S. G. Dhande B. S. Bhadoria J.

Chakraborty
Department of Mechanical Engineering, Indian Institute of Technology, Kanpur, India

A Unified Approach to the Analytical Design of Three-Dimensional Cam Mechanisms

The paper presents a unified approach for the analytical design of three-dimensional cam follower systems. Generalized expressions for various cam parameters, such as the equation of the conjugate cam profile, the pressure angle at the point of contact and locations of the cutter and the grinding wheel axes are derived. The effectiveness of the proposed method is illustrated by applying it to camoids, three-dimensional cylindrical cams with translating and oscillating followers, globoidal cams with oscillating followers and two-dimensional disk cams with translating and oscillating roller followers.

1 Introduction
Various graphical and geometrical methods are available for the design of two-dimensional cam follower systems [1-3]. 1 By locating the relative positions of the cam and the follower, an envelope is drawn to the follower surface. This gives the conjugate cam profile. The graphical methods, however, do not provide ready information regarding other cam parameters such as the principal curvatures of the cam profile, the pressure angle, the position of the cutter axis, etc. Raven [4] proposed a method of independent position equations for the design of cam mechanisms. In [4], use is made of the complex vector notation, and this method is not suitable for three-dimensional cam mechanisms such as cylindrical cams with roller, conical, or globoidal followers. Moreover, only normal curvatures at the point of contact are obtained, and not the principal curvatures and the corresponding principal directions. In the present paper, a method for the analytical design of cams is proposed. It is assumed that the follower acceleration or the cam follower displacement characteristics are specified. The following are the main features of the proposed method: 1 The approach is general and may aptly be applied to all types of cam follower systems with arbitrary relative position of the cam and the follower axes and for arbitrary geometry of the follower surface. 2 Using this method, exact numerical data of the cam profile, milling cutter position, and the grinding wheel position can be generated. 3 Through this approach, one finds the cam profile directly without going through the intermediate step of finding the pitch

4 In case of positive displacement followers, this method generates data for both the cam surfaces simultaneously. 5 This method is suitable for evaluating the principal curvatures, the principal directions, and the reduced curvature at the point of contact, as by using this method one can find the equation of the cam surface in a closed form. The surface of the conjugate cam is an envelope of the family of follower surfaces for different cam-follower relative positions as the cam rotates through a complete cycle. By conjugate cam one means a cam which, rotating at uniform angular velocity, generates the specified kinematic characteristics on the follower system. The proposed method to find the conjugate cam surface is based on the concept that at the contact point between the cam and the follower surfaces, the common normal vector is orthogonal to the relative velocity vector. As a matter of fact, the relative velocity vector at the contact point between the cam and the follower surfaces at any instant is determined by the kinematic characteristics of the follower motion (for the given angular velocity of the cam). As the cam surface is an envelope to the family of the follower surfaces, at any contact point these two must have a common normal. So the orthogonality condition between the common normal and the relative velocity vector at all the contact points ensures that: (a) the follower has the specified kinematic characteristics and (b) , the cam surface is an envelope of the family of the follower surfaces. Using this condition, one can find the contact line on the follower surface at any instant. The locus of all these contact lines, transformed in the coordinate system of the cam, gives the conjugate cam profile.

Numbers in brackets designate References at end of paper. Contributed by the Mechanisms Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS and presented at the Mechanisms Conference, New York, October 6-10, 1974. Manuscript received at ASME Headquarters May 8,1974. Paper No. 74-DET-8.

2 The Fundamental Case

Let 2 i be the surface of the follower and S2 be that of the cam (Fig. 1). The equation of the surface 2 i in the coordinate system Si(Xt, Y\, Z\) fixed to the follower may be expressed as

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Simultaneous solution of equations (1) and (46) gives the equation of the contact line on the follower surface in the form
fli

\-xu, Vlo

ZuY

If M21 is the geometric transformation matrix from the coordinate system S i to S 2 , then the radius vector R2 of the cam surface can be obtained by using the relation
5.2

~Bic~

Mn

(5)

Li J
Fig. 1 The fundamental case

L1J
k
(1)

The pressure angle \f/ at the point P is defined as

-er(1>|
(1)1

COS i/i

(6)

Rt

= i?i(e,6)

(1)
where veia)velocity of the point on the follower, coincident with the contact point P. ejn)unit normal vector to the surface S i at the point P. j) e T a ) and e.ia) are expressed in the fixed coordinate system S i . Equation (6) is a generalized definition of the pressure angle. It can be used for two-, as well as three-dimensional, cams. For a given displacement curve, the pressure angle requirements determine the size of the cam. The positions of the cutter axis and the grinding wheel axis are determined by first finding an error vector depending on the sizes of the follower surface and the tool and then using a proper geometric transformation matrix. These expressions are given for the cases treated next. Follower Surfaces For mechanisms having higher pair contact, the kinematic characteristics depend not only on the link dimensions, but also on the nature of the surfaces at contact points. For example, in the case of three-dimensional cams, the transmission function depends on the length of the follower, the relative position of the follower with respect to the cam, the nature of the follower, and the cam surfaces. In this section, equations of some typical follower surfaces are derived. In every case, RiiP) and fii<p), respectively, designate the radius vector of the contact point P and the unit normal vector at P on the follower surface. (a) Spherical Follower (Fig. 2(a)). R_X{P) 95 (3) . e_^
p)

where ifi = [*i, yi, z i ] T and 8, 6 are the parameters of the surface S i . .>..'" Similarly, the coordinate system SafXjj, Y2, Z2) is fixed to the surface S 2 . The surfaces Si and S 2 contact each other along the line of contact " 1 . " Let J'I denote the parameter of motion of the surface S i . The initial position of the coordinate system attached to Si is denoted by Si(Xi, Yi, ZiJ. In other words, Si = ST when h - ftjinitui- Similarly, i2 denotes the parameter of motion of the surface S 2 , and S2(X% Y% Z2) is the initial position of the coordinate system S 2 attached to the surface S 2 . The displacement relation between surfaces S i and S 2 , if the degree-of-freedom is one, is given by

h = h(h)

(2)
3

In case of two-degree-freedom system, the displacement relation is given by

where i2a and i2& are the two independent parameters of motion of the surface S 2 . Let P (8, S) be any point on the line of contact and ia ( 1 2 ) be the relative velocity vector between surfaces S i and S 2 at the point P expressed in the coordinate system Si. It should be noted that the subscript to a vector identifies the coordinate system in which the subscripted quantity is expressed. For example, subscript 1 means that the quantity is expressed in Si coordinate system. The unit normal vector to the surface Si at P can be expressed as e\

(1) - h(Hk.

= [6 + rCSC6,

rC5S9,

rS&]T S6]T

= [ C 6 - C 6 , C 6 - SB,

where h is the normalization factor. In case of two-degree-freedom systems such as camoids, the motion of the surface S 2 is specified by two independent parameters. Now the condition of orthogonality of the relative velocity vector and the common normal vector at the point of contact is given by, for single degree freedom case, ei <D. and for two-degree-freedom case,
(12) = 0

where b is the arm length and r is the radius of the sphere. S and 8 are the parameters of the surface as shown in Fig. 2(a). Symbols "C" and "S" denote sine and cosine of the corresponding angle. For example, C8 = cos 8 and S8 = sin 8. (b) Globoidal Follower (Fig. 2(b)). Ri}P) = [b + (rC5 + e - b)C9, eip) (rCb + e = [C6 CO, C 6 - S6, S6]T -b)S6, (d - r S 6 ) F

,<i)

y .' <" = 0

r z lz

(4a)

where j2(12''2a> and i)(12.'2e> are the relative velocity vectors at the point P between the surfaces S i and S2 when the parameters of motion i2i> and t2o are respectively kept fixed. Expanding expressions (4a), one obtains [Fi) = [0] (46)

where 6 is the arm length (e, d) are the coordinates of the center Or in the XOY plane, r is the radius of the globoidal surface. S and 8 are the parameters of the surface, as shown in Fig. 2(b). (c) Conical Surface (Fig. 2(cX). fi!<P) = [6 + (r + 6 t a n a ) C 0 , (r + 5 tan et<p) =[C6Ca, SBCa, Sa]T a)SB, (H + 5 ) f

where [Ft] is a 1 x 1 or 2 X 1 matrix for, respectively, single degree and two degree freedom systems. As the relation (46) relates 8, d and the parameters (s) of motion at the contact point between surfaces S i and S 2 , we call expression (46) the equation(s) of contact.

where 6 is the arm length, r is the smallest radius of the cone, a is the semicone angle, n is the height of the smallest circle plane from the XOY plane, and < and 8 are the parameters of the sur5 face as shown in Fig. 2(c). (d) Cylindrical Follower (Fig. 2(d)). 3<p) = [5,rCe,rS6]T

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4 Three-Dimensional Cam Mechanisms

In this section, the general method described in Section 2 is applied to the following three-dimensional cam mechanisms: (a) camoids, (b) cylindrical cams with translating followers, (c) cylindrical cams with oscillating followers, and (d) globoidal cams with oscillating cylindrical followers. In every case, expressions for the conjugate profile of the cam surface and for the pressure angle are derived. For some positive displacement cam mechanisms, expressions for the positions of the milling cutter axis and the grinding wheel axis are also given. (a) Camoids. Three-dimensional cams or camoids have twodegrees-of freedom. The follower is often a spherical ball in contact with the cam profile [2]. The cam surface may or may not be a surface of revolution. In case such a mechanism is used to generate an arbitrary function of two parameters and the cam is not a surface of revolution, then extreme care has to be taken to set the initial position of the cam with respect to the follower. Fig. 3 shows a schematic view of the camoid mechanism with an oscillating follower. Coordinate systems S j and S% are fixed on the axes of the cam and the follower, respectively. These axes are assumed to be parallel to each other. The cam has got two parameters of motion: angle of rotation 02 about its own axis and translation S2 along the same axis. Rotating coordinate systems S2 and Si are fixed to the cam and the follower, respectively. The follower has got one parameter of motion: the angle of oscillation <pi. The angular and the linear velocity of the cam are denoted by a>2 and i)2, respectively. <oi denotes the angular velocity of oscillation of the follower arm. The relative velocity vectors yi* 1 2 .^ 1 and ui ( 1 2 '*,', in the coordinate system Si, are given by V and V 1 2 ' * 2 ' = [ - ((tKj + o) 2 )rC6S0 + UzOSfyy), ((wj + w 2 )(6 + rCSCe) a c ^ C ^ j ) , 0]T (8)
1 2

. y = [-

Wl(rC5Se),

Wj(6 + rC6C6),

v2]T

(7)

Using equations (7), (8) and gi (f,) for spherical followers in Section 3 in the conditions (4a), we get the equations of contact as follows: tan 9 = T
w fl ( ) , 2 ,S # ll \ r

prr

Parameters 5 and 6 must satisfy the conditions given in (9) at the point of contact. If M21 is the geometrical transformation matrix from the coordinate system Si to S2, then the radius vector 2 ( p ) of any point on the conjugate cam surface is given by equation (5). In the present case, therefore,

Fig. 2 Follower surfaces (a) spherical (b) globoidal (c) conical (d) cylindrical

liiF)

[o,ce,se]T
Fig. 3 Camoid with an oscillating spherical follower

where r is the radius of the cylindrical roller. 5 and 8 are the parameters of the surface, as shown in Fig. 2(d).

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^ (1 '=[>^i^ r
' - 6-C(0! + <2) - r C 5 C ( 0 4 + 0 2 + 0) + aC(j}2" b-S(4>i + <M + rC5S{(pi The vectors vel are given as
(1)
a)

(18)

The expression for the pressure angle will be obtained using equations (6), (18) and ei ( / I ) (Section 3), and is as follows: Ctp = (10) Ca-S8 (19)

+ 4>2 + 0) - flS02

(s 2 + rS6) and ei ( 1 ) for the spherical oscillating follower

If Arc is the difference between the smallest radii of the cutter and the roller, then the position of the cutter axis in the fixed coordinate system S i is expressed as scHm = sl-im + &rc-{eiiQ)-i_m)T, (20)

[ - W j f a S ^ + rC6S(0 + 0 t ) ) , co^feC^! + rC5C(0 + < M ) , 0 ] r '(11) (12) :

and
r (D e_V" =[C{e

+<Pi)-C5,S(6

+4>i)-C5,S5]T

where im is unit vector along the direction of motion of the follower; aitQ) is the unit normal vector at the pitch point Q; si is the displacement of the follower. The pitch point Q is defined as the point of intersection of the mean cylindrical surface of the cam and the line of contact [2]. In the present case, Im = [O, 1,
(Q)

Using equations (6), (12), and (13), the pressure angle at the point of contact is defined as C* = JW+ 6C5S0 r^C^b +2brC5Ce (13)

Of Saf

[CaCB^\

Casei0),

(b) Cylindrical Cam With T r a n s l a t i n g Offset Follower. Fig. 4 shows a cylindrical cam with a translating offset follower. The follower is in the form of a frustum of a cone, the smallest radius being r and the semicone angle being a. The fixed coordinate system S2 is located in such a way that the Zg axis is along the axis of rotation of the cam. The axis Yj of the coordinate system Si is along the direction of motion of the follower, and the origin 0\ lies in the Z2O2X? plane. The angle of rotation 02 is the parameter of motion of the cam, and the linear displacement Sx is the parameter of motion of the follower. a2 is the uniform angular velocity of the cam, and si = S3/02) is the given displacement relation. The relative velocity vector i>i<12) is given as
(12) = w '[ - (fi + 6), -j= Vi"2 a<pi
dsi

Substituting the above relations in equation (15), the position of the cutter axis is given as s c = st + Arc-Ca-S0(Q) Similarly, the position of the grinding wheel axis is given by sg = st + Are-Ca-sel (21b) (21a)

a-

( r + 5 t a n a)C9]T

(14)

Using equation (15) and the expression for the unit normal vector i<p> for the conical follower given in Section 3, the equation of contact is given as E s i n 0 "+ F c o s 0 + G = 0 where E = ^-Ca F = - ( r + 5 t a n a)Sa - {\i + 5 ) C a G = aSa. For all single degree freedom cam follower systems, equation (15) is the most general form. Two values of 6 corresponding to two sides of the cam groove, in case of positive displacement cams, are given as El + FL - Gl (G-E) The conjugate cam profile in this case will be (15)

where Arg is the difference between the smallest radii of the roller and the grinding wheel. (c) Cylindrical Cam With an Oscillating Follower. A cylindrical cam with an oscillating follower is shown in Fig. 5. The length of the arm is b, and the perpendicular distance between the axis of rotation of the cam and the axis of the follower arm is a. The coordinate system Si is located such that the axis Zj is along the axis of rotation of the follower arm. The angle of oscillation 0 i is the parameter of motion of the follower. For the cam, the angle of rotation 02 is the parameter of motion. The follower is in the form of a globoid (Fig. 2(b)). The angular velocities of the cam and the follower are, respectively, denoted by 0)2 and coi. 0i = 0i(02) is the specified displacement relation. The relative velocity vector v.ia2) takes the form

V 1 2 ) = o2i(c<t>1-zi-<t>i'yi), (-s<pi-zl
. + V * ! ) . (A - C < M i + S<Piyi)]T where
Xi

(22)

= b + (rC5 + e b)'S6

b)-C8

yt = (rC5 + e zt =-(drS6)

= 2 tan-H-FJ.

(16)

* =d
The equation of contact in this case is given by equation (15) where E-C^x'-b F = C(f>i-H S(px-H

R
_2

iP>

Vl

L2j
~-C<p2C6(r S(p2C8(r + 5 t a n a ) + S(p2(ji + 6) + aC(pf + 5 t a n a) + Cfaiy. + 6) - aS(p2 (17)

G = S6(a-6C(/)1) H = (6 - e)S6 - d-Cb

(23)

- s 4 - S6(r + 5 t a n a) The velocity vexa) for the translating follower is given as Using equations (5) and (23), the conjugate cam profile is

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{d - rSb)S4>2 - (rCG +eR2lp) =

b)C(6 + 4>{]C<p2 +{a- bC<l>1)C<p2 (24)

(d - rS6)S4>2 + (rC5 + e - b)C(B + <Pi)Sp2 - (a - bCcpi)S4>2 - bSfpx - (rC5 + e - b)s(9 + 0 t )

The expression for the pressure angle is as follows:

C4>:

6S0C5 Vft + (rC5 + e - bf

2

(25) + 2b(rC5 +eb)C6

x{] y2

r - CcfriCfad

+ S4>yC<p2Cer - S<t>2S9r + C(f>2a (29)

C<piS<t>25 - S4>i9p2Cer - Of>2ser - S4>2a

Let Arc be the difference between the largest radii of the globoidal roller and the cutter. Then the angular error in the follower arm position, denoted by A0C, is given as A0 C = Arjb The expression for the pressure angle is (30)

The radius vector of the pitch point Q on the axis of the cutter in the fixed coordinate system S5 is denoted by J ? ^ 0 ' i V 0 > =[a~b-C(<p1lQ) Acj>c),d, - bS(<j}w Aci>c)}T (26a)
i s d e n o t e d fe

v / 5 2 i+'^ 2 C 2 0

Similarly, the radius vector R2<Qe> of the pitch point on the axis of rotation of the grinding wheel is given by R2(V =[a~ 6 C ( ^ i ( 0 > A<pj, d, - 6 S ( 4 > i w Acfc ) F (26b)

The radius vector of the pitch point Qc on the axis of the cutter y Q2lQ<\ and the radius vector of the pitch point Qg on the axis of the grinding wheel is denoted by Ri^sK They are obtained, as in the earlier case, as follows: R - ^ ~ =

where Ai/>g = Arg/b and Ars is the difference between the largest radii of the globoidal roller and the grinding wheel. (d) Globoidal Cam With an Oscillating Cylindrical Roller. Fig. 6 shows a globoidal cam and an oscillating cylindrical follower. The radius of the roller is r and the perpendicular distance between the axis of rotation of the follower and the axis of rotation of the cam is a. The coordinate system Si is so chosen that the axis of the roller cylinder coincides with X, axis and the axis of rotation of the follower is along Z\ axis. The parameters of motion for the cam and the follower are the angles of rotation </>2 and </>i, respectively. , , .. . .d ,, . The relative velocity vector v ^ is given by equation (22),
whprp
x

n- ( <V la ' e <0) -C(tf>i (0> A<j>e), O, - 5 <Q) -S(4>j (Q) A < U J w h e r e &m a n d 0 i j , a r e t h e p a r a m e t e r s of the pitch point Q. 5

(31b)

Two-Dimensional Cam Mechanisms The method described in this paper can be applied to two-dim e n s i o n a l c a m m e c h a n i s m s w i t h translating or oscillating follow ers. Two representative cases are given in the following: (a) Disk Cam With an Offset Translating Follower. Fig. 7 shows a disk cam with a translating roller follower. The base rad[us o f fche c a f f l i g T h e r o ] l e r r a d i u s is f a n d t h e o f f s e t is a The

i = &> Vi = YC,

Zi = rS6,

and (27)

Vi

# 2

Using equations (4b) and (22), the equation of contact is given by the expression in (15) where (28) E = a-6C<pi, F = 5-<pl', G = 0 . The conjugate cam profile in this case is

displacement s^ is the parameter of motion of the follower, and the angle of rotation fc is that of the cam. u>2 is the uniform angular velocity of the cam. The radius vector of the point of contact P in the moving coordinate system Si is given by (32) Ri<P> = [xu ViV = [rC9, rsef where 0 is the parameter, as shown in Fig. 7. The unit normal vector to the follower surface at P is

V11 = [ce, sef

(33)

Fig. 4

Cylindrical cam with a translating conical follower

Fig. 5

Cylindrical cam with an oscillating globoidal follower

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. Fig. 6

Globoidal cam with an oscillating cylindrical follower

Fig. 7

Disc cam with a translating roller follower

The relative velocity vector is given by

*>1
(12)

= [ - co2(rS6 +

Sl

+ s 0 ), w 2 ( s i ' + rC0 - a)] T

(34)

where so = \rn?a2", s i ' = dsi/d</>2 and Si = Si("</>2) is the specified displacement relation. Using the orthogonality condition of the common normal vector and the relative velocity vector, the equation of contact is given by (15) where E = Si'-a, F = - (s 4 + s 0 ), G = 0 (35)
Fig. 8 Disc cam with an oscillating roller follower

The conjugate cam profile in this case is Rv.

x2
Vi

aC(j>2 - rC(9 + cj>2) + (s 4 + s0)S(p2 (36) - aS4>2 + rS(6 + 4>2) + (s ( + s0)C4>2

The conjugate cam profile is x2

The velocity vector ueill) is *i

(1) = [ 0 , o y < ] r Sl

(37)

"-bC{4>i + 4>2) - rC{6 + 0 j + <,) + aC<p2 + dScf>2 bS(4>i + <M +

rS

Using equations (6), (33), and (37), the pressure angle is Cip = SB (38)

( e + 01 + <M - oS02 + dC<t>2

(1>

(42)

The velocity vector t e given as

and the unit normal vector e j ' 1 ' are

(b) Disk Cam With an Oscillating Roller Follower. A disk cam with an oscillating roller follower is shown in Fig. 8. The length of the arm is b and the roller radius is r. The position of the follower arm center in the coordinate system S2 is given as R2^ = [a, d]T

= [ - a v V t e S t f ) ! + rS(9 + 0 i ) ) , ^ 2 0 i ' ( 6 C 0 t + rC(e + < W ) ] r ej<1> = [C(e +4>i),S(B + <j>i))T

The radius vector for any point P in the moving coordinate system Si is given by i V P ) = [6 +rC9, rsef (39)

Using equation (6) and the above relations, the pressure angle in this case is given as C* = Jb2 +T2

bse
+^b-rC6

(43)

The unit normal vector is given by equation (33) and the relative velocity vector is i < 1 2 ) = [ - w 2 ( ( l + <V)(&C4>t + rC(6 + 0 4 )) + d)> w 2 ((l + 0 t ')(6S<)i + rS(e + (P^) - a)]T 6

where u 2 is the uniform angular velocity of the cam. $1 = is the specified displacement relation and <p%' = d0i/d02The equation of contact is given by equation (15), and case the quantities are: E = (1 + <pY)b - aC^i F = - aS(f>i - dC4>i G = 0 + dS(pt

Numerical Example In this section, the design of a cylindrical cam with an oscillat(40) ing follower is illustrated with a numerical example. The follower 4>i(<l>2)is in the form of a cylindrical roller. During one rotation of the cam cylinder, the follower is prescribed to complete one oscillain this tion. In this example, the follower is in the form of a cylinder in place of the globoid, as shown in Fig. 4. The equation of contact, the expression for the conjugate cam profile, and the pressure angle expression are as follows: (a) Equation of contact. (41) E sin 9 + F cos 6 + G = 0

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E 3 4
120

<j>2

0
30

90
C D Q

ch 60 "180
150

6 (cm)

<D 6 0

Fig. 11 Relation between coordinates x ; y 2 , and S at 0 2 - 45 deg for the numerical example of Section 6

7 S (cm)

Fig. 9 Relation between parameters 9 and 6 at different values of 0 2 for the numerical example of Section 6

Fig. 10 Relation between coordinates x 2 , y 2 , z2> and 0 2 at 5 = 6 cm for the numerical example of Section 6

where

E = &</V - 6C(pu

F = - 5C01; G = 0

(44)

# 2

fl,: is the radius of the root cylinder of the cam and R0 is the radius of the outer cylinder of the cam. r is the radius of the cylindrical roller. (b) Conjugate cam profile. R,{p) = - rC(j)2C(e + 4>t) - bC<p1C4>2 + 5S4>2 + flC02

Ri = 6 cm, R0 = 8 cm, a = 10 cm, b = 11 cm, and w2 = 2 rad/s. The angular velocity and acceleration of the follower at both ends is zero. The acceleration curve for the follower motion for clockwise as well as counterclockwise oscillation is Trapezoidal Modification I with a cutoff factor of 0.25 [5]. The clockwise oscillation is from 0i = - 3 0 deg to 0i = +30 deg and the counterclockwise oscillation is from 0i = +30 deg to 0i = - 3 0 deg. The design is to be such that when <f>2 = 0 deg, 0i = 30 deg; <fo = 180deg, 0 i = +30 deg; 4>2 = 360 deg, fa = - 3 0 deg. The solution procedure can be summarized as follows: Step 1 For a given value of 02, select a value of 5j in the range Ri < bt < Ro. Value of 6 for given values of 02 and 6; is found from equation (44). Two values of 0 correspond to the two sides of the cam groove. Step 2 For a set of values of 0 2 , < * and 6, the coordinates of >; the contact point on the conjugate cam profile are evaluated from equation (45). Step 3 The pressure angle at this point is evaluated by equation (46). Step 4 The coordinates of the cutter axis and the grinding wheel axis can be found from equation (26). Step 5 Repeat Steps 1, 2, 3, and 4 for all values of 5; in the range [Rt = 5i, 52 a_i, S = Ro). Step 6 Repeat Steps 1, 2, 3, 4, and 5 for different values of 02 in the range of 0 deg < 0 2 < 360 deg. Results of the numerical example stated in this section are given in Figs. 9, 10, and 11. The relation of parameters 6 and 8 for different values of the angular rotation of the cam is shown in Fig. 9. For a given value of 5say, <>;, the contact point for different values of 02 in the range (0, 360 deg) maps a line on the conjugate cam surface. The coordinates of points on this line of the cam surface are shown in Fig. 10. The constant value of 5* is 6 cm. For a given value of 02, variation of &i traces a contact line on the follower as well as the cam surface. The variation of the coordinates at 02 = 45 deg is shown in Fig. 11. The foregoing procedure was programmed in FORTRAN IV and the program was run on an IBM 7044 computer. The total time for one complete cycle of cam rotation, with a 5-deg interval of 02 and with n, (in Step 5) equal to ten, was 2 min, 20 s. References 1 Carver, W. B., and Quinn, B. E., "An Analytical Method of Cam Design," Mechanical Engineering, Vol. 67, 1945, pp. 523-526. 2 Rothbart, H. A., Cams: Design, Dynamics and Accuracy, Wiley, New York, 1956. 3 Artobolevskii, I. I., Theory of Machines, Science Publishers, Moscow, 1965, pp. 682-733 (in Russian). 4 Raven, F. H., "Analytical Design of Disk Cams and Three Dimensional Cams by Independent Position Equations," Journal of Applied Mechanics, Mar. 1959, pp. 18-24. 5 Neklutin, C. N., "Designing Cams for Controlled Inertia and Vibration," Machine Design, Vol. 24, June 1952, p. 143.

rS4>2C(B + 4>t) + bC<piS<p2 + 5C^2 - aSqb2 - rS(9 + (px) - bS<Pi

(45)
(c) P r e s s u r e angle.
Cij> =
2

bse
7& + r 2 + 2-b-r-Ce

(46)

The numerical data for this example are as follows: r = 1 cm

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