CONTENTS CONTENTS CONTENTS CONTENTS

20 774
Theory of Machines
Feaeaeaeaeaturturturturtureseseseses
1. Introduction. CamsCamsCamsCamsCams 2. Classification of Followers. 3. Classification of Cams. 4. Terms used in Radial cams. 5. Motion of the Follower. 6. Displacement, Velocity and Acceleration Diagrams when the Follower Moves with Uniform Velocity. 7. Displacement, Velocity and Acceleration Diagrams when the Follower Moves with Simple Harmonic Motion. 8. Displacement, Velocity and Acceleration Diagrams when the Follower Moves with Uniform Acceleration and Retardation. 9. Displacement, Velocity and Acceleration Diagrams when the Follower Moves with Cycloidal Motion. 10. Construction of Cam Profiles. 11. Cams with Specified Contours. 12. Tangent Cam with Reciprocating Roller Follower. 13. Circular Arc Cam with Flatfaced Follower.

20.1.20.1.20.1.20.1.20.1. IntrIntrIntrIntrIntroduction oduction oduction oduction oduction

A cam is a rotating machine element which gives reciprocating or oscillating motion to another element known as follower. The cam and the follower have a line contact and constitute a higher pair. The cams are usually rotated at uniform speed by a shaft, but the follower motion is pre- determined and will be according to the shape of the cam. The cam and follower is one of the simplest as well as one of the most important mechanisms found in modern machinery today. The cams are widely used for operating the inlet and exhaust valves of internal combustion engines, automatic attachment of machineries, paper cutting machines, spinning and weaving textile machineries, feed mechanism of automatic lathes etc.

20.2.20.2.20.2.20.2.20.2. Classification Classification Classification Classification Classification of of of of of Followers Followers Followers Followers
Followers The followers may be classified as discussed below : 1. According to the surface in contact. The followers, according to the surface in contact, are as follows : (a) Knife edge follower. When the contacting end of the follower has a sharp knife edge, it is called a knife edge follower, as shown in Fig. 20.1 (a). The sliding motion takes place between the contacting surfaces (i.e. the knife edge and the cam surface). It is seldom used in practice because the small area of contacting surface results in excessive wear. In knife edge followers, a considerable side thrust exists between the follower and the guide.
774

775
(b) Roller follower. When the contacting end of the follower is a roller, it is called a roller follower, as shown in Fig. 20.1 (b). Since the rolling motion takes place between the contacting surfaces (i.e. the roller and the cam), therefore the rate of wear is greatly reduced. In roller followers also the side thrust exists between the follower and the guide. The roller followers are extensively used where more space is available such as in stationary gas and oil engines and aircraft engines. (c) Flat faced or mushroom follower. When the contacting end of the follower is a perfectly flat face, it is called a flat-faced follower, as shown in Fig. 20.1 (c). It may be noted that the side thrust between the follower and the guide is much reduced in case of flat faced followers. The only side thrust is due to friction between the contact surfaces of the follower and the cam. The relative motion between these surfaces is largely of sliding nature but wear may be reduced by off-setting the axis of the follower, as shown in Fig. 20.1 (f ) so that when the cam rotates, the follower also rotates about its own axis. The flat faced followers are generally used where space is limited such as in cams which operate the valves of automobile engines. Note : When the flat faced follower is circular, it is then called a mushroom follower. (d) Spherical faced follower. When the contacting end of the follower is of spherical shape, it is called a spherical faced follower, as shown in Fig. 20.1 (d). It may be noted that when a flat-faced follower is used in automobile engines, high surface stresses are produced. In order to minimise these stresses, the flat end of the follower is machined to a spherical shape.
(a) Cam with knife (b) Cam with roller (c) Cam with flat edge follower. follower. faced follower. (d) Cam with spherical (e) Cam with spherical (f) Cam with offset faced follower. faced follower. follower. Fig. 20.1. Classification of followers.

2. According to the motion of the follower. The followers, according to its motion, are of the following two types:

Chapter 20 : Cams

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Theory of Machines
(a) Reciprocating or translating follower. When the follower reciprocates in guides as the cam rotates uniformly, it is known as reciprocating or translating follower. The followers as shown in Fig. 20.1 (a) to (d) are all reciprocating or translating followers. (b) Oscillating or rotating follower. When the uniform rotary motion of the cam is converted into predetermined oscillatory motion of the follower, it is called oscillating or rotating follower. The follower, as shown in Fig 20.1 (e), is an oscillating or rotating follower. 3. According to the path of motion of the follower. The followers, according to its path of motion, are of the following two types: (a) Radial follower. When the motion of the follower is along an axis passing through the centre of the cam, it is known as radial follower. The followers, as shown in Fig. 20.1 (a) to (e), are all radial followers. (b) Off-set follower. When the motion of the follower is along an axis away from the axis of the cam centre, it is called off-set follower. The follower, as shown in Fig. 20.1 ( f ), is an off-set follower. Note : In all cases, the follower must be constrained to follow the cam. This may be done by springs, gravity or hydraulic means. In some types of cams, the follower may ride in a groove.

20.3.20.3.20.3.20.3.20.3. Classification of Cams Classification of Cams Classification of Cams Classification of Cams Classification of Cams
Though the cams may be classified in many ways, yet the following two types are important from the subject point of view :
(a) Cylindrical cam with reciprocating (b) Cylindrical cam with oscillating follower. follower.

Fig. 20.2. Cylindrical cam. 1. Radial or disc cam. In radial cams, the follower reciprocates or oscillates in a direction perpendicular to the cam axis. The cams as shown in Fig. 20.1 are all radial cams. 2. Cylindrical cam. In cylindrical cams, the follower reciprocates or oscillates in a direction parallel to the cam axis. The follower rides in a groove at its cylindrical surface. A cylindrical grooved cam with a reciprocating and an oscillating follower is shown in Fig. 20.2 (a) and (b) respectively. Note : In actual practice, radial cams are widely used. Therefore our discussion will be only confined to radial cams.
In IC engines, cams are widely used to operate valves.

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20.4.20.4.20.4.20.4.20.4. Terererererms ms ms ms ms Used Used Used Used Used in in in in in Radial Radial Radial Radial Radial Cams Cams Cams Cams
Cams Fig. 20.3 shows a radial cam with reciprocating roller follower. The following terms are important in order to draw the cam profile. 1. Base circle. It is the smallest circle that can be drawn to the cam profile. 2. 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 centre of the roller represents the trace point. 3. Pressure angle. It is the angle between the direction of the follower motion and a normal to the pitch curve. This angle is very important in designing a cam profile. If the pressure angle is too large, a reciprocating follower will jam in its bearings. 4. Pitch point. It is a point on the pitch curve having the maximum pressure angle. 5. Pitch circle. It is a circle drawn from the centre of the cam through the pitch points. 6. Pitch curve. It is the curve generated by the trace point as the follower moves relative to the cam. For a knife edge follower, the pitch curve and the cam profile are same whereas for a roller follower, they are separated by the radius of the roller. 7. Prime circle. It is the smallest circle that can be drawn from the centre of the cam and tangent to the pitch curve. For a knife edge and a flat face follower, the prime circle and the base circle are identical. For a roller follower, the prime circle is larger than the base circle by the radius of the roller. 8. Lift or stroke. It is the maximum travel of the follower from its lowest position to the topmost position.
Fig. 20.3. Terms used in radial cams.

20.5.20.5.20.5.20.5.20.5. Motion Motion Motion Motion Motion of of of of of the the the the the Follower Follower
Follower Follower Follower The follower, during its travel, may have one of the following motions. 1. Uniform velocity, 2. Simple harmonic motion, 3. Uniform acceleration and retardation, and 4. Cycloidal motion.

Chapter 20 : Cams

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Theory of Machines
We shall now discuss the displacement, velocity and acceleration diagrams for the cam when the follower moves with the above mentioned motions.

20.6.20.6.20.6.20.6.20.6. Displacement, Displacement, Displacement, Displacement, Displacement, Velocity Velocity Velocity Velocity Velocity and and and and and Acceleration Acceleration Acceleration Acceleration Acceleration Diagrams Diagrams Diagrams Diagrams Diagrams when when when when when the the the the the Follower Follower Follower Follower Follower Moves Moves Moves Moves Moves with with with with with Uniform Uniform Uniform Uniform Uniform Velocity Velocity Velocity Velocity Velocity The displacement, velocity and acceleration diagrams when a knife-edged follower moves with uniform velocity are shown in Fig. 20.4 (a), (b) and (c) respectively. The abscissa (base) represents the time (i.e. the number of seconds required for the cam to complete one revolution) or it may represent the angular displacement of the cam in degrees. The ordinate represents the dis- placement, or velocity or acceleration of the follower.
Since the follower moves with uniform velocity during its rise and return stroke, therefore the slope of straight lines. the displacement curves must be constant. In A little consideration will show that the follower other remains words, at AB rest 1 and during C 1 D part must of the be cam rotation. The periods during which the follower remains at rest are known as dwell periods, as shown retardation by lines of the B 1 follower C
1

and DE at the in Fig. beginning 20.4 (a). and From at the Fig. end 20.4 of each (c), stroke we see is that infinite. the acceleration This is due or to the fact that the follower is required to start from rest and has to gain a velocity within no time. This is only possible if the acceleration or retardation at the beginning and at the end of each stroke is infinite. These conditions are however, impracticable.
Fig. 20.4. Displacement, velocity and Fig. 20.5. Modified displacement, velocity and acceleration diagrams when the acceleration diagrams when the follower follower moves with uniform velocity. moves with uniform velocity.

In order to have the acceleration and retardation within the finite limits, it is necessary to modify the conditions which govern the motion of the follower. This may be done by rounding off the sharp corners of the displacement diagram at the beginning and at the end of each stroke, as shown in Fig. 20.5 (a). By doing so, the velocity of the follower increases gradually to its maximum value at the beginning of each stroke and decreases gradually to zero at the end of each stroke as shown in Fig. 20.5 (b). The modified
Camshaft of an IC engine.

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displacement, velocity and acceleration diagrams are shown in Fig. 20.5. The round corners of the displacement diagram are usually parabolic curves because the parabolic motion results in a very low acceleration of the follower for a given stroke and cam speed.

20.7.20.7.20.7.20.7.20.7. Displacement, Displacement, Displacement, Displacement, Displacement, Velocity Velocity Velocity Velocity Velocity and and and and and Acceleration Acceleration Acceleration Acceleration Acceleration Diagrams Diagrams Diagrams Diagrams Diagrams when when when when when the the the the the Follower Follower Follower Follower Follower Moves Moves Moves Moves Moves with with with with with Simple Simple Simple Simple Simple Harmonic Harmonic Harmonic Harmonic Harmonic Motion Motion Motion Motion Motion The displacement, velocity and acceleration diagrams when the follower moves with simple harmonic motion are shown in Fig. 20.6 (a), (b) and (c) respectively. The displacement diagram is drawn as follows :
1. Draw a semi-circle on the follower stroke as diameter. 2. Divide the semi-circle into any number of even equal parts (say eight). 3. Divide the angular displacements of the cam during out stroke and return stroke into the same number of equal parts. 4. The displacement diagram is obtained by projecting the points as shown in Fig. 20.6 (a). The velocity and acceleration diagrams are shown in Fig. 20.6 (b) and (c) respectively. Since the follower moves with a simple harmonic motion, therefore velocity diagram consists of a sine curve and the acceleration diagram is a cosine curve. We see from Fig. 20.6 (b) that the velocity of the follower is zero at the beginning and at the end of its stroke and increases gradually to a maximum at mid-stroke. On the other hand, the acceleration of the follower is maximum at the beginning and at the ends of the stroke and diminishes to zero at mid-stroke.
Fig. 20.6. Displacement, velocity and acceleration diagrams when the follower moves with simple harmonic motion. Let S = Stroke of the follower, O

Chapter 20 : Cams
and
R

= Angular displacement of the cam during out stroke and return stroke of the follower respectively, in radians, and = Angular velocity of the cam in rad/s.

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Theory of Machines
Time required for the out stroke of the follower in seconds,
t O = O

/ Consider a point P moving at a uniform speed

P

radians per sec round the circumference of a circle with the stroke S as diameter, as shown in Fig. 20.7. The point P (which is the projection of a point P on the diam- eter) executes a simple harmonic motion as the point P rotates. The motion of the follower is similar to that of point P. and maximum Peripheral speed of the point P, v P velocity = of 2 S the t 1 O follower = 2 S on O the outstroke,
PO

O O Fig. v We know that = v = the centripetal 2 S acceleration = . 2 S

20.7. Motion of a point.

of the point P, a
P

= ( v OP P Maximum acceleration of the follower on = the 2 outstroke,

O2 2 22 OPO 2

.S2. S2S

2( ) a=a = 2( . S ) Similarly, maximum velocity of the follower on the return stroke, v R and maximum acceleration = of 2 the .
R

S follower on the return stroke, a

R=

2
2

. S 2(
R

)
2

20.8.20.8.20.8.20.8.20.8. Displacement, Displacement, Displacement, Displacement, Displacement, Velocity Velocity Velocity Velocity Velocity and and and and and Acceleration Acceleration Acceleration Acceleration Acceleration Diagrams Diagrams Diagrams Diagrams Diagrams when when when when when the the the the the Follower Follower Follower Follower Follower Moves Moves Moves Moves Moves with with with with with Uniform Uniform Uniform Uniform Uniform Acceleration Acceleration Acceleration Acceleration Acceleration and and and and and Retardation Retardation Retardation Retardation Retardation The displacement, velocity and acceleration diagrams when the follower moves with uniform acceleration and retardation are shown in Fig. 20.8 (a), (b) and (c) respectively. We see that the displacement diagram consists of a parabolic curve and may be drawn as discussed below :
1. Divide the angular displacement of the cam during outstroke (
O

) into any even number of equal parts (say eight) and draw vertical lines through these points as shown in Fig. 20.8 (a). 2. Divide the stroke of the follower (S) into the same number of equal even parts. 3. Join Aa to intersect the vertical line through point 1 at B. Similarly, obtain the other points C, D etc. as shown in Fig. 20.8 (a). Now join these points to obtain the parabolic curve for the out stroke of the follower. 4. In the similar way as discussed above, the displacement diagram for the follower during

return stroke may be drawn. Since the acceleration and retardation are uniform, therefore the velocity varies directly with the time. The velocity diagram is shown in Fig. 20.8 (b). Let S = Stroke of the follower,

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O

Chapter 20 : Cams
and
R

= Angular displacement of the cam during out stroke and return stroke of the follower respectively, and = Angular velocity of the cam. We know that time required for the follower during outstroke,
tO=O

/ and time required for the follower during return stroke, t R = R / Mean velocity of the follower during outstroke and mean velocity of the follower = S/t O during return stroke = S/t
R Fig. 20.8. Displacement, velocity and acceleration diagrams when the follower moves

with uniform acceleration and retardation. Since the maximum velocity of follower is equal to twice the mean velocity, therefore maxi- mum velocity of the follower during outstroke, v
O

=2St
O=

2 .S O Similarly, maximum velocity of the follower during return stroke, v

R

= 2
R

.S

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Theory of Machines
We see from the acceleration diagram, as shown in Fig. 20.8 (c), that during first half of the outstroke there is uniform acceleration and during the second half of the out stroke there is uniform retardation. stroke) and t Thus, R /2 (during the maximum return stroke). velocity of the follower is reached after the time t
O

/ 2 (during out Maximum acceleration of the follower during outstroke, a

O=tOvO

/2 = 2 2 . S t
O.O

= 4
2

. S(
O

)
2

. . . (
tO=O /)

Similarly, maximum acceleration of the follower during return stroke, a

R

= 4
2

. S(
R

)
2

20.9.20.9.20.9.20.9.20.9. Displacement, Displacement, Displacement, Displacement, Displacement, Velocity Velocity Velocity Velocity Velocity and and and and and Acceleration Acceleration Acceleration Acceleration Acceleration Diagrams Diagrams Diagrams Diagrams Diagrams when when when when when the the the the the Follower Follower Follower Follower Follower Moves Moves Moves Moves Moves with with with with with Cycloidal Cycloidal Cycloidal Cycloidal Cycloidal Motion Motion Motion Motion Motion Fig. 20.9. Displacement, velocity and acceleration diagrams when the follower moves with cycloidal motion.
The displacement, velocity and acceleration diagrams when the follower moves with cycloidal motion are shown in Fig. 20.9 (a), (b) and (c) respectively. We know that cycloid is a curve traced by a point on a circle when the circle rolls without slipping on a straight line. In case of cams, this straight line is a stroke of the follower which is translating and the circumference of the rolling circle is equal to the stroke (S) of the follower. Therefore the radius of

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the rolling circle is S / 2 . The displacement diagram is drawn as discussed below : 1. Draw a circle of radius S / 2 with A as centre. 2. Divide the circle into any number of equal even parts (say six). Project these points horizontally on the vertical centre line of the circle. These points are shown by a and b in Fig. 20.9 (a). 3. Divide the angular displace- ment of the cam during out- stroke into the same number of equal even parts as the circle is divided. Draw verti- cal lines through these points. 4. Join AB which intersects the vertical line through 3 at c. From a draw a line parallel to AB intersecting the verti- cal lines through 1 and 2 at a and b respectively. 5. Similarly, from b draw a line parallel to AB intersect- ing the vertical lines through 4 and 5 at d and e respec- tively. 6. Join the points A a b c d e B by a smooth curve. This is the required cycloidal curve for the follower during outstroke. Let = Angle through which the cam rotates in time t seconds, and = Angular velocity of the cam. We know that displacement of the follower after time t seconds, x=S O2 1 sin 2 O

. . . (i) Velocity of the follower after time t seconds, dx dt = S 1 O d dt 2 2 O cos 2 O d dt

. . . [Differentiating equation (i)]

= S O d dt

=.S

. . . (ii)
Cams are used in Jet and aircraft engines. The above picture shows an aircraft engine.

Chapter 20 : Cams