Kinematics of Machinery (ME-224)

Module-4
By

Sajan Kapil
Assistant Professor
Indian Institute of Technology Guwahati
Guwahati-781039, Assam, India

Phone: 003612582652 Email: sajan.Kapil@iitg.ac.in

 ME 224 Kinematics of Machinery (2-1-0-6)

Elements of kinematic chain, mechanisms, their inversions, mobility (Kutzhbach criteria) and range
of movements (Grashof's law); Miscellaneous mechanisms: straight line generating mechanism,
intermittent motion mechanism; Displacement, velocity and acceleration analysis of planar
mechanisms by graphical, analytical and computer aided methods; Dimensional synthesis for
motion; function and path generation; Cam profile synthesis and determination of equivalent
mechanisms; Gears (spur, helical, bevel and worm); gear trains: simple, compound and epicyclic
gearing.
Texts:
1. K. J, Waldron and G. L Kinzel, Kinematics, Dynamics and Design of Machinery, 2 nd Ed., Wiley
Student Edition, 2004.
2. A. Ghosh and A. K. Mallik, Theory of Mechanisms, and Machines, 3rd Ed., East West Press Pvt
Ltd, 2009
References:
3. J. J Uicker (Jr), G. R Pennock and J. E Shigley, Theory of Machines and Mechanisms, 3rd ed.,
Oxford International Student Edition.
4. S. S. Rattan, Theory of Machines, 3rd Ed., Tata McGraw Hill, 2009.
5. R. L. Norton, Kinematics and Dynamics of Machinery, Tata Mcgraw Hill, 2009.
6. J. S. Rao, R. V. Dukkipati, Mechanism and Machine Theory, 2nd Ed., New Age International,
2008.
7. A. G. Erdman and G. N. Sandor, Mechanism Design, Analysis and Synthesis Volume 1, PHI, Inc.,
1997.
8. T. Bevan, Theory of Machines, CBS Publishers and Distributors, 1984
Lecture-1
 Introduction
Cam: Application
What do you know about an IC engine ? How does it work ?
 Introduction
Cam

Cams are used for essentially the same as linkages, that is, generation
of irregular motion.

Advantages:
1- Cam can be designed for much tighter motion specifications
2- Simple design then linkage
3- Easy to program for cam design

Disadvantages:
1- Expensive
2- Poor wear resistance
3- Poor high speed capability (follower bounse)
4- Noise
 Introduction
Cam: Elements

CAM
Follower
 Introduction
Follower: Classification

Follower Motion:

• Translating
• Oscillating

Follower Shape:

• Roller
• Spherical
• Flat end
• Knife edge
 Introduction
Cam: Classification

Radial Wedge Cylindrical Face/End

Yoke Cam
Introduction
Cam: Classification
 Introduction
Cam Design

Synthesis of the motion program for the follower

Most of the time it is known

Generation of the cam profile

 Follower Function
Synthesis of the motion program for the follower
The problem of motion generation of motion-program synthesis is the problem of
filling in, in an optimal way, the portions of the motion cycle that are completely
specified.

Infinite acceleration, follower may

lose contact / excess load / noise

Specified motion of follower, dwell at The simplest way to fil this space is
for , dwell at for and constant by moving the cam at constant
velocity from for to velocity between these segments.
 Follower Function
Synthesis of the motion program for the follower

The issue of infinite acceleration can be eliminated by matching both

displacement and velocity at the ends of each segment. One possible way is
by subdividing the synthesised segments in to two parts with a constant
acceleration on the first and constant deceleration on the second. On such a
segment, If acceleration is then the velocity is:
𝑉 =𝑉 0 + 𝑎𝑡
Displacement:
𝑎 2
𝑦 = 𝑆0 +𝑉 0 𝑡+ 𝑡
2
If cam is rotating with constant velocity then:
𝜃= 𝜃 0 + 𝜔 𝑡

(𝜃 − 𝜃¿¿ 0) (𝜃 − 𝜃¿ ¿ 0) (𝜃 − 𝜃 ¿¿ 0) 𝑎
𝑡= 𝑣, ¿=𝑣 0 +𝑎 ¿ and 𝑦 =𝑆0 +𝑉 0 + ¿¿¿
𝜔 𝜔 𝜔 2
 Follower Function
Synthesis of the motion program for the follower
Parabolic

Cam-follower displacement
program that use this type
of transition are called as
parabolic. The cam profile
developed from them are
also called as parabolic,
although these cam does’t
not have a parabolic curve
in its profile.
 Follower Function
Synthesis of the motion program for the follower

Dwell Rise

• At inflection points the steepness of the cam is maximum.

• These points are identified by the location where the curvature of the
diagram changes sign.
• In each of the standard curves cases, we shall look at mainly the rise part
of the follower because the return can be a mirror image.
 Follower Function
Synthesis of the motion program for the follower

For the transition motion several different type of motions has been
studied so far. These includes:

Analytical method
• Uniform motion

Graphical
• Parabolic motion
• Simple harmonic motion
• Cycloidal motion
• General Polynomial motion

If the cam is rotating with a constant angular velocity

𝑦 = 𝑦 ( 𝜃)

𝜃= 𝜃 0+ 𝜔 𝑡
 Follower Function
Synthesis of the motion program for the follower

The higher derivatives of follower displacement can be given by:

and

It shows that the time derivatives of follower displacement are directly

proportional to its derivatives with respect to cam rotation. Hence one can
work directly work with and and easily obtained the time derivatives
when required.

Note: can be angular or linear displacement and similarly can be linear

or angular displacement of cam.
 Follower Function
Uniform

𝑦 =𝐶 𝜃 During the rise the velocity and acceleration are:

𝐿
or 𝑦˙ = 𝜔
𝛽
𝐿
𝑦= 𝜃
𝛽 𝑦
¨ =0
 Follower Function
Parabolic
Assume cam angle in the beginning

First half of the rise

2
𝑦 =𝐶 0 + 𝐶 1 𝜃 +𝐶 2 𝜃 − −− ( 1 ) 𝜃= 0 , 𝑦 =0
′ 𝜃= 0 , 𝑦 ′ =0
𝑦 =𝐶 1 +2 𝐶 2 𝜃
𝛽 𝐿
′′ 𝜃= , 𝑦=
𝑦 = 2 𝐶2 2 2
 Follower Function
Parabolic

First half of the rise

( )
2
2𝐿 𝜃 ′ 4𝐿 ′′ 4 𝐿 ′′ ′
𝐶 0 =𝐶 1=0 𝑎𝑛𝑑 𝐶 2= 𝑦 =2 𝐿 𝑦, = 2
𝜃 𝑦
, = ,
2 𝑦 =0
𝛽
2
𝛽 𝛽 𝛽

4𝐿
Velocity 𝑦˙ = 2 𝜔𝜃 , Acceleration 𝑦¨ = 4 𝐿 𝜔 2 , Jerk 𝑦
⃛ =0
𝛽 𝛽
2
 Follower Function
Parabolic

Second half of the rise

𝛽 𝐿
𝜃= , 𝑦=
2 2
𝜃= 𝛽 , 𝑦 ′ = 0
𝜃= 𝛽 , 𝑦 = 𝐿
 Follower Function
Parabolic

Second half of the rise

[ ( )]
2
𝜃
𝑦 =𝐿 1− 2 1 −
𝛽 𝑦
˙=
4 𝐿𝜔
𝛽
1−
[𝜃
𝛽 ]
𝑦 ′=
4𝐿
𝛽 [1−
𝜃
𝛽 ] 𝑦
¨ =−
4𝐿𝜔
𝛽
2
2

′′ 4 𝐿 ′′ ′
𝑦 =− 𝑦
⃛ =0
𝛽𝑦 =0
2
 Follower Function
Parabolic

First half of the return

In the return the same parabolic equation can be used. But it can be noticed that in rise
and return the cam angle may not start from 0. Therefore it is required to shift the co-
ordinate system to the start point. If the rise or return start at an angle you need to just
substitute in equation 1.
 Follower Function
Parabolic

First half of the return

Substituting and using the suitable boundary conditions for the first half of the return
stroke one can get:
𝜃= 0 , 𝑦 = 𝐿

[ ( )]
2
𝜃= 0 , 𝑦 ′ =0 𝜃
𝑦 =𝐿 1− 2
𝛽
𝛽 𝐿
𝜃= , 𝑦=
2 2
 Follower Function
Parabolic

Second half of the return

𝛽 𝐿
𝜃= , 𝑦=
( )
2
2 2 𝜃
𝑦 =2 𝐿 1 −
𝜃= 𝛽 , 𝑦 ′ = 0 𝛽
𝜃= 𝛽 , 𝑦 =0
 Follower Function
Parabolic
In the case of symmetric rise and return stroke one can write the relationship between
the follower motion as: ( is the follower motion in return stroke, is replaced by )

( ), [ ( )]
2
𝜃 𝜃
2
𝑦 =2 𝐿 𝑦 =𝐿 1− 2 1 −
𝛽 𝛽
First half of the rise Second half of the rise

[ ( )]
2
𝜃
( )
2
𝜃
𝑦=𝐿 1 − 2 𝑦 =2 𝐿 1 −
𝛽 𝛽
First half of the return Second half of the return
 Follower Function
Harmonic
One can notice in this case
there will be no discontinuity
at the point of inflection

𝑦 =𝐶 0 + 𝐶 1 cos 𝐶 2 𝜃 −−− ( 1 )

Single equation is enough for the range (assuming in beginning of rise)

𝑦=
𝐿
2 (
1 − cos
𝜋𝜃
𝛽 )
 Follower Function
Harmonic

𝑦=
𝐿
2(1 − cos
𝜋𝜃
𝛽 )
𝜋𝐿 ′ 𝜋𝜃 𝜋 𝐿𝜔 𝜋𝜃
𝑦 = sin 𝑦˙ = sin
2𝛽 𝛽 2𝛽 𝛽

( )
2

( ) 𝐿 𝜋𝜔 𝜋𝜃
2
′′ 𝐿 𝜋𝜔 𝜋𝜃 𝑦¨ = cos
𝑦 = cos
2 𝛽 𝛽 2 𝛽 𝛽

( )
3

( ) 𝐿 𝜋𝜔 𝜋𝜃
3
′′ ′ 𝐿 𝜋 𝜋𝜃 𝑦
⃛ =− sin
𝑦 =− sin
2 𝛽 𝛽 2 𝛽 𝛽
 Follower Function
Harmonic
In a similar fashion you can obtain the equations for return stroke just by transforming
the cam angle () and changing the boundary conditions (We can also use the trick
where and replace by ).

𝐿
(
𝑦 = 1+ cos
2
𝜋𝜃
𝛽 )
𝜋𝐿
′ 𝜋𝜃 𝜋 𝐿𝜔 𝜋𝜃
𝑦 =− sin 𝑦˙ =− sin
2𝛽 𝛽 2𝛽 𝛽

( ) ( )
2 2
′′ 𝐿 𝜋𝜔 𝜋𝜃 𝐿 𝜋𝜔 𝜋𝜃
𝑦 =− cos 𝑦˙ =− cos
2 𝛽 𝛽 2 𝛽 𝛽

( ) ( )
3 3
′′ ′ 𝐿 𝜋 𝜋𝜃 ′′ ′ 𝐿 𝜋𝜔 𝜋𝜃
𝑦 = sin 𝑦 = sin
2 𝛽 𝛽 2 𝛽 𝛽
 Follower Function
Cycloidal
In the all the previous cases there is a finite value of acceleration in the beginning of
the motion which leads to infinite jerk. However, cycloidal motion of the follower can
provide zero acceleration in the beginning and ending of the motion which leads to a
finite value of jerk. This makes it useful for high speed applications.

𝑦 =𝐿 ( 𝜃
−
𝛽 2𝜋
1
sin
2 𝜋𝜃
𝛽 )
−−− ( 1 )
 Follower Function
General Polynomial

( ) −− − ( 1 )
𝑖
𝜃
𝑦 =∑ 𝐶 𝑖
𝑖=0 𝛽

At

At

Find out the constants based on these boundary conditions.

Thank You