Kinematics and Dynamics of

Mechanisms (ME2201)

Module-X: Cams

Sunil Kumar Singh

 Introduction
• A cam is a rotating or reciprocating machine element that gives rotating, reciprocating, or
oscillating motion to another element known as a follower.
• The cam and the follower have a line contact and constitute a higher pair.

Follower

Cam

Dr. Sunil Kumar Singh 1

 Introduction
Applications
• Operating the inlet and • Sewing machines
exhaust valves of internal
combustion engines [Link]

• Feed mechanism of automatic lathes

Image Courtesy:
[Link]
File:[Link]

Dr. Sunil Kumar Singh 2

 Classification of Cams
Cams are classified according to
➢ Shape
➢ Follower movement and
➢ Manner of constraint of the follower
According to Shape
1. Wedge and Flat Cams: A wedge cam has a wedge W which, in general, has a translational
motion. The follower F can either translate or oscillate.
2. Radial or Disc Cams: A cam in which the follower moves radially from the center of rotation of
the cam is known as a radial or disc cam. Radial cams are very popular due to their simplicity and
compactness.

Dr. Sunil Kumar Singh 3

 Classification of Cams
3. Spiral Cams: A spiral cam is a face cam in which a groove is cut in the form of a spiral. The
spiral groove consists of teeth that mesh with a pin gear follower. The velocity of the follower is
proportional to the radial distance of the groove from the axis of the cam.

4. Cylindrical Cams: In cylindrical cams, the follower reciprocates or oscillates in a direction

parallel to the cam axis. The follower rides in a groove on its cylindrical surface. A cylindrical
grooved cam with a reciprocating and an oscillating follower.

Dr. Sunil Kumar Singh 4

 Classification of Cams
5. Conjugate Cams: A conjugate cam is a double-disc cam, the two discs being keyed together
and in constant touch with the two rollers of a follower. Thus, the follower has a positive constraint.
6. Globoidal Cams: A globoidal cam can have two types of surfaces, convex or concave. A
circumferential contour is cut on the surface of rotation of the cam to impart motion to the follower,
which has an oscillatory motion.
7. Spherical Cams: In a spherical cam, the follower oscillates about an axis perpendicular to the
axis of rotation of the cam. Note that in a disc cam, the follower oscillates about an axis parallel to
the cam’s axis of rotation.

Dr. Sunil Kumar Singh 5

 Classification of Cams
According to Follower Movement
The motions of the followers are distinguished from each other by the dwells they have,

1. Rise-Return-Rise (R-R-R): In this, there is an alternate rise and return of the follower with no
periods of dwell. 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 a rise and return of the follower
after a dwell.
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.

Dr. Sunil Kumar Singh 6

 Classification of Cams
According to the Manner of Constraint of the Follower
To reproduce exactly the motion transmitted from the cam to the follower, it is necessary that the
two remain in contact at all speeds and times.
1. Pre-loaded Spring Cam: A pre-loaded compression spring is used for the purpose of keeping
the contact between the cam and the follower.
2. Positive-drive Cam: In this type, constant touch between the cam and the follower is maintained
by a roller follower operating in the groove of a cam. The follower cannot leave this groove
during normal operating conditions. A constrained or positive drive can also be obtained using a
conjugate cam.
3. Gravity Cam: If the rise of the cam is achieved by the rising surface of the cam and the return by
the force of gravity or due to the weight of the cam, the cam is known as a gravity cam. However,
these cams are not preferred due to their uncertain behavior.

Dr. Sunil Kumar Singh 7

 Types of Follower
Cam followers are classified according to
➢ Motion of the follower
➢ Path of motion of the follower
➢ Contact surface
According to Motion of Follower

1. Reciprocating or Translating Follower: When the

follower reciprocates in guides as the cam rotates
uniformly.
Example: knife-edge follower, roller follower, flat-faced
follower, spherical-faced follower

2. Oscillating or Rotating Follower: When the uniform

rotary motion of the cam is converted into oscillatory
motion of the follower, it is called an oscillating or rotating
follower.

Dr. Sunil Kumar Singh 8

 Types of Follower
According to the Path of Motion of the Follower

1. Radial Follower: When the motion of the follower is

along an axis passing through the center of the cam, it
is known as a radial follower.

2. Offset Follower: When the motion of the follower is

along an axis away from the axis of the cam center, it is
called an offset follower.

Dr. Sunil Kumar Singh 9

 Types of Follower
According to Surface in Contact

1. Flat Faced Follower: When the contacting end of

the follower is a perfectly flat face, it is called a flat-
faced follower.

2. Spherical Faced/Mashroom Face: When the

contacting end of the follower is of spherical shape,
it is called a spherical faced follower. The flat end of
the follower is machined to a spherical shape.

Dr. Sunil Kumar Singh 10

 Terminology used in Radial Cams

Base Circle
• It is the smallest circle that can be drawn to the cam
profile.
Trace Point
• It is a reference point on the follower and is used to
generate the pitch curve.
• In case of knife edge follower, the knife edge represents
the trace point, and the pitch curve corresponds to the
cam profile.
• In a roller follower, the center of the roller represents the
trace point.
Pressure Angle
• It is the angle between the direction of the follower
motion and a normal to the pitch curve.
• For translating follower angle is less than 30o.

Dr. Sunil Kumar Singh 11

 Terminology used in Radial Cams

Pitch Point
It is a point on the pitch curve having the maximum
pressure angle.
Pitch Circle
It is a circle drawn from the center of the cam through the
pitch points.
Pitch Curve
It is the curve generated by the trace point as the follower
moves relative to the cam.
Prime Circle
The smallest circle drawn tangent to the pitch curve is
known as the prime circle.
Lift or Stroke
It is the maximum travel of the follower from its lowest
position to the topmost position.

Dr. Sunil Kumar Singh 12

 Derivatives of Follower Motion
Kinematic Derivatives: The derivatives of follower motion can be kinematic (with respect to θ)
which relate to the geometry of the cam system.
A displacement diagram of the follower motion is plotted with the cam angle θ as the abscissa and
the follower linear or angular motion as the ordinate.

1. Angle of Ascent (φa): It is the angle through which the cam

turns during the time the follower rises.
2. Angle of Dwell (δ): It is the angle through which the cam
turns while the follower remains stationary at the highest or
the lowest position.
3. Angle of Descent (φd): It is the angle through which the cam
turns during the time the follower returns to the initial
position.
4. Angle of Action: The angle of action is the total angle
moved by the cam during the time, between the beginning of
rise and the end of the return of the follower.

Dr. Sunil Kumar Singh 13

 Derivatives of Follower Motion
Physical Derivatives: (with respect to time) which relate to the motion of the follower of the cam
system

Dr. Sunil Kumar Singh 14

 Motion of the Follower
The follower during its travel have the following motions:
• Uniform Velocity
• Uniform Acceleration and Retardation
• Simple Harmonic Motion
• Cycloidal Motion
Follower moves with uniform velocity
Since the follower moves with uniform velocity during its rise and return stroke, therefore the
slope of the displacement curves must be constant.
s = Follower displacement (Instantaneous)
h = Maximum follower displacement
v = Velocity of the follower
f = Acceleration of the follower
θ = Cam rotation angle (Instantaneous)
φ = Cam rotation angle for maximum follower
displacement in radians
ω = Angular velocity of the cam in rad/sec
Dr. Sunil Kumar Singh 15
 Motion of the Follower

 t
s=h =h
 
ds h
v= = = constant
dt 

d 2s
f = 2 =0
dt

Dr. Sunil Kumar Singh 16

 Motion of the Follower
Follower moves with constant acceleration and deceleration

Dr. Sunil Kumar Singh 17

 Motion of the Follower
Follower moves with constant acceleration and deceleration
1. Divide the angular displacement of the cam during the outstroke (θo) into an even number of
equal parts (for example, eight) and draw vertical lines through each of these division points.
2. Divide the follower stroke (h) into an even number of equal parts, ensuring that the number of
divisions is same as that used in Step 1.
3. Join point A to point a and extend the line to intersect the vertical through point 1 at B. In a
similar manner, locate the remaining points C, D, etc. Finally, join all these points smoothly to
obtain the parabolic curve representing the outstroke of the follower.
4. In a similar manner to that described above, the displacement diagram for the follower during
the return stroke can be constructed.

Dr. Sunil Kumar Singh 18

 Motion of the Follower
Follower moves with Simple Harmonic Motion
At any instant displacement of the follower is given by,

where,

Using the expression of β, the expression can be written as,

Acceleration

Velocity

Dr. Sunil Kumar Singh

This profile can be used for moderate speed. 19
 Motion of the Follower
Follower moves with Simple Harmonic Motion
1. Draw a semicircle using the follower stroke as its diameter.
2. Divide the semicircle into an even number of equal parts (e.g., eight).
3. Divide the cam angle for the outstroke and return stroke into the same number of equal parts as
used for dividing the semicircle in Step 2.
4. The displacement diagram can be obtained by projecting the points of the semicircle onto the
vertical lines representing the cam angle divisions.

Dr. Sunil Kumar Singh 20

 Motion of the Follower
Follower moves with Cycloidal Motion
At any instant displacement of the follower is given by,

Velocity Acceleration

Dr. Sunil Kumar Singh This profile can be used for high-speed applications. 21
 Motion of the Follower
Follower moves with Cycloidal Motion
1. Divide the cam displacement (angle) interval into n equal parts (where n is an even number).
2. Draw the diagonal of the diagram and extend it below.
3. Draw a circle with its center located anywhere on the lower portion of the diagonal, such that its
circumference represents the follower displacement.
4. Divide the circle into n even equal arcs and label them as shown in the diagram.
5. Project the points on the circle onto its vertical diameter and then transfer them in a direction
parallel to the diagonal of the diagram to the corresponding ordinates.

Dr. Sunil Kumar Singh 21

 Problem 1: A cam is to give the following motion to a knife-edged follower:
• To raise the follower through 30 mm with uniform acceleration and deceleration during 120°
rotation of the cam
• Dwell for next 30° of the cam rotation
• To lower the follower with simple harmonic motion during the next 90° rotation of the cam
• Dwell for the rest of the cam rotation
The cam has a minimum radius of 30 mm and rotates counter-clockwise at a uniform speed of 800
rpm. Draw the profile of the cam if the line of stroke of the follower passes through the axis of the
cam shaft. Also, draw the displacement, velocity, and acceleration diagrams for the follower's
motion over one complete revolution of the cam, indicating the main values.

Dr. Sunil Kumar Singh 21