Kinematics of Machines

TE2030E
Class code: TE2030E - 157243
Instructor: Minh Bau Luong, Ph.D
[email protected]
 Chapter 9 Cams

9.1 Introduction
9.2 Cam Types
9.3 Displacement Diagrams
9.4 Construction of Cam Profile
 Chapter 9. CAMS
9.1 Introduction
A cam is an irregularly shaped machine member which serves as a driving
link and which imparts motion to a driven link called the follower, which
either rolls or slides on the driver.
Cam-follower systems are frequently used in all kinds of machines, for
example, the valves in automobile engine are opened by cams.
Compared to linkages, cams are easier to design to give a specific output
function, but they are much more difficult and expensive to make than a
linkage.
A cam may be designed in two ways:
- To assume the required motion for the follower and to design the cam to give
this motion,
- To assume the shape of the cam and to determine what characteristics of
displacement, velocity and acceleration this contour will give.
Cams and Followers https://youtu.be/u5nwkm5IbqY?si=sJ1IXpNqH8OO8eiQ
9.2 Cam Types
Three of the most common types of cams
Disk cam (or radial cam) Translation cam (or wedge cam)
(cam đĩa) (cam tuyến tính)

Cylindrical cam (or barrel cam)

(cam rãnh trụ)
9.2 Cam Types Fig 6.2
Fig 6.1

Plate cam
Wedge cam

Barrel cam Face cam

9.2 Cam Types

Figure 6.3a shows an example of a constant-breadth cam, where two contact

points between the cam and the follower provide the constraint.
Mechanical constraint can also be introduced by employing dual or conjugate cams
in an arrangement such as that shown in Fig. 6.3b.
Here each cam has its own roller, but the rollers are mounted on a common follower.
9.2 Cam Types
9.2 Cam Types
9.2 Cam Types
Cam pressure angle
 9.3 Displacement Diagrams

A displacement diagram is a graph showing displacement of the follower

plotted as a function of time or cam angle.
The displacement diagram determines the shape of the cam. In the analysis of
an existing cam or in the design of a new one, the displacement diagram is of
primary interest.

By differentiation of displacement diagram, the velocity and acceleration

graphs can be obtained.

The derivative of acceleration with respect to time is called jerk or pulse. The
acceleration affects inertia forces which result in vibration, noise, high stresses, and
wear.
Jerk is a measure of the time rate of change of inertia force and hence is an
indication of the impact characteristics of the loading.
Infinite jerk causes vibrations in the follower system and affects the life of the cam.
9.3 Displacement Diagrams
9.3 Displacement Diagrams
9.3 Displacement Diagrams
9.3 Displacement Diagrams
9.3 Displacement Diagrams
9.3 Displacement Diagrams
 Four common types of follower motion are the following:
1. Constant acceleration
2. Modified constant velocity
3. Simple harmonic
4. Cycloidal
1. Constant acceleration, A = constant
The displacement of a body moving from rest with constant acceleration is:

s = 0.5At2 where s displacement, A acceleration, and t time

Since A is constant, the distance s is proportional to t2 → parabolic motion

When constant-acceleration motion is used for the rise of a follower, it is

used for half of the desired rise and then followed by a motion of constant
deceleration for the remainder of the rise.
Example: Total rise 2 inch in which a half has constant-acceleration during 90° of cam
rotation and another half has constant deceleration for the next 90°, the follower dwells from
180 to 210°, then falls down from 2100 to 3600 with constant acceleration followed by
constant deceleration. Drawing the displacement diagram as follow:
The rise is divided into any number of equal
divisions as long as half can be used for the
acceleration B to C and the other half used
for the deceleration C to D.
0-9: any inclined line which has nine
divisions.
4 and 1 locates on the displacement axis by
drawing lines parallel to line 9-H as shown.
The displacements 1, 4, and 9 are then
projected horizontally to obtain points on the
curve BC.
Since the decelerated motion C to D is the
constant-acceleration
reverse of the motion from B to C, the
ordinates at points 0, 1, 2, and 3 along the
time axis is laid off downward from the top
of the diagram to obtain the portion CD.
Repeat the graphical method to draw the
constant- deceleration curves EF and FG.
 Express displacement-time s-t diagrams to displacement-cam-angle- diagrams.

For any angle of cam rotation , the

ordinate to the curve gives the
follower displacement s.
For   0.5 

But t = /, then

when s = h/2 then  =/2 (initial conditions),

Substituting these values gives

Velocity:

For   0.5
2. Modified constant velocity
Equal displacements for equal units of time.
The displacement-time curve is a straight line.

From B to C: rise with constant velocity

From C to D: dwell,
From D to E: fall with constant velocity.

Theoretically, this motion results in

infinite accelerations at points B, C, D ,
and E, and this makes for impact loading.
Thus avoiding the use of this type of
motion.

In reality, modified constant-velocity

motion has been used.
2. Modified constant-velocity motion
▪ Adds a period of constant acceleration before the constant velocity, and
▪ Adds a period of constant deceleration at the end of the constant velocity.
Suppose a follower is to rise 2 in with modified
constant velocity during 180° of cam rotation, is
to dwell for 30°, and then is to fall a portion of the
rise with constant acceleration for 60° followed by
a fall for the remainder of the rise with constant
deceleration during the last 90°. Drawing the
displacement diagram as below:
Decide what portion of the total time for this motion
will be used for the constant velocity.
In this example: 60° for the constant acceleration, 30°
for the constant velocity, and 90° for the deceleration.
The diagonal MN is drawn from the midpoint of the
acceleration-time interval to the midpoint of the
deceleration-time interval.
The velocity at the end of BC equal to the velocity for
the C-to-D line, and t1 =2t2
Constructing the F-to-H portion of the curve: point G
is located first by drawing line PQ. P is located at the
midpoint of the time interval for the acceleration FG,
and Q is located at the midpoint for the time interval
for the deceleration GR.
 3. Simple harmonic motion
Its construction is based on the idea that the projection on the diameter of a point P moving
along a circle with constant angular velocity represents simple harmonic motion.

Drawing the displacement diagram as below:

: angle the cam rotating to give a

total rise h of the follower,
Divide the horizontal axis into a
number of equal divisions,
Lay off the total rise h on the
vertical axis,

Construct a semicircle with radius h/2,

Divide the circle into equal parts using the same number that was used along the
horizontal axis,
Project horizontally the points 0, 1, 2, 3, etc. , on the circle over to the circle diameter
and to the vertical lines 0, 1 , 2, 3 , etc . , to obtain the points of intersection as shown.
Connect these points with a smooth curve.
As the radial line OP rotates through the angle , the
cam rotates an amount  with a follower displacement

Because
Another example:
A follower move outward 50 mm with simple harmonic motion during 180° of cam
rotation, dwell for the next 60°, and return with simple harmonic motion during the last
120° of cam rotation.
Suppose the cam speed is 120 r/min.

The maximum velocity occurs at point F

Maximum acceleration is at the 240 and 360°

positions of the cam
4. Cycloidal motion
The displacement diagram for cycloidal motion is obtained from a cycloid, which is
the locus of a point on a circle as the circle rolls on a straight line.
BDE: displacement diagram for cycloidal motion
having a total displacement h while the cam
rotates an angle .
At the right, a circle, whose circumference is h,
rolls on the straight line FE.
A point on the circle describes the curve FHE,
known as a cycloid.
As the rolling circle rotates an angle , the cam
rotates an angle .
Drawing the curve BDE as follows:

At any convenient distance to the

left on this diagonal the center C of a
circle is located.
Divide this circle into a number of
equal sectors to correspond to the
number of equal segments along the
time axis of the diagram.
Project points on the circle to a
vertical line through C.

From each projected point, draw a line parallel to BE in order to obtain the point of
intersection with the ordinate of corresponding number on the graph.
Connect these points with a smooth curve → displacement diagram.

If  = constant
 Comparison of motion curves
The selection of the motion curves depends on the speed of the cam, the noise and
vibration permissible, and life expectancy. These are very important, especially for high
speed operating.
For constant acceleration:
Advantage: gives the lowest value of acceleration for a given rise in a given time
Disadvantage: the abrupt changes in the acceleration curve cause infinite jerk, which
makes the motion unsuitable for high-speed applications
For constant velocity:
Disadvantage: the infinite accelerations make it undesirable for high-speed cams.
Modified constant velocity is better, but the abrupt changes in the acceleration curve
make for infinite jerk.
Advantage: the change in the acceleration sometimes is smaller than that of constant
acceleration
For simple harmonic motion:
Advantage: the acceleration curve will be continuous only if the rise and fall periods are
both 1800.
Disadvantage: If these periods are unequal, or are preceded or followed by a dwell, then
discontinuities occur in the acceleration curve and result in infinite jerk.
For cycloidal motion:
Advantage: the acceleration curve connects with the acceleration curve for any other
cycloidal motion or a dwell without any discontinuity. Thus, cycloidal motion is best suited
for high-speed cams among the studied motions.
Disadvantage: highest peak acceleration for a given rise
9.4 Construction of camprofile
Videos on how to draw cam profile
1. Knife edge follower https://youtu.be/QDQoVp3vbDo?si=iUSLXUanBm5Yogc9
2. Offset knife edge follower https://youtu.be/VxZUbapvWgM?si=VA7Ss74dpegBPqbR
3. a cam with roller follower https://youtu.be/E4uI-VjUPCs?si=0zF-UnCMcC2kc7bd
4. Roller follower with simple harmonic motion https://youtu.be/_BDw_4g6Pg0?si=rJ835kkBfOZeXwIi
5. Draw radial cam profile with a roller follower https://youtu.be/FDyo3u2WOlM?si=Gl-f7Ep3URkTQuWj
9.4 Construction of camprofile
After having a displacement diagram, the cam profile need to be drawn.
The shape of the profile will depend on the size of the cam and the size, shape and path of
the follower.
One of the method for constructing camprofle is envelope theory.
The cam is held fixed, the frame and follower are rotated around the cam to bring the
contact surface of the follower in its actual position relative to the cam for a large
number of phases of the mechanism.
Disk cam with reciprocating knife-edge follower
The cam profile can be drawn as below:
The distance from the point of the follower in its lowest
position to the center of rotation of the cam is the radius of
the base circle.
Laid off along the follower are the ordinates from each
position along the  axis of the displacement diagram
(points 1’, 2’, 3’…corresponds to each angle ).
Suppose the cam rotates clockwise, in order to produce this
same relative motion with the cam fixed, the frame is
rotated counterclockwise.
Points 1”, 2”,.. are located by striking an arc from points 1’,
2’…using O2 as a center.
A smooth curve through points 0’, 1”, 2”,… is then the
desired cam profile.
A knife-edge follower is seldom used in practice because the
small area of contact results in excessive wear.
Disk cam with reciprocating roller follower
The base circle passes through the axis of the
roller when the follower is in its lowest position.
Positions 1”, 2”, 3”... of the roller axis are
determined in the same manner as in the
previous slide.
A smooth curve through these points is the pitch
profile.
Arcs with radii equal to the roller radius are then
struck from these points.

A smooth curve tangent to these arcs is the cam profile.

It is necessary to determine the pitch profile first because
the point of contact between the roller and cam does not
lie on a radial line through the roller axis unless the
follower is in a dwell position.
 Disk cam with offset roller follower
The centerline of the follower does not pass through the
center of the camshaft.
By offsetting the follower, the side thrust on the follower is
reduced.
When the offset is to the right, the cam
should rotate counterclockwise and vice
versa.
Base-circle radius: distance from the axis of rotation of the
cam to the axis of the roller when it is in its lowest
position.
Radius of the offset circle: perpendicular distance from the
center of the cam to an extension of the centerline of the
follower.
The offset circle is divided into number of equal angles to
correspond to the number of equal intervals along the time axis of
the displacement diagram.
A tangent is drawn at each position on the offset circle to represent the position of the follower centerline
as the cam is held stationary and the frame and follower are rotated about the cam.
Then with O as a center, arcs are struck from 1’, 2’, 3’…to determine their points of intersection 1”, 2”,
3”.. . with the tangent lines. A smooth curve through points 1 ", 2", 3", etc. , is the pitch profile.
Arcs with radii equal to the roller radius are then struck from these points.
A smooth curve tangent to these arcs is the cam profile.
 Pressure angle
Pressure angle: angle  which the common normal for
the cam and follower makes with the path of the
follower.
The normal component Fn is an undesirable side thrust
on the follower which tends to make it bind in its guide.
The side thrust can be reduced by reducing the pressure
angle, generally the pressure angle should not exceed
30°. In special cases where the forces are small and the
bearings are accurate, larger angles can be used.

Pressure angle can be reduced by one or more of the

following methods:
1. Increase the diameter of the base circle.
2. Decrease the total rise of the follower.
3. Increase the amount of cam rotation for a given
follower displacement.
4. Change the type of follower motion, i.e., constant-
velocity, constantacceleration, harmonic, etc.
5. Change the amount of follower offset.
Disk cam with oscillating roller follower
Arc length
Base circle radius: distance from O to the
axis of the roller when the follower is in
its lowest position.
The pivot circle is drawn using point O as
a center and the distance from O to the
pivot as the radius.
The pivot circle is then divided into pivot
number of equal sectors to correspond to
the number of equal intervals along the
time axis of the displacement diagram.
The positions of the pivot as the follower
is rotated around the cam are numbered 0,
1, 2, 3,….
Using radius R, arcs are struck using points 1, 2,
3,…as centers. With the center O, arcs are struck
from points 1’, 2’, 3’…,
These arcs intersect R radius circle at 1”, 2”, 3”...
Then using the points 1”, 2”, 3”... as centers and a radius equal to the roller radius,
arcs are drawn to represent the various positions of the roller relative to the cam.
A smooth curve tangent to these arcs is the cam profile.
Disk cam with reciprocating flat-faced follower

Points 1”, 2”, 3”…are located as in

the previous examples.
At each of these points a
perpendicular is drawn to the radial
line on the cam that represent the face
of the follower as it is rotated around offset
the cam.
A smooth curve contacting each of
these lines is the cam profile.
Maximum deviation of the contact point
from the follower centerline: max
The radius of the circular face of the follower is
actually made a little larger than what is
required to accommodate max.

The cam is often offset from the follower centerline in order that the follower stem
will rotate. This distributes the contact over a larger area on the follower and
reduces wear.
Disk cam with oscillating flat-faced follower
Point O is the center of the camshaft and
point 0’ is the lowest position for the
face of the follower.
Base circle radius: distance from O to 0’.
The pivot circle is drawn using the
distance from O to the pivot as a radius.
Using radius R, arcs are struck using
points 1 , 2, 3,...as centers.

With the center O, arcs are struck from

points 1’, 2’, 3’…, to locate points 1", 2",
3",…
The flat face of the follower, when extended , is
tangent to a circle of radius r.

As the follower is rotated around the cam, the face of the follower must be tangent to
this circle of radius r and must pass through points 1", 2", 3",…..

A smooth curve contacting each position of the face of the follower is the cam profile.
 Design limitations
In the design of a cam it is usual to assume the displacement diagram, the type of
follower, and the size of the base circle. Not always are these assumptions practical.
For example, cam profIle does not contact all positions of the
roller. Thus near the top of the cam the cam profile would not push
the roller to the desired positions.

It can be rectified by either increasing the size of the base

circle or by reducing the radius of the roller.
Note: the contact stresses in the cam and roller are
increased if the radii of curvature of either are reduced.
Thus a roller of excessively small radius is to be avoided.
Further, if the radius of curvature of the cam proflle at
some region is very small, the cam approaches a point,
and this is not satisfactory except for very low speeds .

When a base circle with radius R1 is used, the follower

positions are 1", 2", 3“…, and a smooth curve cannot be
drawn to all these, since 3" lies outside the intersection of 2"
and 4". If the base-circle radius is increased to R2, the new
positions 2''', 3''', and 4'" are satisfactory .
Disk cam – calculation of pitch curve and pressure angle

Considering a disk cam with a reciprocating radial follower:

s: follower displacement,
: degrees of cam rotation,
r: distance from cam center O to point on the pitch curve,
: pressure angle.
Circular – arc disk cam
Cam profile consists of circular arcs joined by tangent lines (Fig a) , or the entire cam
profIle may consist of tangent circular arcs (Fig b).
The cam profile is assumed and the follower displacements are determined.
Advantage: cam are the simplicity of the profile, the lower cost of manufacture, and
ease with which dimensional accuracy can be checked.
The velocities and accelerations for the follower used with cams of this type can be
found by velocity and acceleration analysis in mechanisms.
Disadvantage: the abrupt change in the acceleration curve at points where arcs of
different radii are joined. This gives rise to infinite jerk ; in general, these cams should
not be operated at high speed.
Positive – return cam
This type of cam positively controls the
follower not only during its outward motion but
also on the return stroke.
The displacements for the return stroke must be
the same as for the outward motion but in the
opposite direction.
Distance b is equal to the diameter of the base
circle plus the total rise of the follower.
Points 7”, 8”, 9”…are located by making 1” 7”
= 2”8” = 3”9” …= b, that results in a return
motion for the follower which is the same as
the outward motion.
This cam is frequently called a constant breadth cam

If the disk is circular and if the center of the camshaft is

located other than at the center of the circle, the result is
known as an eccentric cam. Such a cam produces constrained
simple harmonic motion.
Cylindrical cam
If it is desired to have the axis of rotation of the cam parallel to the direction of follower
motion, then a cylindrical cam is employed.
The cam is a cylinder which rotates completely about its axis, imparting motion to a
follower, which is guided by a groove in the cylinder.
The follower either may be the type which reciprocates or it may be the type which
oscillates.
Inverse cam

In the inverse cam the functions of

the parts are reversed: the body with
the groove (play a role as cam) is the
driven member, and the roller is the
driver.
The driving crank may either oscillate
or make complete revolutions.

The groove for the roller may be

shaped to give any desired motion for
1800 of rotation of the driver.