert the mechanism so that the follower again rotates about the cam.

• The initial angle  0 is given by

• Locate the three instant centers for the displaced position.

• D is the location of instant center I23

 r12  r32  rb  r0 2 

0  cos 1  
2 r r
 1 3


v D2  2 b
 2  d
dt
v D3  3 ( r1  b)
126
 Analytical Determination of the Cam Profile for an
Oscillating Cylindrical Follower Cont’d
• Look at 3
d (  0 ) d
3  
dt dt
d  d  d d 
     ' 2
dt d dt d 2
vD   ' 2 (r1  b)
3

 2 b   ' 2 ( r1  b)
 ' r1
b
1  '
 '  sgn f '( )

• sgn = 1 for CW rotation

• sgn = -1 for CCW rotation
127
 Position and Orientation of r

• Coordinates of B based on components of r.

• Consider triangle CFE and polygon CFAB

• Magnitude of r

• The direction of r is 

r3 sin(  0 ) 
  tan 1 
 r1  b  r3 cos(  0 ) 

r  r1  r3 cos(  0 )  r0 cos    r3 sin(  0 )  r0 sin  

2 2

 r3 sin(  0 )  r0 sin  
  tan  1
 r1  r3 cos(  0 )  r0 cos  
x B  r cos(   )
y B  r sin(   )
128
 Pressure Angle

• Pressure angle indicated by 

    0     
• Where

    (  0 )  

BE  r32  r02  2r3r0 cos

 r32  BE 2  r02 
  cos  1
 2r3 BE 

129
 Approximate Calculation of Radius of
Curvature of Cam

 
2( xi1  xi ) 2( yi1  yi ) xc  ( xi21  xi2 )  ( yi21  yi2 )
2( xi1  xi ) 2( yi1  yi ) yc ( xi21  xi2 )  ( yi21  yi2 )
2 2
  rpi / pc   xi  xc    yi  yc 

• For direction of , use cross product

 xi  xi1  yi1  yi  
rpi / pi1  rpi1 / pi  sgn   k
  i1 i  i i1 
 x  x y  y

rpi / pi1  rpi1 / pi  0    0

rpi / pi1  rpi1 / pi  0    0

130
Example 10.9 Problem Statement

131
Example 10.9 Solution (1/4)

132
Example 10.9 Solution (2/4)

133
Example 10.9 Solution (3/4)

134
Example 10.9 Solution (4/4)

135
Analytical Determination of the Cam Profile for a Flat
Faced Follower That Oscillates
• Invert the mechanism so that the follower again rotates about the cam.

rb = base circle radius

r1 = pivot distance
 = f()
d = offset distance

r1rb
AE 
rb  d

DE  AE 2  rb2

rb
0  tan 1
DE

136
Cam Profile for a Flat Faced Follower That Oscillates

• Locate follower in an arbitrary position relative to cam

• Locate the three instant centers
• Let F be the location of I23

v F2  2b v F3  3 ( r1  b)
d (  0 ) d
 2  d 3 
dt

dt
dt
d  d  d d 
     ' 2
dt d dt d 2
v F3   ' 2 (r1  b)
 2 b   ' 2 ( r1  b)
 ' r1
b
1  '
 '  sgn f '( )
• sgn = 1 for CW rotation
• sgn = -1 for CCW rotation 137
 Position and Orientation of r

Coordinates of D based on components of r.

Magnitude of r

The direction of r is 

CD  ( r1  b)cos(  0 )
AG  r1  d sin(  0 )  CD cos(  0 )
DG  CD sin(  0 )  d cos(  0 )

r  AG 2  DG 2

  tan 1  DG 
 AG 
x D  r cos(   )
y D  r sin(   )
138
 Pressure Angle

• Pressure angle is given by 

  tan 1  d 
CD 

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 Approximate Calculation of Radius of
Curvature of Cam

 
2( xi1  xi ) 2( yi1  yi ) xc  ( xi21  xi2 )  ( yi21  yi2 )
2( xi1  xi ) 2( yi1  yi ) yc ( xi21  xi2 )  ( yi21  yi2 )
2 2
  rpi / pc   xi  xc    yi  yc 

• For direction of , use cross product

 xi  xi1  yi1  yi  
rpi / pi1  rpi1 / pi  sgn   k
  i1 i  i i1 
 x  x y  y

rpi / pi1  rpi1 / pi  0    0

rpi / pi1  rpi1 / pi  0    0

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Example 10.10 Problem Statement

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Example 10.10 Solution (1/4)

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Example 10.10 Solution (2/4)

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Example 10.10 Solution (3/4)

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Example 10.10 Solution (4/4)

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