Elements of Mechanism 2

CAMS

1.1 DEFINITION OF CAMS

A cam is a plate, a cylinder or any solid piece designed in such a way as to produce any
desired motion of the follower or the cam itself.

1.2 TERMINOLOGIES

Follower
Is the piece in contact with the cam to which motion is imparted to.
Radial Follower
Is a follower whose line of action passes through the cam shaft center.
Offset Follower
Is a follower whose line of action does not coincide with the center of the cam.
Base Circle
Is a circle with the center at camshaft center and radius equal to the nearest point in the
pitch profile.
Pitch Profile
Is the path followed by the tracer point during one revolution of the cam.

Cam Profile or Working Curve

Is the projection of the actual cam surface.
➢ For a plate cam having a knife-edge or point follower, the theoretical and working
curves are the same.
➢ For a plate cam having a roller follower, the theoretical curve is plotted with
respect to the roller center and working curve is drawn by making the necessary
adjustments for roller radius.
Cam Angle
An angle the cam turns through while the follower is displaced. In a number of cases
several cam angles are required in one complete revolution of the cam for the follower to
make several strokes during a cam rotation.
Displacement Diagram
Is a diagram plotted in a rectangular axis, it is used to show the relation between
successive positions of the follower and the cam. The diagram represents the follower
displacement as the ordinate, and the linear distances in the abscissa representing the
angular cam displacements.
Rise or Throw
Is the outward or upward displacement of the follower from its lowest position. We may
also call this outward movement the stroke or lift.
Return or Fall
Is the inward or downward displacement of the follower from its highest point.
Dwell, Still, or Rest
A dwell, still, or rest occurs when the follower remains stationary for a finite rotation of
the cam.

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1.3 Displacement Diagram

The relations between the successive positions of the driver and follower in a cam motion
may be represented by means of a displacement diagram, whose abscissas are linear distances
arbitrarily chosen to represent angular motion of the cam and whose ordinates are the
corresponding displacements of the follower from its initial position.

1.4Types of Follower Motion (using eight divisions for all types of motion)

a) Uniform Motion
Motion of the follower is proportional to the cam displacement and is represented by a
straight line.
FOLLOWER DISPLACEMENT, cm / mm

o
CAM DISPLACEMENT, ANGLE / TIME UNIT

b) Harmonic Motion
Motion of the follower is defined by a point moving at constant speed about the
circumference of a circle.
FOLLOWER DISPLACEMENT, cm / mm

o
CAM DISPLACEMENT, ANGLE / TIME UNIT

o-d, accelerated harmonic motion

d-h, decelerated harmonic motion

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 c) Gravitational or Parabolic Motion (Uniformly Accelerated and Retarded Motion)
Motion of the follower is defined by the action of gravity acting on a body.
FOLLOWER DISPLACEMENT, cm / mm

o-d, uniformly accelerated motion

d-h, uniformly retarded motion

o
CAM DISPLACEMENT, ANGLE / TIME UNIT

d) Cycloidal Motion
Motion of the follower is defined such that its displacement satisfies the equation
S= L 

 − 21 sin 2 
 .
FOLLOWER DISPLACEMENT, cm / mm

o
CAM DISPLACEMENT, ANGLE / TIME UNIT

For the construction of cycloidal motion with eight intervals and follower displacement of L,
use the origin O as center and draw a circle of radius equal to L/2π. Divide the circumference of
this circle into the same number of parts as the angle/time scale, in this case eight. The eight
marks on the circumference are projected horizontally onto the vertical diameter of the circle.
The marks on the vertical diameter are then projected parallel to the corresponding line Oh on
the angle/time axis. The intersections made with the division lines in the angle/time line will
determine the required curve.

1.5 PLATES FOR DISPLACEMENT DIAGRAM

PLATE 1
Plot the displacement diagram for a body that is to rise and fall as follows: rise 70cm
with gravitational motion as the cam turns 120o; fall 30cm with uniform velocity for 60o; still

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while the cam turns 60o; and it to return to its original position with harmonic motion for the rest
of the cycle. Use KF=1:5, KC= 1cm: 15o.(Use eight divisions for all types of motion).

PLATE 2
Plot the displacement diagram for a follower that rises 40mm with simple harmonic
motion in a quarter revolution; dwells for an eighth revolution; rises 50mm with parabolic motion
in a quarter revolution; dwells for a sixteenth revolution; returns to its original position with
uniform motion in a quarter revolution and dwells for a sixteenth revolution of the cam. Use
KF=1.5:1, KC=32cm: 1rev. (Use eight divisions for all types of motion).

PLATE 3
Plot the displacement diagram for a follower that rises 30mm with accelerated harmonic
motion for 60o turn of the cam; still for 30o; rise 40mm with uniformly decelerated motion for 90o
turn; fall 40mm with uniformly accelerated motion for 90o turn; still for 30o; fall 30mm with
decelerated harmonic motion for the remainder of the cycle. Use KF=2:1, KC=10mm:15o. (Use
eight divisions for all types of motion).

PLATE 4
Plot the displacement diagram for a follower that rises 140mm with decelerated harmonic
motion in 15 seconds; dwells for 5 seconds; rises 140mm with accelerated harmonic motion in 15
seconds; dwells for 5 seconds; returns to its lowest position with gravitational motion in 20
seconds. Use KF=1:2, KC=30cm: 60seconds. (Use eight divisions for all types of motion).

PLATE 5
Plot the displacement diagram for a follower that has the following displacements: rise
6cm with uniform retardation for 90o turn of the cam. Rise 8cm with harmonic motion for 120o;
rest for 30o; fall 3cm at once; fall 3cm with uniform motion for 30o; return to its initial position
with decelerated harmonic motion the remainder of the cycle. Use KF=1:1; KC= 1cm:15o. (Use 4
divisions for uniform motion and 8 divisions for other types of motion).

PLATE 6
Plot the displacement diagram for a follower that rises 70mm with accelerated harmonic
motion as the cam turns 60o; rise 80mm with uniformly decelerated motion for the next 60o turn;
fall instantly by 90mm; still for the next 30o; rise 80mm with uniform motion for the next 60o
turn; fall to its original position with harmonic motion for the remainder of the cycle. Use KF=1:1,
KC=300mm:360o. (Use eight divisions for all types of motion).

PLATE 7
Plot the displacement diagram for a follower that is to rise and fall as follows: rise 40mm
with uniformly decelerated motion for 60o turn of the cam; still for the next 15o; rise 30mm with
decelerated harmonic motion while the cam turns 60o; still for the next 15o; fall 20mm at once;
fall 20mm with uniform motion for the next 60o; hold it at rest while the cam turns 30o; and allow
it to return to its original position with gravitational motion for remainder of the cycle. Use
KF=2:1, KC= 1cm: 10o. (Use eight divisions for all types of motion).

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PLATE 8

Plot the displacement diagram for a follower to rise 40cm with cycloidal motion while the
cam turns 120o; dwell while the cam turns 30o; rise 30cm with harmonic motion 90o; dwell while
the cam turns 30o; fall 20mm at once; and it to return to its original position with gravitational
motion for the rest of the cycle. Use KF=1:5, KC= 1cm: 15o.(Use eight divisions for all types of
motion).

2.1 CAM PROFILES

2.11 In-Line Knife Edge (Point) Follower

The most efficient manner to describe the construction of a cam with a knife-edge
follower is through an actual construction. Using Fig. 2-1, a cam profile to be used with a knife-
edge follower has been constructed and shown.

FIG. 2-1

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The following general procedure is used to graphically construct such a profile:

1.) Draw the base circle of diameter DB. The size is typically a function of the spatial
constraints of the application.
2.) Draw the follower in the home position.
3.) Draw radial lines from the center of the cam, corresponding to the cam angles identified
on the displacement diagram. For construction purposes, the cam will remain stationary
and the follower will be rotated in a direction opposite to the actual cam rotation.
4.) From the base circle measure and plot the type of displacement required on the vertical
line that corresponds to the follower displacement.
5.) Transfer the follower displacements to the radial lines. Draw a smooth curve through
these prescribed displacements.
6.) To accurately construct a profile consistent with the displacement diagram, it may be
necessary to transfer additional intermediate points from the rise and fall intervals.

2.12 Radial Roller Follower

The cam profile for a radial roller follower is shown in Fig. 2-2. Again, the most efficient
manner of describing the construction of a cam with a radial roller follower is through an actual
construction. Using the displacement diagram from Fig. 9.18, a cam profile to be used with a
radial roller follower has been constructed and shown in Fig.9.20.

FIG. 2-2

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 FIG. 2-3

The following general procedure is used to construct such a profile:

1.) Draw the base circle of diameter Db .
2.) Draw the follower of radius R f in the home position, tangent to the base circle.
3.) Draw radial lines from the center of the cam, corresponding to the cam angles identified
on the displacement diagram.
4.) Identify the trace point at the home position. For a roller follower, this is the point at the
center of the roller.
5.) Draw the prime circle through the trace point at its home position.
6.) Transfer the displacements from the displacement diagram to the radial lines. Measure
these displacements from the prime circle.
7.) Draw the roller outline of radius R f , centered at the prescribed displacements identified in
the previous step.
8.) Draw a smooth curve tangent to the roller at these prescribed displacements.
9.) To accurately construct a profile consistent with the displacement diagram, it may be
necessary to transfer additional intermediate points from the rise and fall intervals.

2.13 Offset Roller Follower

The most efficient manner of describing the construction of a cam with an offset roller
follower is through an actual construction. Using the displacement diagram from Fig. 9.18, a cam
profile to be used with an offset roller follower has been constructed and shown in Fig. 9.21.

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The following general procedure is used to construct such a profile:

1) Draw the base circle of diameter Db .

2) Draw the follower centerline in the home position.
3) Draw the prime circle, whose radius is equal to the sum of the base and roller follower
radii (Rb+Rf).
4) Draw the follower in the home position of radius Rf, centered where the follower
centerline intersects at the prime circle.
5) Identify the trace point at the home position. For a roller follower, this is the point that is
at the center of the roller.
6) Draw an offset circle of radius e, centered at the cam rotation axis. It will be tangent to
the follower centerline.
7) Draw lines tangent to the offset circle, corresponding to the reference cam angles on the
displacement diagram. For construction purposes, the cam will remain stationary and the
follower will be rotated in a direction opposite to the actual cam rotation.
8) Transfer the displacements from the displacement diagram to the offset lines. Measure
these displacements from the prime circle.
9) Draw the roller outline of radius Rf, centered at the prescribed displacements identified in
the previous step.
10) Draw a smooth curve tangent to the roller at these prescribed displacements.
11) To accurately construct a profile consistent with the displacement diagram, it may be
necessary to transfer additional intermediate points from the rise and fall intervals.

FIG. 2-4
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2.14 Translating Flat-Faced Follower

The most efficient manner for describing the construction of a cam with a flat-faced follower is
through an actual construction. Using the procedure discussed below, a cam profile to be used
with a translating flat-faced follower has been constructed and shown in Fig. 9.22 and Fig. 7.21.

The following general procedure is used to graphically construct such a profile:

1.) Draw the base circle of diameter Db.
2.) Draw the follower in the home position, tangent to the base circle.
3.) Draw radial lines from the center of the cam, corresponding to the cam angles on the
displacement diagram. For construction purposes, the cam will remain stationary and the
follower will be rotated in a direction opposite to the actual cam rotation.
4.) Transfer the displacements from the displacement diagram to the radial lines, measured
from the base circle.
5.) Draw the flat-faced outline by constructing a line perpendicular to the radial lines at the
prescribed displacements,
6.) Draw a smooth curve tangent to the flat-faced outlines.
7.) To accurately construct a profile consistent with the displacement diagram, it may be
necessary to transfer additional intermediate points from the rise and fall motions.

FIG. 2-5

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 FIG. 2-6

2.15 PLATES FOR CAM PROFILE

(For point and flat face follower use DHUB= 0.6DBC / DSHAFT= 0.4DBC ; For roller follower use
DHUB= 0.5DBC / DSHAFT= 0.3DBC Shaft Section Lines 3mmx 1mm spacing; Key 8mm x 8mm) Note:
Vertical orientation of the drawing paper is suggested.

PLATE 1
Design a plate cam to give the following motion to a point follower, raise 4cm in one-third
turn with simple harmonic motion, remain still for one-third turn; allow it to return to its original
position with uniform motion for the remainder of the cycle. The cam rotates counter clockwise.
Use an 9cm base circle.

PLATE 2
Draw the cam profile for a knife edge follower having the following motion: rise 50mm
during 150° turn with gravitational motion, to dwell for 30°, to fall 50mm during 150° turn with
gravitational motion, to dwell for 30°. Use a 100mm base circle. Cam rotates clockwise.

PLATE 3
Design a plate cam to give the following motion to a point follower, rise 40mm with
accelerated harmonic motion for 150° turn of the cam; rise 30mm with uniform motion for 60°
turn; fall 70mm with decelerated harmonic motion for 150° turn. The cam rotates counter
clockwise. Use a 80mm base circle.

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PLATE 4
Design the cam profile for a disk cam with flat-face follower. The follower is to move
outward 50mm with harmonic motion in one-third turn of the cam, return to the original position
with harmonic motion in one-third turn, and dwells in the last one-third turn. Use a 90mm base
circle. Rotation is counter clockwise.

PLATE 5
Design the working curve for a plate cam with a flat-face follower. The plane of the face
is perpendicular to the line of motion and is directly above the cam. The follower is to rise 6cm
with accelerated harmonic motion in one-third revolution, dwell for one-third revolution and
return to its original position with uniformly decelerated motion for the remainder of the cycle.
Use a 7cm base circle. Rotation is clockwise.

PLATE 6
Design a plate cam that gives the following motion to a flat face follower: rise 40mm with
accelerated harmonic motion for 120° turn, rise 30mm with uniform motion for 90° turn, and
return to its original position with uniformly decelerated motion for the remainder of the cycle.
The line of motion and is directly above the cam. Use a 70mm base circle. Cam rotates counter
clockwise.

PLATE 7
Design the required plate cam for a radial roller follower that is to move with the following
displacement: ascend 55mm with harmonic motion while the cam rotates 120°; dwell for the
next 120° and descend to its original position with uniformly accelerated motion for the
remainder of the cycle. Use a base radius of 45mm and a roller diameter of 20mm. Cam rotates
clockwise.

PLATE 8
Design a plate cam to give the following motion to a roller follower: raise 50mm with
uniform motion for 120°, dwell for 30°, return to its position with uniformly accelerated motion
and retarded motion for 180°, and dwell for the remainder of the cycle. Use a 110mm base circle
and a 20mm roller. Cam turns counter clockwise.

PLATE 9
Design the profile for a plate cam that provides the following motion to a radial-roller
follower: raise 25mm with uniformly accelerated motion for 90° turn; raise 30mm with
decelerated harmonic motion for 90° turn; dwell for 60°, fall 25mm at once and return to its
original position with decelerated harmonic motion for the remainder of the cycle. Use a 110mm
base circle and a 20mm roller. Cam turns clockwise.

PLATE 10
An offset-roller follower has its axis 45mm to the right and 55mm above the cam axis
when it is in its lowest position. Draw the cam profile if the follower is to rise by 40mm with
harmonic motion for a cam rotation of 240°, fall instantly by 40mm and hold it at that position for
the remainder of the cycle. Use a 20mm roller diameter. Cam rotates counter clockwise.

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PLATE 11

An offset-roller follower has its axis 40mm to the right and 50mm above the cam axis
when it is in its lowest position. Design the cam profile if the follower is to rise by 40mm with
gravitational motion for a cam rotation of 120°, fall by 40mm with decelerated harmonic motion
for the next 180°, and hold it at rest for the remainder of the cycle. Use a 20mm roller diameter.
Cam rotates clockwise.

PLATE 12
With a 20mm diameter roller follower whose center is on a vertical line passing 30mm to
the right of the cam axis, layout the working curve for a plate cam turning uniformly clockwise.
The motion of the follower is to be down, 35mm with harmonic motion for 90° turn of the cam;
dwell for 60°; down 15mm at once; up 50mm with harmonic motion in 180° turn and remains at
rest for the remainder of the cam cycle. Find the radius of the base circle if the highest position
of the roller is to be on the plane 90mm above the axis of the cam.

PLATE 13

An offset-roller follower has its axis 45mm to the left and 55mm above the cam axis when
it is in its lowest position. Design the cam profile if the follower is to rise by 40mm with
gravitational motion for a cam rotation of 90°, rise by 25mm with uniform motion for the next
60°, fall instantly by 20mm, fall by 25mm with decelerated harmonic motion for the next 150°,
fall by 20mm at once, and hold it at rest for the remainder of the cycle. Use a 20mm roller
diameter. Cam rotates counter-clockwise.

PLATE 14
Follower F slides in guides, and starts when the rocker is at its lowest point. It remains at
rest for 60° revolution of the cam; then rises 60mm with gravitational motion for 120° revolution;
then falls to its original position with uniform motion for the next 120° revolution; then lingers at
rest for the remainder of the cam cycle. Cam rotates clockwise. Use a base radius of 50mm.
(distance from guide center line to rocker center line = 170mm; distance from cam center line to
rocker center line = 110mm;

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3.1 CYLINDRICAL CAMS
Occasionally it is necessary to have the axis of the cam to be parallel to the direction of
follower motion. To avoid complicating the system a cylindrical cam is employed. The general
appearance of a cylindrical cam is shown in Fig. 7-27. 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 may either be the type which reciprocates, such as the upper one in the
figure, or it may be the type which oscillates, shown in the lower part of the figure.

FIG. 7-27

The procedure for drawing a cylindrical cam will now be discussed.

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 Figure 7-28 gives dimensions for the hub and groove for a cylindrical cam which is to hold
a follower still for one-eighth turn of the cam, move it 2 in. to the right in a line parallel to the
axis of the cam, with uniformly accelerated and uniformly retarded motion while the cam makes
three-eighths turn, hold it still for one-eighth turn, and return it to its original position with similar
motion in three-eighths turn.
Solution:
In Fig. 7-29, locate the centerline XX’. On the line XX’ choose the point Q at any
convenient place and draw the circle K whose radius is equal to the outside radius of the cylinder.
Also draw the dotted circle P with the radius equal to the outside radius minus the depth of the
groove.Draw the vertical center line YY’. Lay back the angle YQB equal to 45o, one-eighth of
360o. This is the angle through which the cam will turn before the follower starts to move. Since
the movement of the follower is to take place during the next three-eighths of a turn, the cam
will turn through the angle BQY’ to give the motion of the follower. Since the follower is to
remain at rest during the next one-eighth turn, the angle Y’QT equal to 45o will be drawn next,
and the remaining angle TQY will be the angle through which the cam will turn to move the
follower back to its original position. Now, draw the center line MN at any convenient distance on
the right of the figure already drawn, and locate the point E on this line at a distance from XX’
equal to the outside radius of the cylinder. On a horizontal line drawn through E locate the points
F and G, each at a distance from E equal to the radius of the roller on which the cam is to act.
Draw HJ parallel to FG at a distance from it equal to the depth of the groove. Through F and G
draw lines to the point L where MN intersects the axis XX’. That portion of the line HJ intersected
between FL and GL will be the width of the groove at the bottom. Before it is possible to proceed
further in the construction of this side elevation of the cam, it is necessary to make development
of its outer surface. Draw the line M’N’ equal the length to the circumference of the cylinder.

Lay off M’B’ equal to the length of the arc YB and B’Y’2 equal to the length of the arc BY’.
Divide B’Y’2 into any even number of equal parts, in this case eight, and letter points of division
a’, b’, c’, d’, e’, f’, and g’. Through the points thus found draw vertical lines, On the vertical line
through M’ lay off M’8 equal to the distance through which the follower is to move, and divide
M’8 into “gravity” divisions, using as many divisions as there equal divisions in B’Y’2. Mark the
points thus found 1, 2, 3, 4, 5, 6, 7. From 1 project across to the vertical through a’. From 2
project to the vertical through b’, and so on, thus getting the points 9, 10, 11, 12, 13, 14, 15,
and 16. A smooth curve drawn through these points will be the development of the center line of
that portion of the cam groove which moves the follower to the right. Make Y’2T’ equal to the
length of the arc Y’T. The development of the center line of the groove between the verticals at
Y′2 and T’ is a horizontal straight line. Since the return motion of the follower is a duplicate of the
forward motion, the curve 17N’, being a duplicate of the curve B’16, will be the development of
the center line of that portion of the cam groove which moves the follower back to its original
position.

The above construction gives a development of the center line of the groove on the outer
surface of the cylinder. The lines forming the development of the sides of the groove are smooth
curves drawn tangent to arcs, swung about a series of centers along the line M’B’ – 16 – 17 – N’
with radii equal to the radius of the large end of the roller as shown in the drawing. Similar
curves drawn tangent to arcs swung about the same centers, with radius equal to the radius of
the large end of the roller plus the thickness of the flange forming the sides of the groove, will be
the development of the outer edges of these flanges.

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Figure 7-29.
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 The development of the corners of the bottom of the groove is constructed in the same
way, except that the length of the development is less, because it is a development of a cylinder
of smaller radius. The projection (on the side elevation) of the curves which have just been
developed are drawn by finding the projections corresponding to points r’, s’, t’, u’, where these
curves cut the vertical line, it being borne in mind that the vertical lines on the development
really represent the developed positions of elements of the cylinder, drawn through points a, b,
c, d, e, f, and g, which are found by dividing the arcs BY’ and TY into divisions equal to the
divisions in B’Y’2 and T’N’. The construction for the points r’, s’, t’, and u’ only will be followed
through as the construction for all other points will be exactly similar. Through b on the end view
draw an element of the cylinder across the side elevation. From b, where this element intersects
MN, lay off bt equal to b’t’, bv equal to b’v’, to the right of MN since t’ and v’ are above M’N’, and
bs equal to b’s’ and br equal to b’r’, to the left since s’ and r’ are below M’N’. The points r, s, t, v
are the projections of points corresponding to r’, s’, t’, v’. Projections of all other points where the
curves intersect the verticals on the development are found in exactly the same way, and smooth
curves drawn through the points thus found will be the projections of the corners of the groove
and of the flange enclosing the groove. The projections of the corners of the bottom of the
groove are obtained in the same way also, using, of course, elements through, a2, b2 and so on,
instead of a and b.

3.2 CYLINDRICAL CAM REQUIREMENT

Make a wax model of a cylindrical cam with the following dimensions (mm): DCYL=100;
DHUB=45; DBORE=25; Groove=21x21x12; Maximum Displacement=70. Follower Displacement shall
be as follows: 70mm to the right with accelerated harmonic motion for 150O turn of the cam; rest
for the next 60O turn; and move 70 mm to the left with uniformly retarded motion for the
remainder of the cycle.

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