EXAMPLE PROBLEM 2

A cam is to be designed for an automated part loader as shown in figure below. Using the
motion equations, construct a chart that tabulates follower displacement versus time and
cam rotation. Also plot this data when prescribed motion for this application is as
follows:

1. Rise 50 mm in 1.5 sec. using the constant velocity motion scheme.

Solution:

CALCULATE TIME TO COMPLETE A FULL CIRCLE

The total time to complete the full circle is needed to determine the required speed of the
cam.

∑ Ti = T1 + T2 + T3
= 1.5 + 2.0 + 0.75 = 4.25 sec.

CALCULATE THE REQUIRED ROTATIONAL SPEED OF THE CAM

2π 2π rad
ω= = = 1.4784 rad/sec
∑ Ti 4.25 sec
1 rev 1 rev rev rev 60 sec
n= = = 0.2353 = 0.2353 = 14.12 rpm
∑ Ti 4.25 sec sec sec min

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The angular increment of the cam consumed by each follower motion sequence is
determined as:

⎛ 360 ⎞
β1 = nT1 = ( 0.2353)(1.5 ) = 0.353 rev = ( 0.353 rev ) ⎜ ⎟ = 127.0°
⎝ rev ⎠
⎛ 360 ⎞
β 2 = nT2 = ( 0.2353)( 2.0 ) = 0.4706 rev = ( 0.4706 rev ) ⎜ ⎟ = 169.3°
⎝ rev ⎠
⎛ 360 ⎞
β3 = nT3 = ( 0.2353)( 0.75 ) = 0.1765 rev = ( 0.1765 rev ) ⎜ ⎟ = 63.7°
⎝ rev ⎠

CALCULATE THE DISPLACEMENT DURING EACH FOLLOWER MOTION

For the first motion, a constant velocity rise, the following equations are used:

Rise Fall

Displacement s = h
θ
=h
t
s=h
(1 − θ ) = h (1 − t )
β T β T
h h h h
Velocity v= ω= v=− ω=−
β T β T
Acceleration a=0 a=0
Jerk j = infinity j = infinity

This first motion sequence has h = 50 mm, and T = 1.5 sec. The displacement equation is
given by:

θ t
s=h =h for the RISE
β T
e.g.

For time t = .75 sec. the displacement is

θ 63.5294
s=h = ( 50 ) = 25 mm or
β1 127.0588

t 0.75
s=h = ( 50 ) = 25 mm
T1 1.5

2
t 0.75
s=h = ( 50 ) = 25 mm
T1 1.5

For the second motion, a cycloidal fall, the formulas are given by,

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Rise Fall Units
⎡θ 1 ⎛ θ ⎞⎤ ⎡ θ 1 ⎛ θ ⎞⎤
Displacement s = h⎢ − sin ⎜ 2π ⎟ ⎥ s = h ⎢1 − + sin ⎜ 2π ⎟ ⎥ [length ]
⎣ β 2π ⎝ β ⎠⎦ ⎣ β 2π ⎝ β ⎠⎦
h ⎡ ⎛ θ ⎞⎤ h ⎡ ⎛ θ ⎞⎤ ⎡ length ⎤
v= ω ⎢1 − cos ⎜ 2π ⎥ v=− ω ⎢1 − cos ⎜ 2π ⎥
β ⎟⎠ ⎦ β ⎟⎠ ⎦
Velocity ⎢⎣ sec ⎥⎦
β ⎣ ⎝ β ⎣ ⎝
h ⎛ θ⎞ h ⎛ θ⎞ ⎡ length ⎤
a = 2π ω 2 sin ⎜ 2π a = − 2π ω 2 sin ⎜ 2π
β ⎟⎠ β ⎟⎠
Acceleration ⎢⎣ sec 2 ⎥⎦
β 2
⎝ β 2
⎝
h ⎛ θ⎞ h ⎛ θ⎞ ⎡ length ⎤
j = 4π 2 ω 3 cos ⎜ 2π j = − 4π 2 ω 3 cos ⎜ 2π
β ⎟⎠ β ⎟⎠
Jerk ⎢⎣ sec3 ⎥⎦
β 3
⎝ β 3
⎝

This first motion sequence has h = 50 mm, and T = 2.0 sec. The displacement for the
FALL is given by,

For t = 2.75 sec. ⇒ θ Fall = 232.9412°, β1 = 127.0588°and β 2 = 169.4118°

e.g.

⎡ θ 1 ⎛ θ ⎞⎤
s = h ⎢1 − + sin ⎜ 2π ⎟⎥
⎣ β 2 2π ⎝ β2 ⎠⎦
⎡ 105.8824° 1 ⎛ 105.8824° ⎞ ⎤
= ( 50 ) ⎢1 − + sin ⎜ 2π ⎟⎥
⎣ 169.4118° 2π ⎝ 169.4118° ⎠ ⎦
= 13.1230 mm

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The last motion sequence is a dwell, where s = constant. This dwell occurs at the
retracted follower position; thus, s = 0.

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Follower Displacement Plot

60.00
Follower Displacement (mm)

50.00

40.00

30.00 Series1

20.00

10.00

0.00
0 90 180 270 360 450
Angle Theta (deg)

Follower Displacement Plot

60.00
Follower Displacement (mm)

50.00

40.00

30.00 Series1

20.00

10.00

0.00
0.00 1.00 2.00 3.00 4.00 5.00
Time (sec)

For the application, analytically determine the cam profile coordinated when a knife-edge
follower is incorporated. Because of the size constraints of the machine, a cam with a
base circle diameter of 200 mm must be used. The cam is to rotate counterclockwise.

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CALCULATE COORDINATES OF THE CAM PROFILE

θ1

θ2

The x and y coordinates of the cam profile are given as

Rx = ( Rb + s ) sin θ
Ry = ( Rb + s ) cos θ
where
Rx = x coordinate of the cam surface profile
Ry = y coordinate of the cam surface profile
Rb = Base circle radius
θ = Cam rotation angle measured against the direction
of cam rotation from the home position
s = Follower displacement at cam angle θ

Note that the above coordinate equations are ONLY applicable to knife-edge follower. In
general, a roller follower is complicated by the fact that the cam contact point is not in-

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line with the roller center. The angle between the follower centerline and the cam contact
point varies with curvature of the cam profile.

The base radius is half of the base circle diameter; thus,

Rb = 100 mm

The x and y coordinates of the cam profile are given as

Rx = ( Rb + s ) sin θ = (100 + s ) sin θ

Inserting these equations into a spreadsheet gives the results listed below.

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PLOT THE PROFILE COORDINATES

The cam profile is plotted using Excel.

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CAM PROFILE – EXAMPLE PROBLEM 2

150

100

50

-50

-100

-150
-150 -100 -50 0 50 100 150

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