Theory of machine

If you have a smart project, you can say "I'm an engineer"

Lecture 5
Instructor
Dr. Mostafa Elsayed Abdelmonem
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 Theory of machine
MDP 234
• Lecture aims:
• Learn fundamental concepts and terminology
• Learn how to design a cam and follower set to achieve a desired output motion.

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 Introduction

1.1 CAM - Definition

• Cams are used to convert rotary motion into reciprocating
motion.
• Necessary elements of a cam mechanism are
• A driver member known as the cam
• A driven member called the follower
• A frame which supports the cam and guides the follower
 Introduction

1.1 CAM - Definition

• Cams are widely used in automatic machines, internal
combustion engines, machine tools, printing control
mechanisms, and so on.
• They are manufactured usually by die-casting, milling or by
punch-presses.
• A cam and the follower combination belong to the category
of higher pairs.
 Introduction
Examples for cam
• In IC engines to operate the inlet and exhaust valves
 Cam Mechanism
1.2 Classification of CAM Mechanism
I. According to modes of Input / Output motion
1.2.1 Rotating cam – Translating follower
1.2.2 Rotating cam – Oscillating follower
1.2.3 Translating cam – Translating follower
 Cam Mechanism

1.2.1 Rotating cam – Translating follower

 Cam Mechanism
1.2.2 Rotating cam – oscillating follower
 Cam Mechanism

1.2.3 Translating cam – Translating follower

Cam Follower

Linear cam

Distance
moved by the
follower
 Followers Types
1.3 Classification of followers
1.3.1 According to the shape of follower
• Knife edge follower
• Roller follower
• Flat faced follower
• Spherical faced follower
 Followers Types

a) Knife edge follower

 Followers Types

b) Roller follower
 Followers Types

c) Flat faced follower

 Followers Types

d) Spherical faced follower

 Followers Types
1.3.2 According to the path of motion of follower
a) Radial follower
• When the motion of the follower is along an axis passing through the centre
of the cam, it is known as radial followers. Above figures are examples of this
type.
 Followers Types
1.3.2 According to the path of motion of follower

b) Offset follower
When the motion of the follower is along an axis away from the axis of the cam centre, it
is called off-set follower. Above figures are examples of this type.
 Cam-follower Mechanism
Motion Of The Follower
As the cam rotates the follower moves upward and downward.
• The upward movement of follower is called rise (Outstroke)
• The downward movement is called fall (Return stroke).
• When the follower is not moving upward and downward even when the cam
rotates, it is called dwell.
 Cam Mechanism
1. Rise-Return-Rise (R-R-R)
• In this, there is alternate rise and return of the follower
with no periods of dwells (Fig. a).
• Its use is very limited in the industry.
• The follower has a linear or an angular displacement.
2. Dwell-Rise-Return-Dwell (D-R-R-D)
• In such a type of cam, there is rise and return of the follower after a
dwell Fig.(b).
• his type is used more frequently than the R-R-R type of cam.
 Cam Mechanism
3. Dwell-Rise-Dwell-Return-Dwell (D-R-D-R-D)
It is the most widely used type of cam.
• The dwelling of the cam is followed by rise and dwell
and subsequently by return and dwell as shown in
rig. (c).
• In case the return of the follower is by a fall
[Fig.(d)], the motion may be known as Dwell-Rise-
Dwell (D-R-D).
 Graphical layout of cam profiles
Terminology
• Cam profile: The outer surface of the disc cam.
• Base circle : The circle with the shortest radius
from the cam center to any part of the cam profile.
• Trace point: It is a point on the follower, and its
motion describes the movement of the follower. It
is used to generate the pitch curve.
 Graphical layout of cam profiles
Terminology
• Pitch curve : The path generated by the
trace point as the follower is rotated about a
stationery cam.
 Prime circle: The smallest circle from the
cam center through the pitch curve
 Graphical layout of cam profiles
Terminology
• Pressure angle: The angle between the direction
of the follower movement and the normal to the f
pitch curve.
• Pitch point: Pitch point corresponds to the point
of maximum pressure angle.
• Pitch circle: A circle drawn from the cam center
and passes through the pitch point is called Pitch
circle
• Stroke: The greatest distance or angle through
which the follower moves or rotates
 Graphical layout of cam profiles
Cam Eccentricity
• Eccentricty (e) – the perpendicular
distance between the follower’s axis
of motion and the center of the cam
• Aligned follower: e=0

e
b
 Cam Profile
Types of follower motion
1. Uniform motion ( constant velocity)
• Constant velocity
• Problem: infinity acceleration at point where dwell portion starts
2. Simple harmonic motion (Sinusoidal )
3. Uniform acceleration and retardation motion
• Can be shown that acceleration is constant
4. Cycloidal motion
 Cam Profile
a) Uniform motion (constant velocity)
• Displacement diagram: Displacement is
the distance that a follower moves
during one complete revolution (or
cycle) of the cam while the follower is
in contact with the cam.
• It is the plot of linear displacement (s)
of follower V/S angular displacement
(θ) of the cam for one full rotation of
the cam.
 Cam Profile
a) Uniform motion (constant velocity)
 Cam Profile
a) Uniform motion (constant velocity)
Displacement diagram
Since the follower moves with uniform velocity during
its rise and fall, the slope of the displacement curve must
be constant as shown in fig
 Constructing cam profile: kinematic inversion
principle
Steps:
• Break range of θ in 12 positions
• Measure displacement of follower at each
point, y1, y2
• Define base circle of cam
• Divide base circle to 12 equal sectors
• Mark 12 radials in opposite direction of
cam rotation
• Mark follower displacements on radials
• Sketch cam
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 Constructing cam profile: kinematic inversion
principle
Steps:
• Break range of θ in 12 positions
• Measure displacement of follower at each point,
y1, y2
• Define base circle of cam
• Divide base circle to 12 equal sectors
• Mark 12 radials in opposite direction of cam
rotation
• Mark follower displacements on radials
• Sketch cam
Layout of cam profile: roller follower

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 Cam Profile
b) Simple Harmonic motion
• Since the follower moves
with a simple harmonic RISE FALL

motion, therefore velocity

diagram consists of a sine
curve and the acceleration 60 120 180 240 300

diagram consists of a 360 = ONE REVOLUTION OF CAM = 1 CYCLE

cosine curve.
 Cam Profile
b) Simple Harmonic motion
• Since the follower moves with a
simple harmonic motion, therefore
velocity diagram consists of a sine
curve and the acceleration diagram
consists of a cosine curve.
 Cam Profile
b) Simple Harmonic motion
 Cam Profile
c) Uniform acceleration and retardation
• Since the acceleration and retardation are
uniform, therefore the velocity varies directly with
time.
 Cam Profile
d) Cycloidal motion
 Cam Manufacturing Considerations
• Medium to high carbon steels, or cast ductile iron
• Milled or ground
• Heat treated for hardness (Rockwell HRC 50-55)
• CNC machines often use linear interpolation (larger accelerations)
SVAJ diagrams: show displacement, velocity, acceleration versus 

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