Instructions To The Students - : Machines & Mechanisms

Machines & Mechanisms (15EMEC204)
By: B.S. Kakol (Commencing from 11.15 am)

Instructions to the Students
• Login as attendee. Not as Presenter
• Please be ready with a notebook, Pen, Calculator.
• As this chapter contain Graphical methods, you may require
drawing instruments for solving the problems.
• Practice make students confident to solve the problems.
03/17/2022 1
Summary of sessions
Session 1
• Introduction to cams
• Classification of cams and followers
Session 2
• Kinematic Analysis of Follower
Session 3
• Design of cam profile
Session 4
• Numerical / Problem Solving
03/17/2022 2
Kinematic Analysis of Follower…
Combinations of Cam and follower
Cam Follower options
Knife edge Radial , offset

Disc cam
Roller Radial , offset
Oscillating Radial
Need to learn about these combinations
03/17/2022 3
In Regular Mechanical elements

Output motion to find
Input Motion is known
(Velocity, acceleration)
( Ex: single slider mechanism)

In Cam Mechanism
Input motion to Produce
Output Motion is Decided
(By Suitable cam profile)
03/17/2022 4
Output motion of follower

In all taken combination of cam and follower, follower making two motions
1. Reciprocating motion : AB to B (Rise) ----- outward motion
Lift
B to A (Return) --- Inward motion
A
2. Oscillating Motion : R cm
B
Arc AB = R ѳ O
Arc AB=line AB =Lift A OB = lever length
ѳ = oscillation angle(in rad)
03/17/2022 5
In both motions follower makes the Lift

Consider follower travel from A to B or B to A
Velocity of the follower at A = 0
B B
Velocity of the follower at B = 0
(+) (-) In between Velocity Varies.
Rise Return
Based on the velocity variation, follower

A A
motions are classified
03/17/2022 6
Classification of follower motions

There are 4 reciprocating motions possible for the follower
1. Uniform velocity
2. Uniform Acceleration Uniform Retardation (UAUR)
3. Simple Harmonic Motion (SHM)
4. Cycloidal Motion
( In the syllabus only 2 & 3 motions are Mentioned)
03/17/2022 7
1.
Follower Variation Graph
Movement
Uniform From A to B
Velocity or B to A, +V
Velocity (+) Lift
remain B A
the same A Lift B
(-)
03/17/2022 8
2.
Movement
UAUR In between
(Uniform Velocity
Acceleration increases +V
Uniform uniformly and
Retardation) decreases
uniformly A Lift B
03/17/2022 9
3.
Movement
SHM In between
(Simple Velocity +V
Harmonic increases
Motion) Exponentially
and decreases
Exponentially A Lift B
03/17/2022 10
Kinematic analysis of follower starts with 3 inputs
1. Lift in mm.
2. Displacement Schedule : R-D-R-D , R-R-D etc.
3. Type of motion : SHM , UAUR
Input motion for the cam : Rotation (360 degrees)

Out put motion for the follower : Lift , type of motion
Represent these in a graph

X –axis - Cam motion y-axis - follower motion
The Graph is known as Displacement diagram

03/17/2022 11
Steps to draw the displacement Diagram (Graph)

Step No. 1
1. Decide the scale for x-axis (1 cm = 30 degrees)
2. Decide the scale for y-axis ( 1 cm = 10mm)
3. Draw the axis (range 00 - 3600) and y-axis for lift
Lift =S
0 3600
12 cm line
03/17/2022 12
Step No. 2 Let take numerical value to exhibit the procedure

Let S = 60mm Displacement Schedule = R-D-R-D
Rise =1200 = ѳ0 , Dwell = 600 = ѳd , Return = 900 = ѳR , Dwell = 900 = ѳd
Devide the X- axis based on above schedule The sum of all
should be 3600
S = 60mm
Complete the
0 A B C 0 rectangular boxes
12 cm line
03/17/2022 13
In some problems displacement schedule is given in terms of times

additionally cam speed will be given.
For Example, for the previous problem following data will be given
Cam speed =600 rpm (clockwise)
Rise = 0.0333 sec , Dwell = 0.0165 sec , Return = 0.0296sec , Dwell = 0.0296
Cam speed = 600/60 = 10 rps. Or 1/10 sec. per rotation/cycle

Hence, 0.1 seconds = 3600
Hence Rise = (0.0333 X 360)/0.1 = 120 degrees
Dwell = (0.0165X360) /0.1 = 60 degrees
Return = ( 0.029 X360)/0.1 = 90 degrees
dwell = ( 0.029 X360)/0.1 = 90 degrees
03/17/2022 14
Step 3 : Now based on the type of motion The next procedure

Decided (SHM,UAUR)
Case 1 : Follower making Simple Harmonic Motion(SHM)
Divide Rise (ѳ0 ) and Return (ѳR ) for Even number of parts.
Normally 6 parts are preferred to optimize the time.
for division calculators / graphical method can be used
Rise = (40 mm/6) = 6.6 mm each
Return = (30mm/6mm) = 5 mm each
Divide Lift also for same number of parts ( 6)
03/17/2022 15
03/17/2022 16
To divide a length, graphical method also can be used.

• Draw an inclined line for any angle and
length. Do six equal length arc on that
• Join 6th arc with end of the line. Draw the
parallel lines to this joined line. Now, mark
the points.
• The line is divided for 6 parts
03/17/2022 17
03/17/2022 18
Step 4 : Draw the vertical Bisectors from these parts. Draw a semicircle on the
lift and divide for the same 6 parts.
hence 180 degrees/ 6 = 30 degrees
03/17/2022 19
Step 5: Draw the horizontal bisectors from parts of the semicircle on Rise and
return.
03/17/2022 20
Step 6: Mark the points and name them where respective

vertical and horizontal bisectors meet.
03/17/2022 21
Step 7: Join these point by a smooth curve (Free hand).
Only this curve should be bold in this diagram
03/17/2022 22
Velocity and Acceleration Diagrams (for Case 1)

Additional information is speed of the cam
Let speed of the cam is 600 rpm (clockwise).
Calculate ω = (2 X π X N) / 60 rad/sec.
Step 1: Extend the vertical box lines down ward
03/17/2022 23
Step 2: Draw a horizontal line below and write velocity

diagram.
Draw the curve based on the nature of the curve. And calculate
V0 max and VR max
03/17/2022 24
Step 3 : Extend the vertical lines further. And draw acceleration

diagram as shown
= 2828 mm/sec
=266572 mm/sec2
03/17/2022 25
Case 2 : Follower making Uniform Acceleration and Uniform Retardation (UAUR)
Step no. 1 and 2 are same for this case as in case 1

Now Rise (OA) and Return (BC) compartments are to divided based on this
ratio.
For this case the additional information required is ratio between
Acceleration and Retardation. This ratio is given as
A = R or A=2R or 2A=R etc.
Step3: Need to calculate the no. of parts to be made for Rise and Return
03/17/2022 26
If A=R then, 1+1 =2, 1/2 portion Acceleration and 1/2

portion Retardation
If A=2R then, 1+2 =3, 1/3 portion Acceleration and 2/3
portion Retardation
If 2A=R then, 2+1 =3, 2/3 portion Acceleration and 1/3
portion Retardation
Let OA and BC compartments are divided in to 6 parts and
Ratio is A=2R. Hence, (1/3) * 6 = 2 parts for Acceleration
(2/3) * 6 = 4 parts for Retardation
03/17/2022 27
Step 4 : Rise and Return boxes are to be divided based on this

ratio. Part 2 is made as center line. Divide this line for 6
.
parts.
03/17/2022 28
Step 5: Draw the vertical bisectors.
03/17/2022 29
Step 6: Draw the radial bisectors. Acceleration bisectors start

from O and retardation bisectors start from opposite corner
03/17/2022 30
Step 7: Mark the points where respective vertical and radial

bisectors meet as a, b, c,….
03/17/2022 31
Step 7: Join these point by a smooth curve (Free hand).

Only this curve should be bold in the diagram
03/17/2022 32
Velocity and Acceleration Diagrams (for Case 2)

Additional information is speed of the cam Let speed of the cam is 600 rpm
(clockwise). Calculate ω = (2 X π X N) / 60 rad/sec. =62.831 rad/sec
=3600 mm/sec
=215821
mm/sec2
03/17/2022 33

Instructions To The Students - : Machines & Mechanisms

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Machines & Mechanisms (15EMEC204)

By: B.S. Kakol (Commencing from 11.15 am)

Combinations of Cam and follower

Cam Follower options

Knife edge Radial , offset

Need to learn about these combinations

In Regular Mechanical elements

( Ex: single slider mechanism)

Output motion of follower

1. Reciprocating motion : AB to B (Rise) ----- outward motion

In both motions follower makes the Lift

Based on the velocity variation, follower

Classification of follower motions

Kinematic analysis of follower starts with 3 inputs

Input motion for the cam : Rotation (360 degrees)

Represent these in a graph

The Graph is known as Displacement diagram

Steps to draw the displacement Diagram (Graph)

Step No. 2 Let take numerical value to exhibit the procedure

In some problems displacement schedule is given in terms of times

Cam speed = 600/60 = 10 rps. Or 1/10 sec. per rotation/cycle

Step 3 : Now based on the type of motion The next procedure

To divide a length, graphical method also can be used.

Step 6: Mark the points and name them where respective

Step 7: Join these point by a smooth curve (Free hand).

Only this curve should be bold in this diagram

Velocity and Acceleration Diagrams (for Case 1)

Step 2: Draw a horizontal line below and write velocity

Step 3 : Extend the vertical lines further. And draw acceleration

Case 2 : Follower making Uniform Acceleration and Uniform Retardation (UAUR)

Step no. 1 and 2 are same for this case as in case 1

If A=R then, 1+1 =2, 1/2 portion Acceleration and 1/2

Step 4 : Rise and Return boxes are to be divided based on this

Step 5: Draw the vertical bisectors.

Step 6: Draw the radial bisectors. Acceleration bisectors start

Step 7: Mark the points where respective vertical and radial

Step 7: Join these point by a smooth curve (Free hand).

Velocity and Acceleration Diagrams (for Case 2)

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