ca

es1
,\

I '

(cAmco
',,

COMMERCIAL CAM CO., INC.

SUBSIDIARY OF EMERSON ELECTRIC CO.
1444 SOUTH WOLF ROAD
WHEELING, IL. 60090 U.S.A.

a manual for

engineers
designers
and draftsmen

By CLYDE H. MOON, P.E.

Staff Engineer - Dixie Cup, Division Of American Can Company
"Published by" Commercial Cam Division, Emerson Electric Company

PREFACE

This manual is intended for the engineer, designer or draftsman engaged in the ~
sign of moderate speed machinery in which cams are important elements. It presents
an orderly design procedure for cams having fairly rigid follower systems. No attempt has been made to cover high speed systems in which deflection and vibration
effect the efficiency of the operation.
In general it follows the practice of accepted authorities. Tabular data is used extensively to minimize tedious mathematical operations. Design examples are pt~
sented to illustrate the use of the tables and equations.
It contains certain novel features. The method of detennining the radius of curvature,
to the best of the writer's knowledge, has not been heretofore in the literature.
Graphical methods for pressure angles and radii of curvature have been simplified
to an orderly stepped procedure.
It is hoped that this manual will unravel some of the mysteries of cam design to the
uninitiated.

Clyde H. Moon, P. E.
Dec. 20, 1961
Easton, Penna.

CONTENTS

Section

A.

Fundamental Mechanics.

''

B.

Cam Systems.

''
,,

c.

Cam Nomenclature

D.

Basic Curves

''

E.

Displacement, Velocity and Acceleration Tables for Basic Curves

"

F.

Cam Size Uetermination

''

G.

Force Analysis

"

II.

Con tact Stress

"

J.

Cam Design Summary

''

K.

Cam Curve Syntbesi s

''

L.

Dwell-Rise-Return-Dwell Cam Usiag Basic Carves

''

M.

Cam Curve with Terminal Velocity

"

N.

Modified Trapezoid and Modified Sine Carves

''

P.

Cam Pronle Determination

"
"

R.

Cylindrical Cams

s.

Effective Weight of Cam Follower Systems.

"

T.

Polynomial Cam Curves

Index

RevlMd Fela. 1962

A-1

SECTION A

Fundamental Mechanics
Introduction.

Mechanics is a broad subject, but,

fortunately, for cam design the band of topics is narrow.
The subject matter in this section provides the necessary fundamentals. As the principles are basic, the
references tabulated at the end of the section have been
freely used and credit is hereby given.
Vector and Scalar Quantities. Vector quantities have
both magnitude and direction. Examples are displacement, velocity, acceleration, and force. Scalar quantities have magnitude only. Examples are weight, mass,
and volume. Vector quantities are shown in bold face
type, thus: A, B, etc. Scalar magnitudes of vectors
~re shown in italics; thus, A is the scalar magnitude of
vector A.
Addition of vectors creates a resultant vector. This
may be done by the parallelogram method; Fig. AI (a), or the triangle method, Fig. A-I(b), which show R
as the resultant of the addition of vectors A and B.
Three or more vectors may be added by the polygon
method, Fig. A-1 (c).
Vectors may be subtracted to give a resultant. To
subtract vector B from vector A, the sign of B is reversed, which is the same as reversing its direction, and
then added vectorially to A. See Fig. A-1 (d).
A vector quantity may be resolved into components
along any chosen axis as shown in Fig. A-1 (e).
Scalar quantities are added and subtracted algebraically.
Displacement. Displacement is a vectorial quantity,
occurring as translation or rotation or a combination of
both. A moving body has translation when every line
in the body remains parallel to its original position. It
has rotation when all points travel in circles about an
axis of rotation. Complex motions can be resolved into
translation and rotation.

A translating body has linear displacement, Ye loci t y,

and acceleration.
A rotating body has angular displacement, velocity,
and acceleration.
Velocity. Velocity is the rate of change in displacement. When velocity is constant, equal increments of
displacement occur in equal increments of time, i.e.:
v = y/t. A point has variable velocity when displacements vary in magnitude, direction, or both, in equal
time increments. The instantaneous velocity of such a
point is determined by the derivative of displacement
with respect to time: v = dy/dt. A point may hav<'
several different concurrent velocities which may be
combined vectorially into a resultant. A resultant
velocity can be resolved into components along chosen
axes.
Acceleration. Acceleration is the rate of change in
velocity.
For a point moving in a straight line \\'itlt
constant acceleration, the relations between displacement, velocity, and acceleration are
V
y =Vr- +
2t
0

ai!

y = vt
0

+-2

(2)

v, = v.

+ at
+ 2ay

(3)

v,2
a=

Vo

v, -

Vo

I
c;....._

___:....:.,..__.., I {

A+B=R

Q)

A+B=R

A+B+C+D=R

I
I

________....,' (e)

A-B=R

Vx+Vv=V
FIG. A-I

(4)
(5)

where t = interval of time; y = displacement; v0 =

velocity at start of interval; v ,,. = velocity at end of
interval; a = acceleration.

(l)

A-2

Fundamental Mechanics

When acceleration varies in magnitude, direction or,

both, the instantaneous acceleration is the derivative of
velocity with rPspect to time: a = dv/dt = d 2 y/dt 2
A point may also have several different, concurrent,
accelerations which may be combined vectorially into
a resultant acceleration; and a resultant acceleration
may be resolved into components along chosen axes.
Pulse. Pulse (or jerk) is the rate of change in acceleration. It is the derivative of acceleration with respect
of time; i.e.: p = da/dt = d 3 y/dt 3
Rotation. A radian is an angle which subtends an
arc equal in length to the radiu~ of t hf' arr.
Thus 211" radians = 360; 1 rad'ian = .57.:3.
In Fig. A-2(a), consider a point moving at a constant speed (l') in a circular path. As the point is continuously changing direction, the velocity is not
constant.. The change in velocity is indicated by the
vectorial subtraction of V1 from V2. See Fig. A-2(b).
Acceleration, designated as normal acceleration, is
directed toward the center with a magnitude a = v2/r.

The relationships between linear and angular expressions are

l'

rI I

2.

3.

\
\
\

rw 2

l'W

(13)

(14)

ra.

tion unless compelled by some force to change that

(12)

A body maintains its state of rest or uniform mo-

I.

rw

wheres = arc length of circular path; an = normal component of acceleration; a 1 = tangential component of acceleration; r = radius of circle; <I>, w, a, v as noted before.
Force and Mass. The concept of force and mass is
provided by Newton's laws of motion.

I \

(11)

- =

a,

r<f,

v2
an

,1,
I
I

=
=

state.
An unbalanced force acting on a body accelerates
the body in the direction of the force. The acceleration produced is directly prr,portional to the force
and inversely proportional to the mass of the body.
To every action or force there is an equal and opposite reaction.

According to the second law, if an unbalanced force

F imparts an acceleration a to a body, a different force
F 1 will impart a different, but proportional, acceleration a1. That is:

ma

(b)

(0)

FiG. A-2
For constant angular acceleration, the relationship of
angular displacement, velocity, and acceleration are as
follows:

WF

<I>

Wo

a.t2

<I>

wt+2

where mis the mass of the body.

If a body falls freely, the unbalanced force is the
weight (W) and the acceleration is g (386 in./sec. 2).
Substituting W for Fi and g for a1

W0

Wp2

Wo

+
+ 2a.<J>
at

(7)

Wp -

Wo

= ----

(8)

(9)
(10)

where t = interval of time; <I> = angular displacement

in radians; w 0 = angular velocity at start of time interval
in radians per time unit; wp = angular velocity at end
of time interval; a = angular acceleration in radians
per unit time squared.
The instantaneous values of variable angular velocity
and acceleration are determined by the derivatives
with respect to time: w = d<J>/ dt and a = dw/ dt.

a
g

and

Wp

(6)

(15)

= - a = ma

(16)

Force is a vector quantity; so two or more forces can

be added vectorially to produce a resultant, which is
the single force that will give the resultant acceleration.
When the resultant force is zero, the body is in
equilibrium and no change occurs in the state of rest or
motion of the body.

References
1.

2.

Theory and Problems of Engineering Mechanics. McLean

and Nelson. Schaum Publishing Co., N. Y.
Physical Mechanics. G. H. Logan. Machine Design. April,
1956.

SECTION B

Cam Systems
Basic Elements. A cam system consists of four elements: cam, follo"er, follower system, and drive.
A cam is a mechanical part which impa'rts a prescribed motion to another part by direct contact. It
may 1emain stationary, translate, or rotate.
The follower is the element directly contacting the
cam. It may be of various shapes.
The follower system includes all the elements to
which motion is imparted by the cam. They may be
connected directly to the follower, or through linkage
and gearing. The follower and follower system may
translate or oscillate.
The drive consists of the prime mover, gears, cam
shaft, etc. which impart motion to a rotating or translating cam, or to the follower system of a stationary
cam.
Cam systems may be designed in a variety of physical forms. A number of the more commonly used
forms, classified according to cam and follower types,
are presented in this section. These are based largely
on the more comprehensive catalog in the reference at
the end of the section.
In this manual, only the open or disk cam, the closed
or face-groove cam, and the cylindrical cam will be discussed, but the principles set forth are equally applicable
to the other types.

2.

SH.\PE
(a) Roller follower, Fig. B-2. This is the most
commonly used follower. Pressure angles
should be low to prevent jamming.
(b) l{nife-edge follower, Fig. B-3. This is of simple
form but edge wears rapidly.
(c) Flat-face follower, Fig. B--1. This type rnn h<'
used with a steep cam, as it will not jam. D<'flection or misalignment can cause high surface
stress.
(d) Spherical-face follower, Fig. B-;>. Rndius<'d
face compensates for deflection or misalignment.
FOLLOWER

FIG. B-2

FIG. 9-3

Cam and Follower Classification

I. SEQUENCE OF FOLLOWER OPERATION.

The three
common types are shown diagrammatically in Fig.
B-1.
(a) Dwell-rise-dwell cam (D-R-D), Fig. B-l(a).
This is the most common type. It has a dwell
at the beginning and end of the rise.
(b) Dwell-rise-return-dwell cam (D-R-R-D), Fig.
B-1 (b). There is no dwell between the rise and
return.
(c) Rise-return-rise cam (R-R-R), Fig. B-l(c).
There are no dwells. This type has little application, as the motion is more adapted to an eccentric.
- - - - - - - - - - 3 60 - - - - - - - -

(a)

FIG. B-4

3.

FIG. 8-5

FOLLOWER MOTION.

(a) Translating follower, Fig. B-2. The follow<'l'

moves in a straight line.
(b) Swinging arm follower, Fig. B-6. The follower
moves in a circular arc.
4.

FOLLOWER POSITION.

(a) On-center follower, Fig. B-2. Linc of follower

motion passes through axis of cam rotation.
(b) Offset follower, Fig. B-7. Line of follown motion does not pass through axis of cam rot at ion.
Offset should be in direction that reduces force
components tending to cause jamming.

DWELL:

(b)

....,.,,__RISE

RETURN

(c) -...._.--

- - - R I S E - - -.....--RETURN - - -

FIG. B-1

FIG. B-6

FIG. 8-7

8-2

Ca111 Syste111

ROTATING FOLLOWER
S'\'STEM

:r~
FIG. 88

5.

FIG. 8-10

FIG. B-9

6.

CAM ~VloTIO~.

CAM SHAPE.

(a) Rotating cam, Figs. B-2, 7, 10, 11. Rotation is

usually of constant speed.
(h) Translating cam, Figs. B-12, 13. The cam
usually rC'ciprocatcs in straight line motion.
(ct) Stationary cam, Figs. B-8, 9. The follower
system rotates or translates.

(a) Open cam (also known as disk or plate cam),

Figs. B-2, 6, 16 show examples. Translating
or swinging arm follower must be constrained
to maintain contact with cam profile.
(b) Closed cam (also known as face-groove or positive cam), Fig. B-10. The groove constrains
follower to positive action.
(c) Cylindrical cam, Fig. B-11. The roller follower
operates in a groove cut on the periphery of a
cylinder. Follower may be translating or
swinging arm type.

FIG. B-11

CAM MOTION

CAM MOTION

FIG. 8-12

FIG. B-13

FIG. B-14

(d) Wedge cam, Fig. B-12. Cam usually has

reciprocating straight line motion.
(e) Flat-plate cam, Fig. B-13. This is positivedrive version of the wedge cam.
(f) Inverse cam, Fig. B-14. Kormal functions of
cam and follower are reversed. The most
common example is the geneva motion.
(g) Roller-gear drive cam, Fig. B-15. Projected
ridge contacts dual roller followers. The Ferguson indexing cam is an example.

7.

FIG. B-15

FoL'LOWER CoxsTRAIXT.

(a) Gravity constraint, Fig. B-2. Weight of follower system is sufficient to maintain contact.
(b) Spring constraint, Fig. B-16. The spring must
be strong enough to maintain contact.
(c) Positive constraint, Figs. B-10, 11, 13. The
groove maintains positive action.

FIG. B-16

Reference
1.

Basic Cam Systems.

May 31, 1956.

H. A. Rothbart.

Machine Design.

SECTION C

C-1

Cam Nomenclature
The Displacemrnt Diagram is a rectangular coordinate layout of the follO\ver motion in one cycle of cam
operation. The rise of the cam is shown as the ordinate, the length of the abscissa being arbitrarily chosen.
The abscissa is dividPd into equal cam angles or time
divisions. A sketch of the displacement diagram is the
first step in the devf.'lopmf.'nt of the cam profile. Ree
Fig. C-I(a).
The Velocity and Acceleration Diagrams are coordinate layouts of the magnitude of thf.' velocities and accPlf.'rations. Typical diagrams are shown in Figs. C-1 (b)
and C-1 (c).

r..
,., ~-===-------1~--+-----=-+------,_J_
MO

The Transition Point is the point of maximum velocity.

The following definitions apply to Fig. C-2:
The Cam Profile is the working surface of cam in
contact with the follower. In a closed or grooved cam
there is an inner profile and an outer profile.
The Base Radius (Rb) is the smallest radius from the
cam center to the cam profile.
The Trace Point is the center of the roller follower.
The Pitch Curve is the path of the trace point. This
curve is usually determined first and the cam profile
established by tangents to the roller follower.
The Minor Radius (R0 ) is the smallest radius from
the cam center to the pitch curve ..
The Major Radius (RN) is the largest radius from the
cam center to the pitch curve.
The Pressure Angle ( 'Y) is the angle at any point between the normal to the pitch curve and the instantaneous direction of the follower motion. This angle is
important in cam design because it represents the
steepness of the cam profile. Too steep a contour can
cause jamming of the follower system in its guides,
therefore, cams with radial followers are usually designed with a maximum pressure angle of approximately 30 degrees.

With a swinging arm followN the pressure angk is

less important as it would be impossible to jam the system unless the line of action went through the pivot of
the follower arm.
The Pitch Point is the point of maximum pressure
angle. This is the start of df'sign for minimum ram
size. On cylindrical cams it is coinrident with the
transition point. On disk cams, because of the distortion resulting from comerting the displacPment diagram to radial divisions, it does not coincidr with the
transition point. Howewr. for practical purposes
these points on most cams can be assumed at the same
point.
The Pitch Radius (RP) has its center at thf' cam axis
and passes through the pitch point. This radius is
used for calculating a cam of minimum size for a given
pressure angle.
The Radius of Curvature (Re) at any point of the
pitch curve is the radius of a circle, tangent to the
curve, whose curvature is the same as that of the pitch
curve at that point.

TRACE POINT
~-i..--~---'1:-- MAJOR R4DtUl
PITCH RM>tUS

FIG. C-2

Reference
1.

Cams--De~ign, Dynamics and Accuracy.

John Wiley & Sons, Inc. 1956.

H. A. Rothbi

SECTION D

0-1

Basic Curves
Nomenclature
1

h
!J

p
e

7'

l'

JinC'ar ncc<'IC'ration of follower (in./scc. 2)

ii11rar ,rlority of follo,,<'r (in./sec.)
total Ji:-;p]acrnwnt of follower (in.)
di:-;placf'mf'11t of follom'r nt any point (in.)
a11gnbr di:,;phH'<'Illf'nt of cam for displacement h
(radia11s)
:rn~nhr di:-:pl:1<'f'Illf'11t of cam for displacement y
( r:HI i:111:-:)
tim<' for C':rn1 to rotatr through fJ (sec.)
tinw for <":tm to rotntc throu~h {3 (sec.)

Classification. Ba:-;i< <'111'\'C's are' primarily of two

C'!:1:-:--<:--: sirnpl< pnly11omial and trigonometric. The
:--impl< polyllrnni:tl <111T<'s i11d11de the constant velocity
or :--tr:ii:ltt li,l('. tlH C'011st:111t ncrC'lcration or parabolic,
:111d t 111 ,1tl>i< 111n <",. ( )11!~ the ronstn.nt ,elocity and
C'oll:--t :t 111 :1<T<'l<r:1 t irn1 11u,C's "ill he discussed. The
1ri1.!:<l11onwl ri" <111T<'s indndC' thr harmonic, the cy('lnid:tl. t IH' do11lil< h:mnonir. an<l thr elliptical. Only
11l<' h:1rmn11i<' :,nd ryeloidnl "ill he discussed.
Constant Velocity. SC'<' Fig. D-1. This cur\'e has a
:--t r:1i;ht !in<' displa<rm<'nt din.gram. It has uniform
displa<"<'ll1<'1lt, !'Onstant Yelocit~r, and zero acceleration .
. \t the tNmi11als there is the impractirahle rondition of
i11sta11t:UH'Olls rhange in velocity, resulting in theor<'t i1all? i11fi11itC' nccelerations. This rondition makes
this 1111TP undC'sirable except in combination with other
<11nl'S. ( 'harnderistics of the constant velocity curve
are:
0

Displacement:

fJ

(1)

h-

1J

l'o

(4)

at

+ 2ay
V t + 0.5at
0.5(vp + v )t

v2

V0

.II

Velocity:

v =

~\cceleration:

t = T

(2)

a = 0

(3)

In terms of linear and angular displacements, its

characteristics are as follows:
Cam angle fJ from zero to 0.,>/3:
Displacement:

Velocity:

Acceleration:

Displacement:

2h(~)'

y~

L____ -- -

(8)

4h(fJ/{3)

(9)

T
4h

(10)

a= T"

y = h - 21.(1 -

;r

v = 4h [l - (B/fj))
T

Acceleration:
1

FIG. 02

Velocity:

(7)

where v0 = initial velocity; Vp = final velocity; a

acceleration; y = displacement.

{3

(6)

Cam angle fJ from 0.5/j to fj:

IJ

(5)

4h

T"

(11)

(12)
(13)

- --- _______VELOCITY_------.,

_________

H
FIG. 0-1

.ACCEI.ERAT!Q!L.

--;;i ~
8

e1

Constant Acceleration. See Fig. D-2. This curve,

also known as paraholic or gravity curve, has constant
positive and negative accelerations. It has an abrupt
change of acceleration at the terminals and the transition point, which makes it undesirable except at low
speeds. It provides the lowest acceleration of all curves
for a given motion. In combination with other curves
it can he used to advantage. For constant acceleration,
the following equations are valid:

Construction of the displacement diagram is shown in

Fig. D-3.

Line AB represents the number of degrees through

which the cam rotates to produce the desired displacemen t of the cam follower. It is divided into the desired
number (N) of equal parts. Line AC represents to
scale the displacement of the cam follower. Any line
AD is drawn and divided into N parts of units 1, 3, 5, 7
-7, 5, 3, 1. Lines parallel to CD are drawn intersecting line AC. The intersection of horizontally projected points on AC with vertically projected points on
AB locates the necessary points for the displacement
curve.
Corrected May 196}:

0-2

Basic Curves

"t=.-.t:::::::::....~l~__..JL_~4L-~L5~-L~~7~~.

Cycloidal. See Fig. D-6. The cycloidal curve is developed from the path of a point on a circle which is
rolled on a straight line. It is the most popular cune
for high speeds, as there is no sudden change in acceleration at the dwell ends. It has the lowest vibration,
wear, and stress of all the basic curves.
The characteristics of this curve are:

Fl8. 0-3

CONSTRUCTION DIAGIWI-CONSTANT ACCELIEIIATION

Displacement:

Harmonic. See Fig. D-4. This curve is a definite

improvement over the previous curves. It has a smooth
continuous acceleration but has a sudden change at the
dwell ends when used in a dwell-rise-dwell cam. This
is objectionable at high speeds. In combination with
other curves it is valuable for use in a dwell-rise-returndwell cam.

.
Ve1oc1ty:

[(J

sin21r(8/f3)]
= h - - --

(17)

21r

{3

v = h[l - cos 21r(8/{3)]

.
Acce lerat1on:

(18)

a = h[2,.- sin 21r(8/{1)]

(19)

r2

The characteristics of this curve are:

Displacement: y
Velocity:

Acceleration:

0.5rh[sin r(fJ/{3)]
T

a=

CYCLOIDAL CURVE

(14)

0.5h( I - cos.-~)

(15)

0.5r 2h[cos ,... (fJ/{3) I

(16)

r2

c
8 -.........._ ACCELERATION
FIG. 0-4
-~

fJ
,

--._J

~~~--:::..-::----;:----:4~~5:-~~,~---:;1~--:!e'
FIG. 07

Construction of the displacement diagram is shown

in Rig. D-5.
Line AB represents the number of degrees through
which the cam rotates to produce the desired displacement of the follower. It is divided into the desired
number (N) of equal parts. Line AC represents to
scale the displacement of the cam follower. A semicircle with radius equal to one-half the displacement is
drawn as shown and divided into N equal parts. The
intersection of horizontally projected points of the
semi-circle with vertically projected points on AB locates the necessary points for the displacement curve.

CONSTitUCTION DIAGRAM-CYCLOl~L

Construction of the displacement diagram is shown

in Fig. D-7.
Line AB represents the number of degrees through
which the cam rotates to produce the desired displacement of the follower. It is divided into the desired
number (N) of equal parts. Line AC represents to
scale the displacement of the cam follower. With A
as a center, a circle whose circumference is equal to
AC is drawn, and divided into N <>qHal parts. From
the projection of these points on AC, lines are drawn
parallel to AD, intersecting the vertical projections of
the divisions of AB. These intetsections locate the
necessary points for the displacement curve.

Reference
1.
Fl8. 0-5

Cams-Design, Dynamics and Accurac~, H. A. Rothbart.

John Wiley & Sons, Inc. 1956.
Corrected May 1962

SECTION E

E-1

Displacement, Velocity and

Acceleration Tables for Basic
Curves
Nomenclature
a
l'

/3
y
()

linenr acf'clerntion (in./sec. 2)

linear wlocity (in./sec.)
total displucrrnr11t of follower (in.)
angular dispbrPment of cnm for displacement h
(deg.)
displacement at any point (in.)
angular <lisplacc'nw11t of cnm for displacement !J
(deg.)
dispbcC'rn<'11t factor :1t nny point
\dof'ity C'Odli<'iC'nt nt any point
af'crlnntion C'OrtfiC'ient at :my point
RP~I of cnm shaft

Basic Curve Factors.

To ~irnplif> determination of
the cam profi]p and thP nlocity :rn<l n1-celcration of
follo,Yer, point-hy-point factors ha\e been calculated
from the <'qunt io11s for the drnraf'teristics of each ha sic
cun-e. These faC'tors arc C'Ontaincd in Tables E-1
through E-4. In addition, Tables E-.5 and E-G contain
factors for the modified trapC'zoi<l and modified sine

curves, which ha\e not yet heen discussed. These combination cune~ "ill he presented in Section X.
The tabulated ,alm~s arc dimensionless, the earn
angle factor going from Oto 120; the displacement factor from Oto 1.
Equations. Using these factors, or coefficients, the
characteristics of any basic curve ean be stated in
generalized form.
Displacement:
Velocity:

= Kh

(1)

(2)

v = Crh( : )

Acceleration:

a = Cah

-{3
(G.V)

(3)

The tables a1Hl 11p1:.1tions are useful in many ways.

They will he Hs<>d for calculating profiles, pressure
angles, radii of f'lllTatur<', and inertial forces.
In Figs. E-1 through E-6 are. shown characteristic
diagrams of the basic curves in terms of the coefficients.

E-2

Basic Curve Tables

Pt.

0.00000

Cv

Co
Zero

TABLE E-1. CONSTANT VELOCITY FACTORS

Pt.
K
Cv
Ca
Pt.
K
cv Ca
Pt.
30

0.25000

o.oo833
0.01667
0.02500
0.03333
o.o4167

31
32
33
34
35

0.05000
0.05833
0.06667
0.07500
0.08333

1.0000

60

o. 50000

0.25833
0.26667
0.27500
0.28333
0.29167

61
62
63
65

o.5o833
o. 51667
0. 52500
0.53333
0. 54167

36
37
38
39
4o

0.30000
o.3o833
0.31667
0.32500
0.33333

66
67
68
69
70

13
14
15

0.09167
0.10000
o.1o833
0.11667
0.12500

41
42
43
44
45

0.34167
0.35000
0.35833
0.36667
0.37500

16
17
18
19
20

0.13333
0.14167
0.15000
0.15833
0.16667

46
47

21
22
23
24
25
26
27
28
29
30

2
3
4
5
6
7

8
9
10
11
12

Zero

1.0000

Cv

90

0.7)000

91

9)

0.75833
0.76667
0.77500
0.78333
0.79167

0.55000
0.55833
0.56667
0.57500
0.58333

96
97
98
99
100

o.8oooo
o.8oS33
0.81667
0.82;00
0.83333

71
72
73
74
75

0.59167
0.60000
o.6o833
0.61667
0.62500

101

o.84167
o.8)000
0.85833
o.86667
0.87500

49
50

0.38333
0.39167
o.40000
o.40833
o.41667

76
77
78
79
8o

0.63333
o.64167
0.65000
0.65833
0.66667

109
110

0.88333
0.8)1167
0.90000
0.90833
0.91667

0.17500
0.18333
0.19167
0.20000
o.2o833

51
52
53
54
55

o.42500
o.43333
o.44167
o.45000
0.45833

81

0.67500
0.68333
0.69167
0.70000
o.7o833

111
112
113
114
11'.)

o.~:.iO<)
0.93333
o.94167
o.<;6000
0.95833

0.21667
0.22500
0.23333
0.24167
0.25000

56
57
58
59
6o

0.46667
o.47500
0.48333
o.49167
o. 50000

86

0.71667
0.72500
0.73333
0.74167
0.75000

116
117
118
119
120

0.96667
0.97500
0.98333
0.99167
1.00000

48

64

82

83
84
85

87

88

89
90

1.0000

Zero

SQ

93

9'i

la?

103
104
105
166
107
lo8

Ca

1.0000

CONSTANT VELOCITY

Cv

I. 0 ~r--,----,--,,----,----r----r~----r~--r----.--r~--r--r--,----r--r---r---r-,---::i::;:==---ti
.1

0.5--

--------~y-~--

-----

---

-- - .. - -- - -~ i...---

~-~-~~-~~

,,... -

1- -

I. 0

o~---~---b..~~-~~~~+--+~f---t---t~t--t---t~+--+--1r--t--t-~t-;--t~t--r-~~o
0

10

20

FIG. EI

30

40

50

60

70

Point Position

80

90

IQ()

110

120

Zero

E-3

Basic Curve Tables

TABLE E-2. CONSTANT ACCELERATION FACTORS

Pt.

Cv

Co

0 0.00000 0.0000
2
3
4
5

0.00014
0.00056
0.00125
0.00225
0.00347

0.0333
0.0667
0.1000
0.1333
0.1667

6
7
8
9
10

o.oo;oo
0.00681
o.oo889
0.01125
0.01389

0.2000
0.2333
0.26b7
0.3000
0.3333

11 0.01681
12 0.02000
13 o. 02347
14 0.02722
15 0.03125

0.3667
o.4000
o.4333
o.4667
o. 5000

16
17
18
19
20

0.5333
0.5667
0.6000
0.6333
0.66b7

0.03556
o.o4014
0.04500
0.05014
o.0;556

4.000

..
..
..

.
If

If

..
..
..
If

..

36
37
38
39
40

0.13000
0.19014
0.20056
0.21125
0.22222

1.2000
1.2333
1.2667
1.3000
1.3333

41
42
4~
44
45

0.23347
0.24500
0.25681
0.26889
0.28125

1. 3667
1.4000
1.4333
1. 4667
1.5000

..

..
..
..
..

.
.
..
.

..

51
52
53
54
55

o. 36125
0.37556
0.39014
o.40500
o.42014

1.7000
1. 7333
l. 76t>7
1.Booo
1.8333

5b
57
58
59
60

0.43556
o. 45125
o.46722
o.48J47
o. 50000

l. 8667
1.9000
1. 9333
1.9667
2.0000

0
1.0

10

0.5

5~r

If

..

..

..
..
..
..
..
..
..
..
..
..
..
..
If

Cv

Pt.

Ca

60 0.)0000 2.0000 -4.000

90

bl
62
63
64
b5

Cv

30

20

,,,,, ...

--

- ,,,,

50

__ ... -

- .,, -

_....

0.87500 1.0000 -4.ooo

1.9667
1.9333
1.9000
1.86b7
U~333

0.88319
0.89111
93 0.89875
94 o. 90611
95 0.91319

0.')667
0.9333
0.9000
o.8667
0.8333

60 o. 59500
t.;7 O.b0986
68 o.62444
b9 0.63~75
70 0.65278

1.aooo
1.7667
1. 7333
1.7000
1.6667

96 o.~ooo
0.926;3
98 0.93278
99 0.93875
100 o. 94441~

o.8ooo
0. 7667
0.7333

0.6665'3
0. 68000
0.69319
o. 70611
0. 71875

1.6333
1.6000
1.5667
1. 5333
1.5000

101 o. 94986 0.6333

102 0.95500 0.6000
103 0.95986 o. 5667
.:.04 0.96444 0.5333
105 0.96875 0.5000

76 o. 73111
77 0.74319
78 0.75500
79 0.76653
80 0. 77778

1.4667
1.4333
1.4000
1.3667
1.3333

106
107
lo8
109
110

0.97278
o. g-,653
0.98000
0.98319
o. 98611

o.4667
o.4333
o.4000
0.3667
0.3333

81 0.78875
82 o. 79944
83 o.8o986
84 o. 82000
85 o. 82986

1.3000
1.2667
1.2333
1.2000
1.1667

111 0.98875
112 0.99111
113 0.99319
114 0.99500
115 0.99653

0.3000
0.2667
0.2333
0.2000
0.1667

86
87
88
89
90

1.1333
1.1000

116
117
118
119
120

0.1333
0.1000
o. ei:>61
0.0333
0.0000

0.83944
0.84875
0.85778
0.86653
0.87500

- --- - -

91
~

g-r

l. ei:>61

1.0333
1.0000

o.9g-r75
o. 99875
0.99944
c.99986
1.00000

0.1000

0.6667

Cv

--

70

80

90

--~-- --- - -- -- ---

1()0

110

-~ - --

! ',
I

i..

'

120

2.0

"t.....,..,,'"

1.0

...

------

60

"

f\J'i

-- - -

40

Ca

C.51653
o. 53278
o.,4875
0. 56444
0. 57986

71
72
73
74
75

If

CONSTANT ACCELERATION

,_,,,,
0

..
..
..
..
..
..
..
..
..
..
..
..
..

46 0.29389 l.::>333
47 0.30681 l.::,6b7
48 o. 32000 1.6000
49 0.33347 1.6333
c;o 0.34722 1. 66b7

If

..
..

o.8667
0.9000
0.9333
0.96b7
1.0000

0.09389
0.10125
28 0.10889
29 0.11681
30 0.12500

1.0333
1.0667
1.1000
1.1333
1.1667

..

26

Pt.

Ca

0.13347
o.1~222
0.15125
0.160:,b
0.17014

..

Cv

31
32
33
34
35

.
.

0.0612:; 0.1000
0.06722 0.7333
0.07347 o. 7667
o o8ooo 0.8000
0.08681 0.8333

30 0.12500 1.0000 4.000

..

21
22
23
24
2j
21

Pt.

. - ...... ,_

,_

i---

.... __

i
I

!Ca

.
I

- 5.0

10

20

FIG. E-2

30

40

50

60

70

Point Position

80

90

100

110

120

E-4

Basic Curve Tables

TABLE E-3. HARMONIC FACTORS

Pt.

ca

Cv

Pt.

Cv

Pt.

Ca

cv

0 0.00000 0.0000 4.9348

30 0,14644 1.1107 3.4895

l
2
3
4
5

0.00017
0.00069
0.00154
o.oce74
o.00428

o. o4ll
o.o822
0.1232
0.1642
0.2050

4.9331
4.9281
4.9196
4.9078
4.8926

31
32
33
34
35

0.15582
0.16543
0.17527
0.18543
0.19562

1.1394
1.1673
1.1945
1.2207
1.2462

3.3969
3.3020
3.2o49
3.1056
3.0041

61
62
63
64
65

0.51309
o. 52617
o. 53923
0.55227
o. 56527

6
7
8
9
10

o.oo615
o.oo837
0.01092
0.01381
0.017()4

0.2457
0.2862
o. 3266
0.3667
o.4066

4.8741
4.8522
4.8270
4.7985
4. 7666

36
37
38
39
40

0.20611
0.21679
0.22768
0.23875
0.25000

1.2865
1.2945
l. 3174
1.3393
1. 36o4

2.9006
2.7951
2.6877
2.5784
2.4674

66
67
68
69
70

11
12
13
14
15

O,c:205~
0.024~7
o.c:2868
0.03321
0.038<>6

o.4461
o.4854
o. 5243
o. 5629
o.6o11

4.7316
4.6933
4.6518
4.6o71
4.5592

41
42
43
44
45

0.26142
0.27300
0.28474
0.29663
o.3o866

1.38o4
1.3996
1.4178
1.4350
1. 4564

2.3547
2.2404
2 .1245
2.0072
1.8884

71
72
73
74
75

16
17
18
19
20

O,o4323
o.o4871
0.05450
o.o6Q59
o.o6698

0.6389
o.6762
0.7131
0.7495
0.7854

4.5oee
4.4541
4.3970
4.3368
4.2737

46
47
48
49
jO

o. 32081
0.33309
o. 34549
0.35799
0.37059

1.4665
l.48o7
1.493~
1.5061
1.5173

1.7685
1.6473
1.5250
1.4015
1.2772

76
77
78
79

21
22
23
24
25

0.07368
o.o8o66
0.08793
0.09549
0.10332

0.8207
0.8555
0.8897
0.9233
0.9>62

4.2076
4.1387
4.o669
3.9924
3.9150

51
52
53
54
55

0.38328
0.396()4
o.40888
o.42178
o.43478

1.5274
1. ;365
1.5469
1. 5515
1. 5574

26
27
28
29
30

0.11142
0,11979
o.12SJ+3
0.13731
0.14644

0.9885 3.8351
l.c:2(2 3.7525
1.1511 3.6673
1.o813 3.;796
1.1107 3.489;

56
57
58
39

o. 44773
o.46o77
o.47383
o.48691
60 0.50000

1.5622
1. 56oO
1.5686
1.5703
1. 57o8

6o o. 50000 l.57o8

Pt.

Co

Cv

Co

0.0000

90

0.85356 1.1107 -3 4895

1.5703
1.5686
1.566o
1.5622
1.5574

-0.1292
-0.2582
-0.3872
-0. 5158
-0.6441

91
92
93
94
95

0.86269
0.87157
o.88o21
0.88858
0.89668

1.o813
1.0511
1.0202
0.9885
0.9562

-3,5796
-3.6b73
-3.7525
-3.8351
-3,9150

o. 57822
o. 59112
o.6o396
0.61672
o.62941

1. 5515
1. 5469
l. 5365
1.5274
1. 5173

-O.Tfl9
-0.8993
-1.0260
-1.1520
-1.2772

96
97
98
99
100

0.90451
0.91207
0.91934
0.92632
0.93302

o. 9233
0.8897
0.8555
0.8207
0.7854

-3 9924
-4.0669
-4.1387
-4.2076
1.2737

o.64201
0.65451
0.66691
0.67919
0.69134

1.5061
1.4939
1.4807
1.4665
1. 4564

-1.4015
-1. 5250
-1.6473
-1. 7685
-1.8884

101
102
103
lo4
105

0.93941
0.94550
0.95129
0.95677
0.96194

o. 7495
0.7131
0.6762
0.6389
o.6o11

-4.3368
-4.3970
-4.4541
-4.;o82
-4. 5592

0.70337 1.4350 -2.0072

o. 71)26 1.4178 -2 .1245
0.12100 1.3996 -2.24o4
0.73858 1.38o4 -2.3547
Bo 0.75000 1. 36o4 -2.4674

106
107
1o8
109
110

0.96679
0.97132
0.97553
0.97941
0.98296

0.5629
0.5243
o.4854
o.4461
a.4066

-4.6o71
-4.6518
-4.6933
-4.7316
-4. 7666

1.1520
l.026o
0.8993
0.7719
o.6441

81 0.76125
82 o. 77232
83 o. 78321
84 0.79389
85 o.8o438

-2. 5784
-2.6877
-2.7951
-2.9006
-3.0041

111
112
113
114
115

0.98619
0.989()8
0.99163
0.99385
0.99572

0.3667
0.3266
0.2862
0.2457
0.2050

-4. 7985
-4.8270
-4.8;22
-4.8741
-4.8926

o. 5158
0.3872
0.2583
0.1292
0.0000

87
88
89
90

86 0.81466 1.2207 -3.1056

116
117
118
119
120

o. 99726
0.99846
0.99931
0.99983
1.00000

0.1642
0.1232
o.o822
o.o411
0.0000

-4.9078
-4.9196
-4.9281
-4.9331
-4. 9348

o.82473
0.83457
o.84418
0.85356

1.3393
1. 3174
1.2945
1.286;
1.2462
1.1945
1.1673
1.1394
1.1107

-3.2o49
-3,3C20
-3,3969
-3.4895

7rr_
-z..
K

1.0

10

30

20

,_-

i--

-.
-- --

-.... I"""--,..

50

-.~--

70

60

80

r-... ...

90

,_ -

,.-

---

,I

~- .........

------- ------ -

110

100

120

2.0

...

"'" - -

1.0

"'"-... ,......,
~

I
I

1.1""

5.0

40

- _.

,,.
v"'i

0.5

Cv

HARMONIC

......

- .... -

..........

r,,.... .........
.......

ii- .......

"""'

~a
-i',....
...............
,-.

.
1.......... _

-5.0

c~

10

20

FIG. E-3

30

50

60

10

Point Position

80

90

- i,....__ r-- -100

110

120

Corrected Match 1962

E-5

Basic Curve Tables

Pt.

Ca

Cv

0 0.00000 0.0000 0.0000

TABLE E-4. CYCLOIDAL FACTORS

Pt. K
ca
Cv
ca
Pt.
K
Cv

Pt.

30 0.09()85 1.0000 6.2832

90 0.90915

1.0000 -6.2832

6o 0.50000 2.0000

0.0000

Cv

Ca

2
3
4
5

0.00001
0.00003
0.00010
0.00024
0.00048

0.0014
0.0055
0.0123
0.0218
0.0341

o. 3289
0.6568
o. 9829
1. 3o63
1.6262

31
32
33
34
35

0.09940
o.1o839
0.11781
0.12766
0.13794

6.2746
6.2488
6.2059
6.1459
6.0691

61
62
63
64
65

0.51666
0.53331
o. 54990
o. 56642
o. 58286

1.9986
1.9945
1.77
1.9782
l. 9659

-0.3289
-o.6;68
-0.9829
-l. 3o63
-l.6262

91
92
93
94
95

0.91726
o. 92495
0.93219
0.93900
o. 94540

0.9477
0.8955
o.8436
o. 7921
0.7412

-6.2746
-6.2488
-6.2059
-6.1459
-6.o691

6
7
8
9
10

0.00082
0.00130
0.00194
0.00275
0.00375

o.0489
o.o664
o.o865
0.1090
0.1340

l. 9416
2.2517
2.5556
2.8525
3.1416

36
37
38
39
40

0.14864 1.3090 5.9757

0.15975 l. 3584 5.8659
0.17128 1.4o67 5.7400
0.18320 l. 4540 5. 5984
0.19550 l. 5000 5.4414

66
67
68
69
10

o. 59918
0.61536
0.63140
o.64725
0.66291

1.9511
1.9336
1.9135
1.8910
1.8660

-1.9416
-2.2517
-2.5556
-2.8525
-3.1416

96
97
98
99
100

0.95136
0.95691
o.962o6
0.9668<>
0.971116

0.6910
o.6416
0.5933
o.546o
0.5000

-5. 1R57
-5.8659
-5.74oo
-5.5984
-5.4414

11
l2

o. 00499
O.oo645
13 O.oo817
14 0.01018
15 0.01246

0.1613
0.1910
0.2228
0.2569
o. 29'29

3.4221
3.6931
3. 9541
4.2043
4.4429

41 o.2o820 1. 5446 5 .2695

42 0.22124 l. 5878 5.o832
43 0.23465 1. 6293 4.8830
44 0.24840 1.6691 4.6693
45 0.26.?46 l. 7071 4.4429

71

72
73
74
75

0.67835
0.69355
0.7o849
0.72316
0.73754

1.8387
1.8o90
l. 7772
1. 7431
1.7071

-2.4221
-3.6931
-3. 9541
-4.2043
-4.4429

101
102
103
lo4
105

0.97514
0.97876
0.98201
0.98494
0.98754

o.4554
o.4122
0.3707
0.3309
0.2929

-5.26~
-5.o832
-4.8830
-4.6693
-4.4429

16 O.O'.l.5o6
0.01799
0.02124
19 0.02486
20 0.028j84

0.3309
0.3707
o.4122
o.4554
o. 5000

4.6693
4.8830
5.o832
5.2695
5.4414

46
47
48
49
50

0.27684
0.29151
o.3o645
0.32165
0.33709

L 7431 4.2043
1.m2 3. 9541
1.809() 3.6931
1.8387 3.4221
1.8660 3,1416

76
77
78
19
8o

o. 7516o
o. 76535
0.77876
o.7918o
o.8o450

1.6691
1.6293
1.5878
1.5446
1.5000

-4.6693
-4.8830
-5.o832
-5 .2695
-5.4414

lo6
107
lo8
109
llO

0.98982
0.99183
0.99355
0.99501
0.99625

0.2569
0.2228
0.1910
0.1613
0.1340

-4.2043
.3.9541
-3.6931
-3.4221
-3.1416

21
22
23
24
25

0.03320
0.03794
o.04309
o.o4864
o.0546o

o. 546o
0.5933
o.6416
0.6910
0.7412

5. 5984
5.7400
5.8659
5.9757
6.o691

51
52
53
54
55

o. 35275 1.8910 2.8525

o.3686o 1.9135 2.5556
o. 38464 l. 9336 2.2517
o.4oo82 l. 9511 l. 9416
o.41714 1.9659 . l. 626.?

81
82
83
84
85

o.81i8c
0.8287~!
o.84025
0.85136
o.862o6

1.4540
l.4o67
1.3584
l.3Q90
1.2588

-5.5984
-5.7400
-5.8659
-5. 9757
-6.o691

111
112
113
114
115

0.99725
o.998o6
0.99870
0.99918
0.99952

0.1090
o.o865
o.o664
o.o489
0.0341

-2.8525
-2.5556
-2.2517
-1. 9416
-1.6262

O.o6100
o.o6781
0.07505
o.o8274
30 0.09()85

0.7921
o.8436
0.8955
o. 9477
1.0000

6.1459
6.2059
6.2488
6.2746
6.2832

56
57
58
59
6o

o.43358
o.45010
o.46o69
o.48334
0.50000

86
87
88
89

0.87234
0.88219
0.89161
0.9()06o
90 0.90915

1.2079
l.1564
1.1045
1.0523
1.0000

-6.1459
-6.2059
-6.2488
-6.2746
-6.2832

116
ll7
118
119

0.99916

0.0218
0.0123
0.0055
0.0014
0.0000

-1.3o63
-0.9829
-0.6568
-0.3289
0.0000

iJ

26
27
28
29

1.0523
1.1045
1.1564
1.2079
1.2588

1.9782 1. 3o63
1.9BT7 0.9829
1.9945 0.6;68
J..9986 o. 3289
2.0000 0.0000

-z~

./

._- -

....

-_,

6.0

,,,

- .-

2.0

- .,

- loo'

Cv

60

80

70

-..

---~,- ---.....
.... ,_

"
------.....

..--

90

-- "--

/ '

"

._

.....

---

.......

' ,

FIG. E-4

30

40

50

.,,J

I
I

'

20

'\.

Co

1.0

'
""'-

,..,

10

12b
2.0

'

'"Ca

110
I

\.

0/

IOO

."'-

',"-

4.0

50

... i-

.,1 ...

--

40

v ,. i.,

,,,,

120

CYCLOIDAL

30

20

10

0.99990
0.99997
0.99999
1.00000

'

60

70

'

~ ...

_/.,,
........

80

-90-

.1/

0
-2.0
-4.0 0

./

100

c,

-6.0

110

120

Point Position

Corrected Sept. 1963

E-6

Pt.

Baai c Curve Tables

TABLE E-5. MODIFIED TRAPEZOID FACTORS

ca
Pt.
cv
Pt.
K
Pt.
Ca
Ca
K
Cv

Cv

30 O.lo451 1.0000 4.8881

0 0.00000 0.0000 0.0000

6o 0.50000 2.0000

0.0000

-4.8881
-4.8881
-4.8881
-4.8881
-4.8881

-2.8731
.3.27o8
.3.6326
. 3. 9546
-4.2333

96 0.93939 0.7556
97 o. 94555 0.7149
98 0.95136 0.6741
99 0.95679 0.63.34
100 0.96187 0.,927

-4.8881
-4.8881
-4.8881
-4.8881
-4.8881

1. 7693
1. 7312
1. 6919
1.6517
1.6110

-4.4655
-4.6489
-4.7813
-4.8613
-4.8881

101
102
103
104
105

0.96666
o.971o6
0.97517
0.97894
0.98233

0.5519
o. 5512
o.4705
o.4297
0.3890

-4.8881
-4.8881
-4.8881
-4.8881
-4.8881

0.74557
0.75853
O.TI109
0.78331
o. 79529

1. 5703
1.5295
1.4888
1.4481
l.4o73

-4.8881
-4.8881
-4.8881
-4.8881
-4.8881

1o6
107
lo8
109
110

0.98540
0.98814
0.99054
0.99262
o. 99439

0.3483
o.3o81
0.2688
o.23o8
0.1945

-4.8613
-4.7813
-4.6489
-4.4655
-4.2333

81
82
83
84
85

o.8o677
0.81797
0.82887
0.83943
o. 84964

1.3666
1. 3259
1.2851
1.2444
1.2037

-4.8881
-4.8881
-4.8881
-4.8881
-4.8881

111
112
113
114
115

0.99587 0.16o4
o.m01 0.1287
0.99802 0.0999
0.99874 0.0743
0.99927 0.0521

-3.9546
-3.6326
.3.27o8
-2.8731
-2.4440

86
87
88
89
90

o.85947
0.86900
0.87819
0.88700
0.89549

1.1629
1.1222
1.o815
1.()407
1.0000

-4.8881
-4.8881
-4.8881
-4.8881
-4.8881

116
117
118
119
120

0.99963
0.99984
0.99995
0.99999
1.00000

0.00001
0.00005
0.00016
0.00037
0.00073

0.0021
o.oo85
0.0190
0.0336
0.0521

0.5110
1.0163
1. 5105
1.9882
2.4440

31
32
33
34
35

0.11300
0.12181
0.13100
0.14053
0.15036

1.0407
1.o815
1.1222
1.1629
1.2037

4.8881
4.8881
4.8881
4.8881
4.8881

61
62
63
64
65

l,9'179
1. 9915
1.9810
1.9664
1.9479

-0.5110
-1.0163
-1. 5105
-1.9882
-2.4440

6
7
8
9
10

0.00120
0.00198
0.00293
O.oo413
0.00561

0.0743
0.0999
0.1287
0.16o4
0.1945

2.8731
3,27o8
3.6326
3,9546
4.2333

36
37
38
39
40

0.16o57
0.17113
0.18203
0.19323
0.2o471

1.2444
1.2851
l. 3259
1.3666
1.4073

4.8881
4.8881
4.8881
4.8881
4.8881

66 0.59873 1. 9257
67 0.61467 1.9001
68 0.63036 1.8713
69 o.64586 1.8396
70 0.66101 1.8o55

11
12
13
14
15

0.00738
0.00946
0.01186
0.0l46o
0.01767

o.23o8
0.2688
o.3o81
o. 3483
0.3890

4.4655
4.6489
4.7813
4.8613
~.8881

41 0.21669
0.22891
43 0.24147
44 0.25443
45 0.26767

1.4481
1.4888
1. 5295
1.5703
1.6110

4.8881
4.8881
4.8881
4.8881
4.8881

71
72
73
74
75

0.67592
0.69053
o. 70476
o. 71873
o. 73233

16 o.021o6
17 0.02483
18 0.02894
19 o.0333r
20 0.0381

o.4297
o.4705
0.5112
0.5519
o. 5927

4.8881
4.8881
4.8881
4--.8881
4.8881

46
47
48
49
50

0.28126
0.29524
0.30947
o . .324o8
0.33899

1.6517
1.6919
L 7312
1. 7693
L8o55

4.8613
4.7813
4.6489
4.4655
4.2333

76
TI
78
79
8o

21

o.o4321
o.o4864
23 0.05445
24 0.06061
25 o.o67o6

0.6334
0.6741
0.7149
0.7556
0.7963

4.8881
4.8881
4.8881
4.8881
4.8881

51 0.35414
52 0.36964
53 0.38533
54 o.40127
55 o.41745

1.8396
1.8713
1.9001
l. 9257
L 9479

3.9546
3. 6326
3.27o8
2.8731
2.44-40

26
27
28
29
30

4.8881
4.8881
4.8881
4.8881
1.0000 4.8881

56
57
58
59

1.9664
1.9810
1.9915
l.9'179
2,0000

1.9882

22

0.07386
o.o8100
o.o8847
0.09630
O.lo451

42

0.8371
0.8778
0.9185
0.9593

o.43377
o.45015
o.46672
0.48333
6o 0.50000

K
J
1.0

1. 5105

1.0163
0.5110
0.0000

0.51667
0.53328
o. 54985
o. 56623
0.58255

0.90370
0.91153
0.91900
0.92614
0.93294

91
92
93
94
95

0.0336 -1.9882
0.0190 -1. 5105
o.oo85 -1.0163
O.Oa?l -0.5110
0.0000 0.0000

Cv

MODIFIED TRAPEZOID
10

40

30

20

_.,,,,.

_..

50
--

.,,-_.,-

.. ...-

l.~
__

0.5

-~

,,,. -,,,.

--

90 0.89549 1.0000 -4.8881

o. 9593
0.9185
0.8778
0.8371
o. 7963

2
3
4
5

Ca

Cv

--

60
,.._

._...

\C.

__.....

-.......

70

- -.....

--

80
~

-- -

......

-- .... -.... ....

---

120
2.0

110

100

90

1.0 >
........__

-.... ....

--

Cycloid-. . - Constant Ac eel.____,. .. cycloid~ ... cycloid .... ~ Constant Accel.~Cycloid__.,

5.0

,,

~-

-- - - - - -

/
I

\.

,J

'

'

I
I

"

..... ....

\Ca

'

\
-5.0

c~

10

20

FIG. E-5

30

40

, - -- - --

70
50
60
Point Position

..

...

80

90

100

.~

.J

'

/,

110

120

E-7

Basic Curve Tables

Co

Cv

Pt.

TABLE E-6. MODIFIED SINE FACTORS

Pt.
Ca
K
Cv
Pt. K
Cv
Ca

Pt.

30 0.11718 1.0997 4.7874

90 o.88282 1.0997 -4.7874

0 0.00000 0.0000 0.0000

6o 0.50000 1.7596

0.0000

4.638o
4. 5829
4.4722
4. 3561
4.2347

61
62
63
64
65

o. 51466
o. 52931
o. 54393
0.55851
0.57304

1.7'588
1.7564
1. 7523
1.7467
1.7395

-0.1929
-0.3856
-0. 5778
-0.7693
-0.9599

1. 3229
L 3566
1. 3892
1.4206
1.45o8

4.lo81
3. 9765
3.8401
3.6989
3.5553

66
67
68
()9
70

o. 58750 L 7307
0.6o178 l. 7204
0.61611 L 7o84
0.63035 1._6950
o.64442 1.6800

-1.1493
-1. 3373
-1.5237
-1. 7o82
-1.8907

5.0501
5.2574
5.4072
5.4977
5.5280

41 0.23638 1.4798
42 0.24883 1.5075
43 0.26150 1. 5340
44 0.27439 1. 5590
45 0.28748 1.5828

3.4034
3.2493
3. 0912
2. 9294
2. 7640

0.4860
o. 5320
o. 5778
o. 6236
o. 6691

5.5246
5.5145
5.4977
5.47<+2
5.4440

46
47
48
49
50

0.30076
o. 31423
o. 32786
0.34165
0.35558

1.6051
1.6260
1. 6455
1. 6635
1.68oo

0.7143
o. 7')92
o.8o36
o. 8477
0.8912

5.4072
5.3638
5.3138
5.2574
5 .1946

51
52
53
54
55

0.36965
0.38383
0 39812
0.41250
o.42696

2b o.o8324 0.9343
27 0. 09120 o. 9767
28 0.09952 1.0184
29 o.1o818 1.0594
30 0.11718 1.0997

5 .1255
5.0501
4.9685
4.88o9
4.7874

56 o. 411149
57 o.45607
j8 o.47o69
j9 o.48534
6o 0. 50000

0.00000
0.00005
0.00018
0.00042
o.ooo83

0.0024
0.0096
0.0215
0.0380
0.0589

o. 5778
1.'1493
1. 7o82
2.2484
2.7640

31 0.12650 1.1392
32 0.13616 1.1778
33 0.14613 1.2156
34 0.15642 1.2524
35 0.16701 1.2882

6 0.00142
0.00224
8 0.00331
9 o.oo467
lC o.oo634

o.o84o
0.1130
0.1455
0.1813
0.2199

3.2493
3.6989
4.lo81
4.4723
4.7874

36
37
38
39
40

11 o.oo834 0.2610
12 o.01o69 o. 3040
13 0.01341 0.3484
,.4 0.01650 0.3939
0.01998 o.4399
b

0.02389
o.028o8
18 0. 03210
19 0.03771
20 0. ()4310
o.04886
0.05500
6.06151
0.06839
o. 07564

1
2
3
4
5
7

lb
l7

21
22
23
24
2;;

0.17788
0.18905
0.20049
0.21220
0.22417

1. 0594
1.0184
0.9767
0.9343
0.8912

-4.8809
-4.9685
-5.0501
-5.1255
-s.1946

96 0.93161
91 0.93849
98 o. 94500
99 o. 95114
100 0.95690

o.8477
o.8o36
o. 7592
0.7143
0.6691

-5.2'574
-5.3138
-5.3638
-5.4072
-5.4440

71

0.65835 l. 6635 -2.07o8

72 0.67214 1.6455 -2.2484
73 0.68577 1.6260 -2.4233
74 0.69924 l. 6051 -2. 5952
75 0.71252 1. 5828 -2.7640

101
102
103
)4
10')

o. 96229
0.96730
0.97192
o. 9'7611
0.98002

0.6236
O.j778
o. '.:1320
0.4860
10.4399

-5.4742
-5. 4977
-5.5145
-5.5246
-5.5280

2. 5952
2.4233
2.2484
2.0708
1.8907

76 0.72561 1. 5590 -2. 9294

77 0.73850 l. 5340 -3.0912
78 0.75117 1.5075 -3.2493
79 0.76362 1.4798 -3.4034
80 0.77583 l. 45o8 -3-5553

106
107
1o8
109
110

0.98350
0.98659
0.98931
0.99166
0.99366

o. 3939
0.3484
0.3040
0.2619
0.2199

-5.4977
-j.4072
-5.2'574
-j .0501
-4.7874

1.6950
1.7~
1. 72o4
1. 7307
1. 7395

1.1082
1. 5237
1.3373
1.1493
o.9j99

81
82
83
84
8')

-4.4722
-4.1081
-3.6989
-3.2493
-2.7640

1. 7467
1. 7523
1.7564
1. 7588
1.7596

O 7693
o. 5778
0.3856
0.1929
0 0000

86
87
88
89

91
92
93
94
9)

0.7878()
o. 79951
0.81095
0.82212
0.83299

1.4206
1. 3-'392
1. 3566
1.3229
1.2882

-3.6989
-3. 8401
-3. 9765
-4.lo81
-4.2347

111
112
113
114
115

0.99533
0.99669
o. 99TI6
0.99.'.358
0.99917

0.1813
0.1455
0.1130
o.o84o
0.0589

o.84358
0.85387
0.86384
0.87350
90 o.88282

1.2524
1.2156
1.1778
1.1392
1.0997

-4.3561
-4.4722
-4. 5829
-4.6880
-4.7874

116
117
118
119
120

0.99958
0.99982
0.99995
1.00000
1. 00000

0.0380 -2.2484
0.021) -l. 7o82
0.0096 -1.1:.93
o.oa:>4 -0.'.;1778
. 0. 0000 0.0000

Cv

MODIFIED SINE

10

1.0 0

20

30

.
v ..... ,,,

,.
0.5

- ....--

- ......

_.....

__ ,~

~
~

40

..... -

----

50

._- ....
J

'~

~cycloid

70

60

--

-- --

~---

80
........iill"'li,;,..

-~

......_

----.

... ~

I.

1-.

'-

'

Co
~

I.0
~

FIG. E.. 6

....
~

......

'

"' -.

j
I

.,....._

30

40

50
70
60
Point Position

......

ct

-""- ~""'

: Cycloid .....

""""'
20

120
2.0

-,_

"

10

110

100

- ................

I'

-6.0 O

~--~

90

Harmonic

6.0

Ca

0.89182
o. 9()048
0.90880
0.91676
o. 924 36

Cv

80

............

... _

90

.I

--- 100

I
.-,'

110

120

Coffected May 1962

SECTION F

F-1

Cam Size Determination

Pitch Radius. To determine the pitrh radius of a
cam of minimum size, the following equations are convenient:

Basic Considerations. Usually the first consideration

in designing a ram is its physical size. A cam of minimum size may be desired, or a cam of a fixed size may
have to be evaluated. The determining fac.tors for a
cam of minimum size are the maximum pressure angle,
the least radius of curvature, and the cam shaft diame-

For a cycloidal, constant acceleration or modified

trapezoid curve,

ter.

200h

(3)

(3

For a harmonic curve,

I.57h

(4)

(3

For a modified sine curve,

176h

(S)

RP= - (3

FIG. F-2

FIG. F-1

These equations give the pitch radius of a cam with a

maximum pressure angle slightly less than 30 degrees.

Pressure Angles. As may be seen in Figs. F-1 and

F-2, the greater the pressure angle, the greater the side
thrust on the follo,Yer. Too much side thrust may result in jamming the follower rod in its guides. For this
reason, it is customary to limit the maximum pressure
angle to approximately 30 degrees for cams with translating followers. If the follower is on center, pressure
angles may be easily determined mathematically. The
mathematics for an off-center or swinging arm follower
are more complex, but pressure angles may be found by
inspection from a layout, or by graphical methods which
will be described later. Pressure angles depend on the
velocities of the cam and follower. From Fig. F-3, the
tangent of the pressure angle equals the quotient of the
follower velocity and the cam velocity.

Vr

tan 'Y = -

i'c

Radius of Curvature If, as shown in Figs. F-4 and

F-.S, the radius of curvature (Re) is held constant and
the radius of follower (r1) increased, the cam profile will
eventually become undercut, and the follower will not
follow the prescribed motion. To prevent this, the
least radius of curvature must be substantially greater
than the radius of the follower. A rigorous calculation
of the radius of cun'at.ure is quite involwd. However,
the follO\ving- method gives sufficiently . ~qrate results
for an on-center translating motion. Gra.phical ....,rthods for all types are described later.

(1)

Converting this equation to terms of displacements of

follower and cam, this becomes
57.3Crh
tan 'Y = - - - R,,J3

(2)

where Rn = radius to the reference point on the pitch

curve, and the other symbols as in section E nomenclature. This equation is valid at any point on the pitch
curve with an on-center translating follower.

FIG. F-5

FIG. F-4

In Fig. F-6, for a very small section AB of a cam pitch

c'urve, it is reasonable to assume that the center of the
radius of curvature lies very near the intersection of
normal lines AP and BP. It is also reasonable to assume that, for the small section involved, arcs AB and
AD are substantially equal. With these assumptions:

FIG. F-3

RA sin M = R, sin

Corrected March 1962

F-2

Cam Size Determination

Graphical Methods. Procedures for graphically determining pressure angles, pitch radii, and radii of
curvature are described under Figs. F-7 through F-12.
The methods are as accurate as the draftsmanship.
Pressure Angles-Nomenclature
total linear displacement of follower (in.)
length of swinging arm (in.)
radius-cam axis to reference point (in.)
offset of follower center from cam axis (in.)
coefficient of velocity at reference point
total angular displacement of swinging arm
(deg.)
total angular displacement of cam (deg.)
cam pressure angle (deg.)

h
b
r
x

Cv
ct,
/3
"Y

On-Center Translating Follower. See Fig. F-7.

To determine the pressure angle at anv reference
point A when linear and angular displac;ments and
radius are known,

FIG. F-6
From the geometry of the layout

'YA -

'YB

AO

where -y A and 'YB are the pressure angles at reference

points A and B. Therefore,

R, = RA si~ AfJ

(6)

sm a

If a is positive, the center of R, lies inside the pitch

curve periphery; if a is negative, the center lies outside the periphery. This method gives good accuracy
near the terminals of the curve, where the increment
BD is quite small. Accuracy decreases as the transition
point is approached. In this area, more nearly accurate results may be obtained by a better approximation
of arc AB.

1.

AD

RA sin

2.

BD

Ra - RA

AB

VAD +

R,

A()

AB
sin a

3.
4.
5.

BD 2

Draw AB equal to 57.3C J,,/{J in direction of follower motion.

Draw AC equal and perpendicular to radius
r(OA) in direction of cam rotation.
Draw BC to complete triangle ABC.
Draw AD perpendicular to BC.
Measure pressure angle -y.

(7)

The least radius of curvature occurs at or near the

point of maximum negative acceleration. Calculation
of the radius at this point provides an evaluation of the
cam size as compared with the diameter of the follower.

Cam Shaft Diameter. Usually before the cam has

been designed the cam shaft diameter has been determined from stress and deflection factors. The cam
must have a hub of sufficient size to accommodate this
shaft and its key. The base radius of an open cam
profile must be greater than the hub radius. This is
also necessary on closed cams where the hub is on the
grooved side.

To determine radius to the pitch curve for desired

pressure angle at any reference point A when linear and
angular displacements are known,
Draw AB equal to 57.3C J,,/(J in direction of follower motion.
2. Draw AD, indefinite in length, at desired angle
-y with AB so that BD will be in direction of cam
rotation.
3. Draw BC, indefinite in length, perpen~icular to
AD.
4. Draw AC perpendicular to AB in direction of cam
rotation.
5. Scale AC, which is the required radius.
I.

Corrected March 1962

Cam Size Determination

Offset Translating Follower. See Fig. F-8(a).

To determine pressure angle at any reference point A
when linear and angular displacements and radius are
known,
1.
2.
3.
4.
5.

Draw AB equal to 57.3C 0 h/{3 in direction of follower motion.

Draw AC equal and perpendicular to radius
r(OA) in direction of cam rotation.
Draw BC, completing triangle ABC.
Draw AD perpendicular to BC.
Measure pressure angle 'Y.

F-3
8

Q_

rx~B
Q

I
I
o~<a>

(b)

FIG. F-8

To determine radius to pitch curve for desired pressure angle at any reference point A, when linear and
angular displacements are known, Fig. F-8(b),
1.

2.

3.
4.

Draw AB' equal to 57.3C 0 h/{3, turned 90 from

line of follower motion, and in direction of cam
rotation.
Draw AD', indefinite in length, at desired angle
-y with AB'.
Draw B'O, perpendicular to AD', intersecting
vertical cam axis at 0.
Scale OA, which is the required radius.

Swinging Arm Follower. See Fig. 9.

To determine pressure angle at any reference point A
when angular displacements of arm and cam, radius,
arm length, and relative position of cam axis O and
fulcrum Q are known, Fig. 9(a),
1.
2.
3.
4.
5.

Draw AB equal to C 0 b<1>/f3 perpendicular to QA

in direction of follower motion.
Draw AC equal and perpendicular to OA in direction of cam rotation.
Draw BC completing triangle ABC.
Draw AD perpendicular to BC.
Measure pressure angle -y.

To determine radius to pitch curve for desired prPssure angle when angular displacement of arm and cam,
arm length, and relative position of cam axis O and
fulcrum Q are known, Fig. 9(b),
CASE I. When relation of fulcrum Q to either the
horizontal axis X-X, or the vertical axis Y-Y is kno"n.
Fig. F-9(b).
1. Draw AB' equal to Cb<t,/{3, turned 90 from line
of follower motion, and in direction of cam rotation.
2. Draw AD', indefinite in length, at desired angle 'Y
with AB'.
3. Draw B'O, perpendicular to AD' intersecting
axis X-X or Y-Y at 0.
4. Scale OA, which is the required radius.
CASE II. When relation of fulcrum Q to cam axis is
not fixed, Fig. 9(a),
1. Draw AB equal to Cr:b<f>/{3 perpendicular to QA
in direction of follower motion.
2. Draw AD, indefinite in length, at desired angle
'Y with AB, so that BD will be in direction of cam
rotation.
3. Draw BC, indefinite in length, perpendicular..,to
AD.
4. With A as center, inscribe any radius, intersecting BC at C. (Suggested radius approximately
equal to QA.)
5. Draw AO equal and perpendicular to AC, thus
locating cam axis 0.

F-4

Cam Size Determination

Radius of Curvatur~Nomenclature

a,

total linear displacement of follower (in.)

length of swinging arm (in.)
coefficient of velocity at reference point.
coefficient of acceleration at reference point
velocity of follower at one radian per second cam
shaft speed (in./sec.)
acceleration of follower at one radian per second
cam shaft speed (in./sec. 2)
normal acceleration of swinging arm at one
radian per second cam shaft speed (in./sec. 2)
offset of follower center from cam axis (in.)
total angular displacement of swinging a.rm
(deg.)
total angular displacement of cam (deg.)

On-Center Translating Follower.

and (b).

(a)

See Fig. F-IO(a)

E
FIG. F-11

(a)

Swinging Arm Follower. See Fig. F-12.

To determine the radiu~ of curvature at any point F,
I. Draw OA equal to v1 = Cib<l>//3, turned 90 in
direction of cam rotation directed toward 0.
2. Draw FH,. equal to OA, intersecting circle QHF
at H.
3. Draw HG perpendicular to QF.
4. Draw OJ, equal to a,. = GF, parallel to QF, directed in sense of F to Q.
5. Draw JB equal to a1 = 57.3C,,b4>/f3 2, directed
toward J.
6. Draw BC perpendicular to AF.
7. Draw CD, indefinite in length, parallel to OA.
8. Draw AD, parallel to OF, intersecting CD at D.
9. Draw OD, intersecting AF at E.
10. Scale EF, which is the radius of cu'rvature.
/\

FIG. F-10
I

To determine radius of curvature at any point F,

I. Draw OA equal to v1 = 57.3C )&/{3, turned 90
in direction of cam rotation, directed toward 0.
2. Draw OB equal to a 1 = Cah(57.3/{3) 2, directed toward 0.
3. Draw BC perpendicular to AF.
4. Draw CD, indefinite in length, parallel to OA.
5. Dra.w AD, parallel to OF, interesecting CD at D.
6. Draw OD, intersecting AF at E.
7. Scale EF, which is the radius of curvature.

'

FIG. F-12

References

Off'set Translating Follower. See Fig. F-11 (a) and

(b).
To determine radius of curvature at any point F, proceed exactly as in the case of the on-center follower.

1. Cams-Design, Dynamics and Accuracy. H. A. Rothbart.

John Wiley & Rons, Inc. 1956.
2. Cam Pressure Angles. R. T. Hinkle. Machine Design. July
1955.
3. Disc Cam Curvature. J. Hirachom. Fifth Mechanism Conference Tr&DBactions. 1958.
.Correctecl AU9Uat 1962

F-5

Cam SiH Determination

NOMOGRAPH FOR MAXIMUM PRES.SURE ANGLE

4.0

60

(3

3.0

Rp

1.0

180
60

150

50
2.0

1.5

120
0

50

100
I. 5

40

90
80

- 40

1.0

(.)

70

"O
0

300

(.)

60
50

4.0

20

5.0

0
20
15

30
0

15

0.4

6.0
7.0
8.0
9.0
10.0

20

0.2

3.0

30

40

0.3

E
0

0.5

c
~

>,.

2.0

f3

SECTION G

G-1

Force Analysis
Nomenclature
a

c
d
f

m
r

P,,
Qi, Q'!.

w
"Y

follower acceleration (in./sec. 2)

length of cam rod guide (in.)
cam rod diameter (in.)
friction factor
gravity constant (386 in./sec. 2 )
ratio of follower overhang to guide length
radius to reference point (in.)
force parallel to cam rod (lbs.)
force normal to cam profile (lbs.)
forces normal to cam rod (lbs.)
external force (lbs.)
spring force (lbs.)
torque (lb.-in.)
weight of accelerated elements (lbs.)
cam pressure angle (deg.)
coefficicn t or' friction

Cam Forces. The forces acting on a cam include the

inertial forre, "eight of elements, external loads, spring
forces, an<l frirt ion loads. X eglecting the friction bet \\'een the roller follo"er an<l the cam profile, Fig. G-1
8hows th<' for<'es applied to an open cam. In order to
keep the same <liredion for the forces normal to the
cam rod, the <lirertion of rotation in Fig. G-l(h) is
shO\rn opposite to that of Fig. G-1 (a). The forces acting on this system arP to he <letprmined. According to
custom, forres acting to the left or upward are considered positiw; those acting to the right or downward,
negative. Also, counterclock,,i~e moments are positive; clork\\ise moments arc negative.
To maintain equilibrium, the sum of all horizontal
forces must equal zero.

Also, from X<'wton's laws, the sum of all forces in

the direction of acceleration equals the inertial force.

(2)

From this,

P = -a + W

+L +S

(Q1

+ Q .. )

(3)

Also, the sum of the moments about any point in the

system should equal zero. To evaluate Q1 and Q2,
moments are taken about points "o" and "p."

XM o
XM 11

=
=

0
0

(P tan -y )me - Q-ie ~ 0.5Q1d

0.5Q2<1,

=
=

(P tan -y)(mc

(4)

c) - Q1c ~
0.5Q1d 0.5Q2<1,

(5)

Considering the friction moments as negligible,

(P tan -y)mc - Q-ie
(P tan -y)(mc

(6)

c) - Q1c = 0

(7)

and

Q2

(P tan -y)m

Q1 = (P tan -y)(m

(8)

I)

(9)

Adding Equations 8 and 9 and substituting in Equation 3, and solving for P,

P= (W/g)a+W+L+S
l (2m

(lO)

I) tan 'Y

In Equation 10, the expression (2m + I) tan -y represents the effect of friction. Note that it depends on
, m, and ')', and if it is denoted by J, the equation becomes
p

= (W/g)a + W + L + S
l f

(11)

Taking "" as an average of 0.10, Table G-1 shows

the magnitude off for various values of m and -y.

1/8

1/6

1/4

1/2

10

0.022

0.023

0.026

0.035

0.053

0.088

15

0.033

0.036

0.040

0.054

0.080

0.134

20

0.045

0.049

0.055

0.073

0.109

0.182
0.233

25

0.058

0.062

0.070

0.093

0.140

30

0.072

o.on

0.087

0.115

0.173

0.288

35

0.087

0.093

0.105

0.140

0.210

0.350

40

0.105

0.112

0.126

0.168

0.252

0.419

45

0.125

0.133

0.150

0.200

0.300

0.500

TABLE G-1 f,tctt Fecto,. (f)

G-2

Force Analysis

Normal Force. This force determines the contact

stress between cam and rolJer. It is found by the following equation,

(12)

Pn=--

cos 'Y

Torque.
by

= rP tan

(13)

'Y

The maximum torque determines the cam shaft load,

the power to drive the system and the size of the drive.
All of the preceding applies to an open cam with a
spring constrained follower. Note that P must always
be directed upward to maintain contact between the
cam and follower. The spring must be strong enough
to accomplish this condition. The method of determining the necessary spring specifications is described
later.

Closed Cam Forces. No spring is required with a

closed or grooved cam. The direction of P may be
downward, contact then being between the outer profile and the roller. Typical forces on a closed cam are
shown in Fig. G-2.
L

I
-t-p,-.-:. . . . .
fflC

P11

It

(2)---L-J
(a)

FIG. G-2

6.28 (0.75) ( 6 X 120)' = 679 in./sec. 2

60

The peak i~ertial forces are

The torque on the cam shaft is determined

The peak positive and negative accelerations occur at

15 and 45 respectively, where

(b)

Spring Specifteations. The following example demonstrates the procedure for determining the spring required for an open cam with spring constrained follower.
Example. Consider an open cam with an on-center
translating follower, lifting a weight (W) of 20 lbs.
through a displacement (h) of 0.75 in. The cam shaft
speed is 120 RPM; the action takes place in 60 of cam
rotation, and the cam curve is cycloidal. The friction
forcesare negligible.

W
20
- a = - ( 679) = 35 lbs.
g
386

The weight and inertial forces are plotted in Fig. G-3.

At B these forces total 55 lbs.; at D, -15 lbs. As
the forces (P) must be positive at all points, the
spring must exert a force greater than 15 lbs. at point
D. Assume that an initial spring force of 5 lbs. is
adequate at point A, and a total force of 10 lbs. is sufficient at point D. Then, at D, the spring must exert a
force of 10 - (-15) or 25 lbs. The displacement of
the cam at D = 0.90915 (0.75) = 0.6818 in. The spring
force has increased from 5 lbs. to 25 lbs. or 20 lbs.
Therefore the spring rate is
20
.
_
= 29.3 lbs. per m.
0 6818

The initial deflection of the spring is 5/29.3 = 0.170

in.
The deflection at B = 0.09085 (0.75) + 0.170 =
0.238 in. The spring force at B = 0.238 (29.3) = 7
lbs. The deflection at C = 0.5 (0.75) + 0.170 =
0.545 in. The spring force at C = 0.545 (29.3) = 16
lbs. The deflection at E = 0.750 + 0.170 = 0.920 in.
The spring force at E = 0.92 (29.3) = 27 lbs. These
forces are plotted in Fig. G-3 to complete the force diagram.
Assuming that the spring will come within a quarter
inch of solid, the specifications for determining the
spring and wire diameters are
Free length = 0.17 + 0.75 + 0.25 = 1.17 in.
Initial deflection = 0.17 in.
Working deflection = 0.17 + 0.75 = 0.92 in.
Spring rate = 29.3 lbs./in.

If a spring of suitable mean and wire diameters cannot

be produced from these values, new assumptions must
be made for the spring forces at A and D. Also, if
machine speed were increased, a new set of values would
result and new spring specifications would have to be
determined.

FIG G3

Corrected March 1962

H-1

SECTION H

Contact Stress
Nomenclature

Material Factors. In Table H-1 are shown rnlues of

M for various cam and follo,Yer materials.

radius factor
modulus of elnst icity of cam material
modulus of ebst icity of follower material
material factor
force 11ornwl to cam profile (lbs.)
radius of eurrnture of pitch curve (in.)
contact stress (psi)
width of cam face or follower (in.)
radius of roller follower (in.)

1
c

~
r1

~)

1
S/ = - - - - - - - - L (_!__ + _.!_)

Ee

s,..,

Steel

0.190

GM Meehoni te

s,..,

0.219

GA Meehoni te

St-I

0.231

GB M. .honite

Steel

0.2"6

GM Meehan i te

GA Meehonite

0.212

GM Meehonite

Ampco 18

0,292

GA Meehonite

Ampco 18

o.JO~

Ampco 20

Ampco 18

0.359

Equations. The compressive stress bet\\'een two

elastic bodies in contact under load (Fig. H-1) may be
calculated from the Hertz equation, which, applied to
cam profile and roller follower is
0.35Pn(R

FOLLOWER

CAM

(1)
TABLE H-1

E,

This may be simplified to

s,

(10)'~

(2)

Design Stress. This should be limited to the follo"ing values:

where
M

E, + E,(IOf
0.35EcE1

- -R,- - for a convex surf ace

([!,, - r1 )r1

- -R,- - for a concave surf ace

(R, + r1)r 1
1

C = - for a flat surface

r,

If the radius of curvature (R,) and the normal force

(P n) are of the same sign (positive or negative), the surface is convex; if they are of opposite signs, the surface
is concave. If R, is infinite, the surface is flat.

FIG. H-1

Steel
GM Meehanite
GA Meehanite
GB Meehanite
Ampco 18
Ampco 20

100 ,000 psi

65 ,000 psi
55 ,000 psi
53 ,000 psi
34,000 psi
45 ,000 psi

If shock loads or excessive sliding arc present, these

values should be reduced by 25 to 40 per cent. For
other materials, the design stress should not exceed onethird the ultimate comprc~ive stress. Deflection of
the cam shaft, or misalignment of the roller follower
can greatly increase the contact stress. The shaft
should be of ample size and well supported. Care
should be taken to assure good alignment of cam and
follower.

Corrected March 1962

Contact Stress

H-2

NOMOGRAPH FOR CONTACT STRE~

Pn

Sc

100,000

10

90,000
15

80,000

20

70,000

60,000

30

M
'-

50,000

40,000

40

10

LL.

50

60

4
3
30,000

.2

E
c
u

Steel

Steel

70

Steel

GM

80
90
100

Steel

GA

Steel

GB

GA

GM

Ampco 18
Ampco 18

GM
GA

Ampco 18

Ampco20

2
150

200
20,000
0.5
300

15,000

Sc

400
500

600

Pn

L
10,000

700
800
900
1000

J-1

SECTION J

Cam Design Summary

Design Procedure. Assuming that the linear displacement (h), the angular displacement (/3), the weight
(W) of the accelerated system, and the type of curve
have been determined, and that the follmver dimensions,
cam and follower materials have been tentatively selected, the following will provide an orderly design
procedure:
1.

2.

4.

5.
6.

7.

8.
9.

1.
2.
3.

Determine the pitch radius (RP) for an acceptable maximum pressure angle (Section F; Equations 3, 4, or 5).
Determine the minor radius (8 of the pitch
curve.

Determine- the displacement (y) at critical

points (Section E; Equation 1). In general,
th<>sc are the points of maximum positive and
negative acceleration, adjacent points either
preceding or following these peaks, and the midpoint. For instance, for n. cycloidal curve, they
are points 30, 31, 60, 90, and 91; for a harmonic
curve, points 1, GO, 119.
Determine radius (Rn) at the critical points.

Determine pressure angles (..,,) at critical points

(Section F; Equation 2).
Determine radius of curvature (R,) at the maximum positive and negative acceleration points
(Section F; Equations 6 or 7). At this stage
the follower diameter can be evaluated.
Determine maximum positive and negative accelerations (Section E; Equation 3).
Determine inertial force (Wa/g) at the peak acceleration points (Section A; Equation 16).
Determine force (P) acting on the system at the
peak acceleration points (Section G; Equation

4.

11.

0.136

= 0.149
= 0.750
1.363

= 1.376

R90

+ 0.136 =
+ 0.149 =
= 3.2,5 + 0.750 =
= 3.25 + 1.363 =

R91

= 3.25

R'JO = 3.25
R31 = 3.25

3.386
3.399
4.000
4.613
1.376 = 4.626

= 57 3 (l.O)(I. 5 ) = 0.3384

Tan

3.386 (75)

'Y'JIJ

= 18.70
T
= 57.3 (1.0523)(1.5) = 0 _3540
an 'Y3l
3.399 (75)
')' :n

1!).;>() 0

;,7 .3 (2.0)(1.5)
= o..~no
4.0(7,))
'Y&O = 29.86
,
_ f>i .3 (I.O)(Uj) _
1 an ')'90 (
)
0.248-l
4.613 75
,

1 an

"'60

'Y90

= rn.9.~ 0

,,
1an "'
I

')'91

6.

lll

.)1.:1 (0.9-177)(1..~)
= o.:2:348
4.626 (75)

= 1:t21

7,>

= 0.62

68 = -120
a:io

Determine force (P ") normal to the cam profile

at the peak acceleration points (Section G;
Equation 12).
Determine contact stress at the peak acceleration points (Section H; Equation 2).

= 18.70 - HL50

R, =
a,o

= J;U),> - 13.21
sin 0.62

R, = 4.61:J .

7.

!,;in 0.62
:t:J8H
-sin 0.18 O

Sill

Design Example. A closed or grooved cam, with an

on-center translating roller follower, is to lift a weight
of 50 lbs. through 1.5 in. in 75 of rotation at 150 RPM.
The cam curve is to be cycloidal. The follower is 1.5 in.
diameter and 1 in. wlde. The cam is to be'(}M Meehanite and the follower, hardened steel. Friction is
negligible.

= 75; N =

'Y30

11).

10.

From Table E-4

= 0.09085 (1.5)
Y31 = 0.09940 (1.5)
yr,o = 0.50000 (1.5)
y90 = 0.90915 (1.5)
y91 = 0.91726 (1.5)

Rr,o

{3

RP = 200(1.5) = 4.0
75
Ro = 4.0 - 0.5(1.5) = 3.25

Y'JIJ

0)

Ro= RP - 0.5h
~.

Design Calculations. Given h = 1.5;

150; r1 = 0.75 and L = 1.0.

1.36 0

0.62

= -0.18

= -11.8 in.
0.62 = l.3o 0

= 2.1 in.

a (ma.1.) = 6.2832 (1..~)(

>:_150)
';)

1360 in./sec. 2

8.
9.

- a
g

,=j()

= -

38U

( 1360) =

176 lbs.

P-. = 176 + .50 = 226 lbs.

P,o = -176 + 50 = -126lhs.
Corrected May 1962

J-2
10.

11.

Cam DHign Summary

226
cos _70 = 240 lbs.
18
-126
P n (at Pt. 90) = cos _950 = -130 lbs.
13
At .points 30 and 90, the radius of curvature
(R,) and the normal force (P 71 ) are opposite in
sign. Therefore, the profile is concave. For
GM Meehanite and steel, the material factor
CM) is 0.219 from Table H-1.

P n (at Pt.. 30)

Cao = (11.8

11.8
21
0.75)(0.75) = 1. '

S, = (l0) 3 ... /24o (I. 25 ) = 37 000 si.

11.o (0.219)

'
P
21

C90 =
= 0.98
(2.1 + 0.75)(0.75)
S, = (10) 3 .. /I 3o (0. 98 ) = 24 000 si.
11.0 (0.219)
'
P
It is recommended that the results of the calculations
be tabulated as shown in Tahle J-1.

Point

Rt1

3.250

30

0.136

3.386

18.70

31

O.U9

3.399

19.50

60

0.750

.C.000

29.86

90

1.363

.C.613

13.95

91

1.376

.C.626

13.21

120

1.500

.C.75

Re

--a
g

0
-11.8

1360

176

0
2.1

TABLE J-1

1360

Pn

so

so

226

2'

37000

24000

Sc.

so

-176

-126

-130

50

50

K-1

SECTION K

Cam Curve Synthesis

~~12~,
c

~,...----__ 2

e, ~ .

(a)

28 2 - - - -.....
(b)
FIG. K-1

Definition. Cam <"Urve synthesis is the process of

coupling segments of the basic curves in a manner that
will provide continuous displacement, velocity, and
acceleration eurves.
Cve Selection. The cycloidal curve, having zero
acceleration at its terminals, is particularly suited to the
dwell-rise-dwell condition. It is not recommended
"hen the return follo,Ys the rise with no intermediate
chrell, as the unneerssary return to zero acceleration is
objectionable. In combination with the harmonic,
constant acceleration and constant velocity curves, the
cycloidal can provide effective solution to the majority
of functional situations enconntered in cam design.
The constant acceleration or constant velocity curves
should not be used by themselves, except at very low
speeds.
General Synthesis Procedure. It will be noted that
all the basic curves, except the constant acceleration,
have zero acceleration at the mid-point. Therefore,
if two different curves are coupled at this point, a continuous acceleration curve is assured. If the displacement curve is to be smooth, the pressure angles at the
coupling points must be identical for both curves. But
the pressure angle is a function of the velocity; so, if
the velocities match, the displacement curve will be
smooth and continuous, and the velocity curve, at least,
continuous. Therefore, if t,,o curves are coupled at
their mid-points, it is only necessary to have matching
velocities nt the juncture. To meet this condition,
certain relations between the linear and angular displacements must be maintained. The following shows
the general procedure.
Segment AB of Fig. K-1 (a) is to be coupled to segment BC of Fig. K-l(b), to form the curve shown in
Fig. K-l(c).
The general equation for the velocity from Section
E, Equation 2, is

Let thr cocffici{'nt of velocit~' (Cr) at B of Fig. K-l(a)

= C1, and at B of Fig. K-l(h) = C2; nlso h = 2h 1 and

2h2 and /3 = 281 and 202 for the respective curves. Substituting these nllues in the equation and equating the
velocities,

l'

= C1(2h1)(

6N) C,(2h,)(:Z)
201

From this

C1h1
C2h2

81
02

(1)

This equation shows the necessary relations between

linear and angular displacements for correct curve
synthesis. Th~ following examples are typical of the
most usual conditions encountered.

Cycloidal to Cycloidal. See Fig. K-2. From Table

E-4, Section E, the coefficient of velocity (C 0 ) = 2.0 at
the mid-points. Substituting in Equation 1,
2h1
01
- = 2h2
82

h1
or h2

81
82

= -

(2)

This equation shows that the linear and angular displacements of the two half-cycloidal curves are directly
proportional.
It is sometimes desirable to control the relation between the maximum positive and negative accelerations.
The following equation establishes this control.
(3)

where n is the desired ratio.

K-2

Cam Cul'ft Synthesis

EXAMPLE No. I. In Fig. K-2, let h1 = 0.25; "2

0.375; 81 = 40. Find 82. From Equation 2,
0.25
0:375

40
82

Therefore
0.2582 = 40 (0.375)

15

Cycloid1I to Harmonic. This combination is useful

for a dwell-rise-return cam. Consider the schematic
displacement diagram Fig. K-3, in which the segment
AB is cycloidal and the segment BC, harmonic. The
coefficient of velocity at point B is 2 for the cycloidal;
1.5708 for the harmonic, from Tables E-4 and E-3 respectively. Substituting in Equation 1,
2h1
l .5708h.,.

and
15

82 = = 60
0.25
EXAMPLE No. 2. A cam is to have a cycloidal rise
of 1.2 in. in 90 between dwells. The peak negative
acceleration is to be numerically one-half the peak positive acceleration. From Equation 3:

81

(4)

= Bi

This equation represents the ratio of linear and angular

displacements for this combination. Further discussion of these conditions will be presented in Section L.
EXAMPLE No. 3. A symmetrical dwell-rise-return
cam has a rise of 0 ..5 in. in 30 of a 50 total angular
displacement. Find the total linear displacement required. In Fig. K-3, h1 = 0.,5; 01 = 30; 82 = 20.
Substituting in Equation 4,

but

2 (0.5)

30

l.5708h2

20

Solving

Therefore,

900
500
90 - 60 = 30

From Equation 2:
h1
30
or
h2
60

= 2h1

but
h1

= 1.2

Therefore
3h1 = 1.2

and
h1 = 0.4 in.
h2 = 1.2 - 0.4 = 0.8 in.

The veloci.ty and acceleration curves for this example

are shown in Fig. K-2.

= 0.424

Therefore
h1

+ h2

= 0.5

+ 0.424

0.924

The velocity and acceleration diagrams for this example are shown in Fig. K-3.

Cycloidal to Constant Velocity. This combination

is used when the design requires a fixed velocity at some
section of the c&.m. It is also valuable when fixed cam
dimensions result in a greater pressure angle than desired if a full cycloidal curve is used. The maximum
pressure angle will be reduced but the peak accelerations will be greater than those of the full cycloidal
curve.
In the displacement diagram, Fig. K-4, the segment
AB is cycloidal, the segment BC is constant velocity.
The corresponding coefficients of velocity at point B
from Tables E-4 and E-1 are 2.0 and 1.0. Substituting
in Equation 1,
2h1
h2

81
82

(5)

This is the ratio of linear and angular displacements for

the combined curves.

FIG. K-3

FIG. K4

K-3

Cam Curve Synthesis

Xo. 4. Let h1 = 0.75; h2 = 0.75; 82 =

Find 81 From Equation 5,

EXAMPLE

50.

2 (0.75)

01

0.75

50

From Equation 6,
15
.
= 0.4615 m.
32.5

h2 = -

From Equation 8,

Solving,

/i3

The velocity and acceleration diagrams are shown in

Fig. K--1.
EXAMPLE No. 5. As shown in Fig. K-5, a cam is to
have a 0:25 in. cycloidal rise coupled to a constant
velocity curve ,vhich acts through 30, and is in turn
coupled to a cycloidal curve. The event begins and
ends in a dwell, the total displacement of 1 in. occurring
in 100. From Equation 5,

2 (0.25)
h2

= 0.75 - 0.4615 =

0.288.5

Use of Tables for Half Curves. To use the displarement, velocity, and acceleration tables, adjustments
must be made for half curves.
For the first half of a basic curve, points O to GO, Fig.
K-6(a) the equations are
2Kh1

81

30

and

(10)

ll

= 2Coh{~:)

= 2Cah1 -

(l l)

(6Nr

(12)

281

For the second half, points 60 to 120, Fig. K-G(b)

(2K -

15
h2 = (Ji

l)h2

(13)

(6)

v = 2C~h{ N)
282

From Equation 2,

a = 2Cah2

(7)

(14)

(6Nr
282

(I.})

Pressure Angles. Pressure angles may be calculated

by
(8)

8a

= 1oo

- :m -

= 10 -

81

81

57.3Crh1

tau 'Y

(9)

57.3Coh2

tan 'Y

Substituting in Equation 7,

(16)

Rn81

(Ii)

Rn82

9.,5.~v

tan -y

(18)

RnN

Solving,
81

= 32.5
Reference

From Equation 9
83 = 70 - 32.5

= 37.5

1.

Plate Cam Design. :\1. Kloomok and R. V. :\luffley. Prod.

Eng. Feb. 1955.

D=tT
h1 1.0

(4)

,o
h2

A--~==:;__--~4-~~~~~~~~~~~~-t---.-__..__

01

__..,.....

0 2 30

~~. . . .---------------100~--------------~
FIG. K-5

_j_

60

(b)
FIG. K-6

SECTION L

Dwell-Rise-Return-Dwell Cam
Using Basic Curves
Symmetrical Rise and Return. In Fig. L-l(a) is
shown the displacement diagram of a typical cam of
this operational sequence. Note that the rise and
return take place through the same cam angle. In Fig.
L-1 (b) are shown eye loidal, harmonic, and constant
acceleration diagrams of the same conditions. Note
that the cycloidal curve has an abrupt change of acceleration at the maximum rise point. This is objectionable as it can induce undue vibration. This characteristic is not. present in the harmonic and constant
acceleration curves, but there is instantaneous acceleration at the terminals. Therefore none of these cllrves
is quite satisfactory for the D-R-R-D cam.
A combination of the r.ycloidal and the harmonic
curves retains the good characteristics of both. The
cycloidal provides zero acceleration at the terminals and
the harmonic, continuous acceleration at the maximum
rise point.
A typical diagram of this combination appears in Fig.
L-2.
Equation Development. In Fig. L-2, let the relation
between 81 and 82 be n; thus, 82 = n81. From Section
K, Equation 4

The following equations can be derived for the velocitv

and acceleration:
The maximum velocity at Bis
VB

r(n

1)2h

+ 4n

(6N)

(4)

{3

The maximum positive acceleration at M is

aM

+ 1)2h
1r + 4n

= 1r2(n

(6N)2

(5)

{3

The maximum negative acceleration at C is

ac =

1r

(n

11 ( 1r

+ 1) h(6N)
2

(6)

f3

4n)

---~---~~---~~-~

h2

j_~A-=...!.-~~~~+-~~--+-~!.._:::=::,,-.-:
(a)

2h1
1.5708h2

,,, /

~;;oldal~

Therefore
(1)

I'

Cycloldal
FIG. L-2

and

h1 =

'Ir

4n

(2)

Also
4
n

h2 =
1(

+ 411

(3)

If 81 = 82, then n = 1.0 and the above equations become

h1

0.4399h

(7)

h2

0.5601h

(8)

Va

I. 7596h( : )

Q)(

5.528h(

:r
:r

(al

---fj

- - -.......---tJ

FIG. LI

ac = -5.528h(

(9)
(10)

(11)

Unsymmetrical Rise and Return. If the rise and

return occur through different cam angles, as shown in
Fig. L-3(a), a difficulty arises at the maximum rise
point. Unless the cycloidal and harmonic divisions of
angles /31 and /32 are properly adjusted, there will be a
break in the continuity of the acceleration curve as
shown in Fig. L-3(b). This discontinuity should be
avoided, or, at least, minimized.
The following procedure gives a satisfactory solution
when the ratio between the rise and return angles does
not exceed 1.5.

Corrected February 1963

L-2

DwellRise-Retvm-Dwell

f11
(0)

,.....---------11--------..;;::::iii--.J.
.,.__ _ /J, _ _.......____ fJ1 - - - -

i-----fJ
FIG. L-4

(~-------.----+------,..........- - - - -

' ,,'-.)--

Solving for n

Consider the displacement di)lgram, Fig. L-4, which

shows the pertinent symbols. The lesser angle {J is divided into two equal periods. Curve AB is a half-cycloidal curve; curve BC is half~ harmonic. The
characte9stics have already been determined in Equations 7 through 11.
The greater c~ angle is designated m{J, where m is
the ratio of the greater to the lesser angle. This curve
is also divided into a half-harmonic section CD and a
cycloidal section DE. The relation n between the CD
curve angle (n{J) and {3 is to be determined. For a continuous acceleration curve, the acceleration at C should
be the same for both rise and return.
For curve CD, from Section K, Equation 15 and
Table E-3
<le =

-4.9348 (2h,)(:;r

(12)

Combining Equations 11 and 12, and solving for ha

ha = 2.2404n 1h

(13)

= {l - 2.2404n 1)h

(14)

Also

"4

V(3.5192m) 2

n=

FIG. L3

The velocity at D should be the same for curves CD

and DE.
From Section K, Equation 14 and Table E-3, for
curve CD

2 (1.5708) (2.2404n'h)(:;)

(15)

From Section K, Equation 11 and Table E-4, for

cwve DE

6
v,, = 2 (2h)(l - 2.2404n{ (m ~ n)/l]
2

(16)

Combining Equations 15 and 16 results in the quadratic equation

0.9616,it+ 3.5192mn - 2 = 0

{17)

3.5192m

1.9232

(18)

Having n, all other characteristics of curve CDE can be

derived.
From Equations 15 or 16, the maximum velocity is
Vo

= 3.5192hn. (

6
:)

(19)

From Section K, Equation 15, the maximum positive

acceleration is
2

aN

= rh (1 - 2.2404n )(6N)
(m -

n) 2

2
(

{J

20)

For convenience of use, the characteristic equations

are summarized below.
CURVE ABC
h1

0.4399h

(7)

ht

0.5601h

(8)

(6;)
. (6N)'
(max. pos.) = 5.528h
fJ
ac (max. neg.) = -5.528h (6N)'
ti

Ve

(max.)

= l.7596h

(9)

{10)

a11

(11)

CURVE CDE

ha

2.2404n h

(13)

IL.

{l - 2.2404n 2)h

(14)

(6:)
ac (max. neg.) = -5.528h (6N)'
ti

v,, (max.)
v,, =

+ 7.6928 -

aN

(19)

= 3.5192hn

{11)

(max. pos. ) _- rh (1( - 2.2404n~)(6N)

_m - n )'
{J

(20)

Design Example. In Fig. L-4 let h = 0.5 in.; fJ

40; mfJ = 50; N = lOORPM; m = 50/40 = 1.25.

From Equation 7,
h1 = 0.4399 (0.5) = 0.220 in.
Correeted March 1962

L-3

Dwell Rise Retum-Dwe 11

From Equation 8,

h2 = 0.5001 (0.5) = 0.280 in.

From Equation 18,

n=

(3.,1192 X 1.2.:;)2

+ 7.6928 -

(3.5192 X 1.25)

It may be desirable to ha,e n/3 in integral degrees. 1

This run usually be done with a slight disrrepancy in
arcelerations.
If n/3 is made li 0 instead of 16.686; n = 17/40 =
0.425.
From Equation 13,

1.9232

h3 = 2.2-10-1 (0.425) 2 (0.5) = 0.203 in.

h. = 0.500 - 0.203 = 0.297 in.

0.4167
Thercfom

From Equation 12,

ntJ
(111 - n)tl

= 0.4167 (40) = 16.668

(l.2;i -0.-1167) (40)

= 33.332

ac

From Equation t:J,

= -4.9348 (2)(0.203) (

6 X 100) = -635 m./sec.

2
2 X 17

The difference in acceleration is negligible.

h:t = 2.2-10-1 (0.-1167) (0.;3)

2

= 0.195 in.

From Equation 1-1,

h~ = [I - 2.24().1 (0.4167)2) (0.5) = 0.305 in.
From Equation 11,
2

ac = -5.528 (0.5) ( 6 X 100) = -620 in./sec. 2

40

Reference
1.

Continuous Cam Curves. Edgar Schmidt. l\lachine Design.

Jan. 7, 1960.

UNSYMMETRICAL RISE & FALL

M-1

SECTION M

Cam Curve with Terminal

Velocity
Operational Conditions. Sequence of operational
functions of a cam sometimes necessitate coupling a
terminal of a basic curve to another curve which has a
fixed terminal velocity. To assure continuous velocity
and acceleration, it is then necessary to adjust the basic
curve to the required terminal velocity. The method is
shown by the following procedure.

For curve BC, from Section K; Equation 14

l'B

= 2(2) (h - hAB)

6.V

(5)

2m(JAB

Combining Equations 4 and 5, and solving for hAs

+ 0.5VA m8As)
--

(G)

~ m(JAB)
0.0VA
--

(7)

hAB

= - 1- ( h

hBc

= -m- ( h -

+1

6N

Also

0
If (JAB =

+1

OBc, m

6N

= 1 and

(h + 0.5l'A (JAB)
6N

(8)

hBC = 0.5 (h - 0.5L'~ (JAB)

- 6N

(9)

hAB = 0.5

Other characteristics may be determined from the

following.

"4-----(3
FIG. M-1

For curve AB:

Equation Development. Consider the displacement

diagram in Fig. M-1. The terminal point A has a fixed
velocity, (vA); the velocity at point C, (vc) is zero; the
curve BC, ending in a dwell, is a half-cycloid; the
curve AB, a half-cycloid adjusted to the terminal velocity VA.
To develop the equations, note that the displacement
at any point of the constant velocity line extended
through A to Dis

.,11 = 2Kb

Displacement:

(J

r:A 6N
--

(10)

where K = displacement factor; fJ = angular displacement of reference point,

Velocity:

v = CJtAu BN - vA(C. - 1.0)

a =

Acceleration:

o.sc.[ hA

2
8 (::)

(1)

where (J = angular displacement (deg.) at any point;

t = time (sec.) for the cam to revolve through (J; N =
RPM of cam shaft.
Also, note that the displacement of the adjusted halfcycloid at point B is

(11)

BAB

iA : ~ ' ]

(12)

For curve BC:

Displacement:
Velocity:
'

hAa

(13)

2KhBc

v = C .hac BN

(14)

8BC

Acceleration:

(2)

(6N)

0.5C.hoo One

(15)

and that the displacement of the half-cycloid BC from

point B is
h11c

= h -

hAB

(3)

Also, the acceleration at B for both curves is zero.

At point B, the velocity (vB) must be the same for
curves AB and BC. For curve AB, vn is the velocity
as determined from Section K; Equation 11 plus the
terminal velocity VA
(4) .

Design Example No. 1. Leth = 1.5 in., OAB = 30;

= 24; VA = 6 in./sec.; N = 100 RPM. Determine the displacements and peak velocity and accelerations.

.8Bc

m = 24/30 = 0.8
From Equation 6,
hA

= /8

(1.s + 3 !:i) = 0.9 in.

M-2

Curve with Terminal Velocity

The displacement diagram Fig. ~'l-2 shows the known

and desired conditions. Xote curw AB is a full cycloid;
CD, a half-cycloid; DE, a velocity-adjusted cycloid;
EF, constant velocity; and FG, a half cycloid.
The procedure is as follows:
1. Determine hEF, hFG, eEr, eFG; from Section K;
Equation 5

From Equation 7,
hBc

(
24) = 0.6 ,= 0.8
~ 1.5 - 3
600

From Equation 11,

l'H

= 2 (0.9) ( 600) - 6 (2 - 1)
30

30 in./sec.

"" = 2 (0.6)(:) = 30 in./sec.

(16)

8EF

hEF

From Equation 14,

Knowing that hEF + hFc = 0.37.5, and f}F.F + eFG

= 100, if one ,alue is assumed, the others may he

(Check)

determined.
Let Ou = S0 and substitute in Equation

From Equation 12,

2 (0.37;"j - hEF)

a (max. pos.) = 0.5 (6.2832) X

100 - 50
50

hEF

754 in./sec. 2

rn

Solving
hu = 0.25 in.

From Equation 15,

(17)

and

a (max. neg.) = 0.5 (-6.2832)(0.6)(:)' =

-1178 in./sec. 2

Design Example No. 2. A cam operated tool is applied to a work piece held in a receptacle mounted on a
six-station genern driven dial. The tool makes contact
with the work 3/ 8 in. from the end of the stroke at a
relatively low velocity, continues at constant velocity
for a time, and then decelerates to zero and dwells
under pressure for a certain period. The tool is then
withdrawn and the cycle repeated. Design conditions
require at least 3/ 4 in. retraction of the tool before the
start of the indexing, and not more than 1/4 in. advance
before the dial stops. The total displacement of the
tool is 11/4 in.
This example not only presents a problem of curve
synthesis, but also a condition where intermediate displacements must be aligned ,Yith angular displacements.

hFG

0.125 in.

(18)

OEF

50

(19)

f}FG

50

(20)

2. Determine the velocity at E or F at one RP~L

From Section K; Equation 11 and Tables E-1
and E-4
VE

= 2 (LO) (0.25)

VE

= 2 (2.0) (0.125)

6
.
(SO) = 0.03 m./sec.

(~O)

(21)

= 0.03 in./sec. (22)

3. Determine OAP and f}QE,

There is available, 360 - (120 + 100 + 60) =
80
Making the angular displacements proportional
to the linear displacements

8Ae (Cyc.)--------Dwell

(JFG

60

{Cyc.)

0.5

hOE

_ _ 1 0 Ind.ex.
20

Oco

FIG. M-2

Curve with Terminal Velocity

6. Dct<'rmine hrn and hnE,

:\It hough 8n: mn~r h(' dhid<'u urhitrnril~. diYi~ion
into <'q11al part:,:; i~ 11~unlly a safo,fador? f'hoic0.
Therefor<',

or
0.73
1.375

fhp

M-3

-=--

80

8co

Solving

= 8m:

.~n/2

= 28

(27)

From Equation 8 form = 1

(23)

hDE

and
fJQE

36

fJAB

= 120 (44/66) = 80

hoE = 0.5 [ 0.87.;

7. Check

(25)

hcQ

W]

= 0.4i25

in.

(28)

5. Determine flcE,
Again making angular displacements proportional
to the linear displacements,
8cE
hcE
flcE
0.87.5
-=-or-=-8As
hAB
80
1.25

(29)

for conformity to specifications.

20
.
( ) = 20 of a f ull eye 101'd n1 penod
2 28
56

hAP = 0.59918 (1.25) = 0.749 (Check)

20
~ (120) = 43
,)6
The displacemC'nt fad or corrC'sponding to th<'
43rd point of a full cmYc is 0.2:Wj,"i from Table E--1.
Therefore, from Sect ion l~; Equation 10,

hcQ = 2 (0.234(3;j)(0..102t>) = 0.189 in.

and
(26)

56

0.5 (0.03)

hco = 0..102;> in.

8cQ =

From Equation 9

and

flcE

- 8m::)
+ 0 .Jl'E
(3

Substituting the known values

(24)

4. Determine fJAB
:Kotc that hA1' = 0.75 which is 0.75/1.25 or 0.6
hAt
From Table E-4, the nearest value to 0.6 is
0.5~18 occurring at the 66th point.
Therl'forc

= O,.,- (,ICF:

which is well within the spC'cific<l 0.2;"i in.

The final displacement diagram is show11 in Fig.

M-3.

0.189

0.501

(:~o)

0.4025

1.25

0.4725

G
0

---~~-120

........

~~~

FIG. M-3

A~25

N-1

SECTION N

Modified Trapezoid and

Modified Sine Curves
Modified Trapezoid. This curve is a combination of
the cycloidal and con8tant acceleration curves. It has
lower peak acceleration than the cycloidal, while retaining the adrnntages of zero acceleration at the
terminals. It has one objectionable characteristic: the
torque goes from maximum positive to maximum negative in one-fifth of the travel time. If dynamic forces
r('presc>nt the major part of the load on the cam, the
comparatively sudden release of energy may be detrimental. .:\Inch better torque characteristics are displayed by the cycloidal and modified sine curve.
Development of Curve. In Fig. N-1 are shown the
displacement and a<'<'eleration diagrams of the modified
trapezoid cun-e; and in Fig. X-2 the basic cycloidal
curves from \\'hich it is developed. Pertinent symbols
and relationship of angular displacements are indicated
in these figures. X ote that primed symbols refer to the
basic curve.
From Table E-4, for cycloidal displacement, at point
30, corresponding to point B' of_ the basic curve
h' A'IJ' = 0.09()8,5/z'

From Section D; Equation 6 for constant acceleration

(3)

But

B.

= C oh

, (6N)
--;
/3

= 1.

12h'

Ve

(i')'

6.2832h'

Vs

+ aat

= 4.141Gh'

c:)

hco

h'

=vet+ 2,r
-

Koting that t for period between C and D is 0.125/3/6,

and substituting Equation 8

(3)

hco = 1.19455h I

(9)

It is apparent that
hAu

(o.~S =
6.2832h'

(8)

From Fig. D-7, the construction of the cycloidal

curve, it may be seen that the displacements are the
sum of a constant veloGity displacement and a harmonic displacement. Therefore

/3

.0~

(7)

Suhstituting Equations 3 and 4

Let the acceleration at B' equal the acceleration at

From Section E; Equation 3

a 8 = C,h'

Ve

(2)

Oh' 0-:-6

(6)

To determine the displacement at D, for the constant

:i.r.celeration, from Section D; Equation 4

Let the Yelocity at B' equal the velocity at B. As

only relative ,alues are involved, let the RPl\1
1.0.
Then from Section E; Equation 2
Z'n

24

hue = l.2854h'

(1)

= 0.0908,>h'

/3

6N

Substituting Equations 3, 4, and 6 in Equation ;\

Let h' A'B' = hAu, then

hAll

0.25/3

t=-- =-

hac

hco

0.5h

Substituting Equations 2, 7, and 9

p
(12)2

o.ooos.~h'

1.2R>-th'

o..,h

1.19.1.~sh' =

(4)

/f'~.A__

cf/

...,..,.___
8

f3
4

'

___...,.
8
_ _ _ _ ,1..,1I

FIG. NI
MODIFIED TRAPEZOID CURVE

l.2

(3' =

-----...i

FIG. N2

N2

Moclifiecl Trapezoid ancl Modified Sine

From this

From E to F (points 7,; to 10.5)-

h' = 0.1945h

(10)

From Equation 2,
hAu

= Q.0177h

c, =

(11)

4.66609

i-

2.44-106 (~)
(J

4.66609 -4.88812 -

C,, = -4.88812

(12)

hco = 0.2323h

K = 0.61102

(13)

Equations 11, 12, and 13 establish the intermediate

displacements in terms of the full displacement. The
second half of the curve is the reverse of the first half.
Curve Characteristics. The characteristics of the
modified trapezoid are as follows:

c,

0.3890

0.03095 sin4,r

8__ -

c,

{j

c.

!_
/3

(15)

/3

Ca = 4.88812 sin 4r

(16)

/3

From B to C (points 15 to 45)-

K = 2.44406

(i )' - 0.22203 ~ + 0.00723

(17)

c,

4.88812

C,,

4.88812

~
/3

- 0.22203

(18)

(19)

From C to D (points 45 to 60)-

K = l.6ll02

i-

0.03095 sin ( 4r

i-

r) -

0.30551

c.

l.6ll02 - 0.38898 cos ( 4r

C. = 4.88812 sin ( 4r

i-

0.38898

1.61102

i+

i-

r)

r)

C, = 1.61102

c. =

+ 0.38898 cos ( 4r

-4.88812 sin ( 4r

Corrected NOY. 1963

ii-

0.03095 sin ( 4r

i-

2.-)

0.38898 cos ( 4r

3.-) (29)

:lr)

= -4.88812 sin ( 4.-} - 3.-)

(:m)

(:H)

Note angles are measured in radians in the above equations.

The displacement, velocity, and acceleration coefficients are tabulated in Section E; Table;').

Modified Sine. This curve is a combination of cycloidal and harmonic curves. The peak accelerations
are greater than the modified trapezoid, hut less than
the cycloidal peaks. The change from positive to negative torque occurs in 0.42 of the travel time whi<'h makes
it an excellent curve for indexing large mass dials or
turrets.
Development
Curve. In Fig. N-3 are shown the
displacement and acceleration diagrams of the modified
sine curve; and, in Fig. N-4 the basic cycloidal curves
from which it is developed. Primed symbols refer to
the basic cycloidal curves; double primes to the harmonic section of the curve.
From Table E-4 for cycloidal displacement at point
30, corresponding to point B' of the basic curve

or

h' A'B' = 0.09085h'

Let h'..... B' = hAB, then

(20)

(32)
(33)

(21)

hAB = 0.09085h'

(22)

Let the velocity at B' equal the velocity at B. As

only relative values are involved., let the RPM
l .0.
Then from Section E; Equation 2

From D to E {points 60 to 75)-

ii-

(14)

0.3890 - 0.3890 cos 411' !_

(J

+ 0.38898 {3- + 0.03093 sin

(4.-

From A to B (points O to 15)-

(28)

From F to G (points 10.'5 to 120)-

From Equation 9,

(27)

/3

From Equation 7,
hnc = 0.2500h

1.22927 (26)

l'R

2.-) -

0.30551

(23)

2 ..)

(24)
(25)

C)a'

(~N)
=
fJ'

l Oh'

OJifJ

12"'
fJ

(:l4)

Let the acceleration at. B' equal the acceleration at

B.
The displacement at C from point B is

h.

h,BC

But

=Vat+ -

t = 0.375/J
6

(35)
(36)

N-3

Modified Trapezoid and Modified Sine

Substituting Eqmtions ~-l and 36 in Equation ~5

hnc = O.it>h'

h"

Curve Characteristics. The eharartcrist irs of the

modified sine curve are:
From A to B (points O to L>)

(37)

8
/3

QB

6N)

6-)

= ch"
(
a
/3"

4.9348h" ( 0.75{3

c,.

(38)

From Section E; Equation 3

QR

'
Ch
a

Ca

(6.V)2 = 6.2832h' (12)2

{3
~

(39)

0.43990 ( I - cos 4.-

= 0.43990

Substituting Equation -10 in Equation 37

0.43990

(41)

It is apparent that
hAn

+ hac

c. -

= 0.5h

Substituting Equations 33 and 41

0.09085h'

+ 2.09239h'

(4i)

(48J

5.528

~/3

0.31.50.5 cos ( ,..

3 /3

. (471'
+ 1.31967 sm
- 83 /3

~)

0.28003

(49)

- -11')
6

(50)

cos(\.. i- i)

(51)

From D to E (points 105 to 120)

= 0.5h

(42)

K = 0.56010

From this h' = 0.2199,>h

From Equation 40,
h" = 0.6301 lh

0.03501 sin

2~ - 1)
cos 21r ( 2; - 1) J
21r (

Cr

= 0.01998h

+ 0.43990 8-/3 -

(43)

From Equation 33,

hAll

i)

8
5,;j28 sin 411'" "7i

(40)

hBc = 2.09239h'

(-16)

From B to D (points 15 to 105)

Combining Equations ~8 and 39

h" = 2.86478h'

8
{3

K = 0.4~990 - - 0.0~501 sin 41r -

Let the acceleration at B' equal the acceleration at B

From Section E; Equation 3

t0.43990 [ I -

Ca = t.5.528 sin 21r ( 2 ~ - 1)

(54)

(43)

::'\' ote angles are measured in radians in the above equations.

The displacement, velocity, and acceleration coefficients are tabulated in Section E; Table 6.

Equations 44 and -1,> estahlish the intermediate displaC'cments. The sc<'ond half of thc> emTe is the re-
,er~e of th<' tir~t half.

I
I

{3
FIG. N-3

(.53)

(44)

From Equation 41,

h13c = 0.48002h

(52)

, /3
8

(3' =

!!..2 _ ______.,.

FIG. N-4

MODIFIED SINE CURVE

Corrected Nov. 1963

SECTION P

P-1

Cam Profile Determination

Introduction. The necessity for accurate cam profiles
for moderate and high speed machinery has become
increasingly evident. The method by which points on
the pitch curve are determined by layout from the construction diagrams illustrated in Section D is no longer
adequate. For the accuracy required point-to-point
locations of the follower are calculated in polar coordinates, and a table of cam radii and corresponding cam
angles is made. These tables are prepared by applying
the proper displacement equations from Section D or
the numerical data in Tables E-1 through E-6. Obviously it may not be necessary to use all 120 points of
the table for determining the cam profile.

Number of Division Points. In the increment cut tin~

method the number of divisions used depends on the
accuracy desired. Before the hand operation to remove
the ridges the master cam will appear as shown in Fig.
P-1; obviously the greater the number of divisions, the
smaller the angle between data points, the smaller the
scallop height, and the less material to remove.
The following equation in which r, = radins (in.) of
the cam profile from the axis; R" = radius (in.) of the
cutter or follower; and A.8 = angular increment (deg.)
will give a scallop height (s) of approximately 0.003 in.
9 _ ;-

A.8

(1)

= -v R"
Tc

Cam Manufacture. It is necessary at this point to

~scribe briefly the methods by which production cams
are manufactured. Usually a master cam is prepared
from the calculated data. This can be done by layout,
or by increment cutting. In the layout method, the
machinist constructs the profile of the cam on a cam
blank, using as accurate means as availahle. The
master cam is then machined, sawed, and filed to a
scribed line. Naturally, the accuracy depends entirely
on the skill of the operator.
In increment cutting, the profile is constructed by
intermittent cuts, resulting in a series of circular scallops tangent to the desired profile. The machine involved is usually a jig borer. The result i8 a highly accurate master, although the final accuracy again depends on the skill of the workman in removing the
ridges and valleys left by the scallops. This is normally a hand operation.
Whichever method of making the master cam is used,
the production cams are machined on a milling machine
with a cam milling attachment or on a commercial cam
miller, using the master cam as the control device.
For other methods of cam manufacture, see Reference 1 at the end of the section.

FIG. PI

EXAMPLE: Using 11/ 2 in. diameter cutter, determine

the number of divisions to be used for a cam of 11/2 in.
rise in 90. The base radius is 2 in.
The average profile radius is 2 + 0.75 = 2.75 in.
Therefore

9v0.75

2.1.5

2.82

90 = 30.2
2.82
The nearest integral factor of 120 is 30. Therefore
every fourth point of the displacement factors would be
used.

Profile Determination. As has been stated point-topoint positions of the trace point are determined by
polar coordinates. Calculation and layout procedures
will be demonstrated for the common types of open or
closed cams with translating or swinging arm followers.

P-2

Profile Determination

On-Center Translating Follower

Nomenclature
h
y
{3
()"

R"
Ru
K
N
n

total linear displacement of follower (in.)

linear displacement of follower at any point (in.)
total angular displacement of cam (deg.)
angular displacement of cam at any point (deg.)
radius of any point on pitch curve from cam axis
(in.)
minor radius (in.)
displacement factor
total number of divisions
point position

Point

8n

Rn

3.5000

20

15

o.02u.c

0.0569

3.5569

.co

30

o. 19550

0.3910

3.8910

60

.cs

o.soooo

1.0000

.c.sooo

80

60

0.80.CSO

1.6090

s. 1090

100

75

0.97166

1.9"33

5 . .C.C33

120

90

1.00000

2.0000

5 . .5000

Calculation Procedure.

See Fig. P-2. Point-topoint positions of the trace point are calculated from the
following equations.

Kh

(2)

R"

Ro+ y

(3)

{3

n-

(4)

TABLE Pl

Layout Procedure. The tabulated data plus the

follower diameter eompletely describe the ram contour.
However, it is desirable to have the detail drawing show
an accurate picture of the profile as depicted in Fig. P-3.
The layout procedure for the detail is as follo"s.
I.

Determine the point-to-point positions of

the trace point of a cycloidal rise of 2 in. in 90, with a
minor radius of 3.5 in.
The r<>sults of applying Equations 2 and 3, using
Table E-4 to evaluate the displacement factors, appear
in Table P-1. Only six points are shown, which, of
course would not be sufficient in practice. It is recommend;d that calculations be presented in tabular form
as shown.
EXAMPLE.

2.

~t
4.

5.
6.

With cam axis as center inscribe a circle with

radius Ro.
Divide this cirr.le into the required angular displacements ({3) of rise and return and the dwells;
the order to be opposite to that of cam rotation.
Divide the angular displacements (/3) into N
equal sections by radial lines.
With cam axis as center, inscribe radii R "' intersecting the radial lines at corresponding angular d;splacements fJ".
With each point, thus determined, as a center,
inscribe a circle with radius of the roller follower.
Draw a smooth curve tangent to these circles to
outline the cam profile.

120

FIG. P2

Dwell

FIG. P-3
Corrected May 1962

P-3

Profile Deteffllination

Non-Radial Followers. Calculations involving offset

and swinging arm followers are more involved than
those "ith an on-<'enter follower. In Fig. P-2 it is seen
that all points of the linear displacement lie on the same
radial line. With the offset condition appearing in
Fig. P-4, it may be seen that every point of the linear
displacement lies on a different radial line. This condition also exists with swinging arm followers. To
meet these conditions compensating calculations must
be made.
Off-Set Translating Follower
Nomenclature
a, b
h
y

Rn
Ro
K
N
n

/3
(J"

rectangular offsets of follower at minor radius

position from earn axis (in.)
total linear displacement of follower (in.)
linear displacrmrnt of follower at any point (in.)
radius at any point on pitch curve (in.)
minor radius (in.)
displacement factor
total number of divisions
point position
total angular displacement of cam (deg.)
angular displacement of cam at any point (deg.)
angular offset of follower (deg.)
adjustment angle (deg.)
cam angle (deg.)

FIG. P-5
RISE Rotating away from offset
RETURN ~ Rotating toward offset

Calculation Procedure. As indicated in Figs. P-4 and

P-5, procedures differ slightly according to rise, return,
and direction of rotation. The cam radii and angles are
established by the following.
Determine a, b, h, {3, and N from the required operation conditions and the geometry of the system.
(5)

Kh

o,.

tan- 1

R,.
O'"

(J,.

b+y

(6)

--

b~y

sin
011

(7)

o,.

(8)

Oo

~
8,. + u,.,

(9)
Fig. P-4

(10)

"'" 8,. (11)

Fig. P-5
" shown a convenient form for sequence
In Fig. P-6"'is
O' "'

....____,,,,Away
'---Toward

of computation and record of calculated data.

FIG. P-4
RISE Rotating toward offset
RETURN Rotating owoy from off set
Conected March 196 3

P-4

Profile Detennination

Machine

a=

h=

f3

b=

...
c

s
0..
n

Type Curve _ _ _

Cam

.a

N=

f3 IN=

._,GOc

!lo
tan8n

+ c
.a .;;

8n

sin

8n

Rn

t:;)c

(.<:)

~z
IC
c

(.<:)

Un

On

+
<:r:::,c

l/Jn

0
I

FIG. P-6

Layout Procedure, Points on the pitch curve are

established by radii Rn. and cam angles 1"n. as shown in
Fig. P-7.
1.

2.

3.
-1.

5.

6.

With ram axis as center inscribe a circle with

radius Ro.
Divide this rirrlc into the calculated cam angles
1/t.v of rise and return and the dwells, the order to
be opposite to that of cam rotation.
Divide ram angles 1".v into .V sections by radial
lines at nnglcs 1" "' measurC'd from radial line R0
With cam axis as center, inscribe radii Rn., intersecting corresponding radial lines at angles Vtn.
With earh point, thus determined, as center inscribe a cirde with radius of the roller follower.
Draw a smooth curve tangent to these circles to
outline the cam profile.

-~
,80

'PN

60
I

.46\

FIG. P-7
References
1.

2.

3.

Which Way to Make a Cam. H. A. Rothbart. Prod. Eng.

Mar. 3, 1958.
Cams-Design, Dynamirs and Accuracy. H. A. Rothbart.
John Wiley & Sons, Inc. 1956.
Cam Design. W. D. Cram. Machine Design. Nov. 1, 1956.

Corrected March 196 ~

P-5

Profile Determination

Swinging Arm Follower

Nomenclature
a
distanrf:', cnm axis to pi\ot (in.)
b
length of swinging arm (in.)
e,f = offsets of pivot from cam axis (in.)

Rn
Ro
K

radius at any point on pitch curve (in.)

minor radius (in.)
displacement factor
total number of divisions
point position
total angular displacement of cam (deg.)
angular displacement of cam at any point (deg.)
angular displacement of swinging arm (deg.)
angular offset of b from a (deg.)
angular offset of follower (deg.)
adjustment angle (deg.)
cam angle (deg.)

N
n

(1'

ve2 +r

Po

cos- 1

<Pn

K<t,_v

(1-1)

p,,

Po+ <Pn

(15)

Rn

Va 2 + b'!

on

.
b sin Pn
sm- 1

(I :2)

a'+ b' - R 0 2
2ab

- 2ab cos

(17)

n
-13
N

(18)

(1 ft

Oo - On

(19)

"'"

On+ un,

Fig. P-8 and P-11

(:20)

0,, -

Fig. P-9 and P-10

(21)

0'11,

In Fig. P-12 is shown n. convenient form for SC'quen('('

of computation and record of calculated data.
Layout Proeedure. The layout procedure is identical
to the offset-translating follower.

Type Curve

a=

a2+b2=

f3 =

b=
2ab=

cpN

N=

Po=

{3/N=

~
Q.

--s~

-s-

en
0

+
~

..0
IO
N

en
0

..0
IO
N

o.,+
IO

cpn

Pn

cos

Pn

(16)

Pn

(},,

Cam

d:

(13)

R,,

y,,,,

Calculation Procedure. As shown in Figs. P-8

through P-11 various conditions are possible, depending
on relative position of pivot to ('am axis, rise or return
and cam rotations. Cam angles and radii are estabiished by the follo"ing procedure.
Determine Ro, b, e, f, N, <J,_v and /3 from the required
operation conditions and the geometry of the system.

Machine

<:f
.,,
8

cf

..0
IO

c
"in

N
Oil ..

:a

filE

..0

o.,+

{.<::)

'

sin

Pn

sin

Bn

u8 c,8

~
Rn

8n

On

~lz
c

cc

+I
r:::t:>c

8n

t/Jn

0
I

FIG. P-12
Corrected May 1962

P-6

Profile Determination

When

is oreoter than or equal to

,.___Away
__,,Toward

FIG. P-8
RISE - Rotating away from pivot
RETURN - Rotating toward pivot

..__........ Away
__.,Toward

FIG. P-9
RISE - Rotating toward pivot
RETURN - Rotating away from pivot

P-7

Profile Detenninotion

When

80

is less than

8N

Away"---'
Toward~

FIG. P-10
RISE - Rotating away from pivot
RETURN - Rotating toward pivot

'---'A'IIOJ
.......___,, Toward

FIG. P 11
RISE - Rotating toward pivot
RETURN - Rotating away from piwt

SECTION R

R-1

Cylindrical Cams
Introduction. In Sertion B, Fig. 11-B was shown a
rylindriral cam "ith the roller follower operating in a
groove cut on the periphery of a cylinder. This is the
most rommon type. Usually a cylindrical follower is
used, but as the outer edge of the follower travels faster
than the inner, some skidding is present. To decrease
the velocity difference. it is advisable to keep the width
of the roller as narrow as possible, consistent with
strength ronsiderations. Sometimes a tapered roller is
utilized to rompf'nsatC' for the difference. In this case
the vertex of the roller should coincide with the center
of the ram shaft. Thr follower may be of the. translatirfg or swinging arm type. Generally calculation and
layout procedurrs are' simpler than those for the radial
disk cam.
Cylindrical Cam-Translating Follower. See Fig. R- I. The first step is determination of the cam diameter.
As in the disk cam, the significant parameters are maximum pressure angle and the least radius of curvature.
Pressure Angle. Pressure angles may be calculated
from the following equation:
57.3CJi
tan 'Y = - - -

Rf3

Radius of Curvature. The radius of runature ran be

approximated in a manner similar to that. used for a
disk cam.
In Fig. R-2, let A and B be two adjacent points of a
very small section of the cam pitrh curve. Applying
the following equations will give a close approximation
of the radius of curvature.
.1s

--

1rRf3
180N

(2)

.1y

YR - YA

(3)

Re =

y' _1 8 2

+ _1y2

sin (-yR -

'YA)

(4)

where (3 = total angular displacement of cam. N =

number of divisions, and the othrr symbols as indicated
in Fig. R-2.

(1)

in which R is the outside diame.ter of the cam, the other

symbols as in previous nomenclature. The maximum
pressure angle should be approximately 30. It occurs
at the transition point. X ote that Equations 3, 4, and
5 from Section F, and Equations 16, 17, and 18 from
Section K are applicable.

- - - - - ~ *''"'

- - - - - s ----""-----

FIG. R-2

Calculation Procedure. The cam contour may be

constructed on a sheet metal or paper template and
transferred directly by wrapping around the cam hlank.
and machining to a scribed line. This, of course, is a
very inaccurate method. The necessary dimensions
for this method are the intermediate displacements y
and the length of the arcs Sn, which are indicated in
Fig. R-1.
The more accurate method consists of constructing
a flat, radial master cam which controls the cutting of
the cam contour on a commercial cam miller. The
following equations are applicable to the profile determination; in which n = point position, N = number of
diYisions; the other symbols as indicated in Fig. R-1.
y
(},.

s
FIG. A-I

s,.

Kh
n

(5)

(6)

2rRfl
360

(7)

s
N

(8)
Corrected March 1962

R-2

Cylinc:lrical Ca111s

Layout Procedure. Points on the pitch curve are

established by horizontal dimension Sn and vertical dimensions y.
1. Draw a straight line equal to circumference of
cam.
2. Divide this line into sections S corresponding to
the angular displacement and the dwells; the
order to be opposite that of cam rotation.
3. Divide each section S into N equal parts by vertical lines.
4. On each line establish corresponding displacement y as calculated from Equation 5.
5. With each point, thus determined, inscribe a
circle with radius of the follower.
6. Draw smooth curves tangent to these circles to
outline the cam profile.

Swinging Arm Follower. For commercial cam millers

the master cam is a flat disk. A swinging arm attachment compensates for the offset of the follower. The
profile is established from the calculate~ An.termediate
displacements y and the length of the swmgmg arm b.
Calculation Procedure. The following equations, applied to Fig. R-3, establish the profile

'Pn
y

(9)

A.
K '#JN

= b[sin (0.5<f,N )- sin (0.5</,N - </Jn)] (10)

Layout Procedure.
Draw a straight line equal to circumference of
cam.
2. Divide this line into sections S, corresponding to
the angular displacement {J and the dwells, the
order to be opposite that of cam rotation.
3. Divide each section S into N equal parts.
4. With each point as center inscribe a radius b.
5. From a line through lowest point, establish corresponding displacements y, on each arc.
6. With each point, thus determined, as center inscribe a circle with radius of follower.
7. Draw smooth curves tangent to these circles to
outline the cam profile.
I.

Indexing Cams. Cams for intermittent motions,

such as indexing a dial or a turret, are a special form of
cylindrical cam. They are available commerci~lly for
various ranges of indexing stations and proport10ns of
motion and dwell. They have an advantage over the
well-known Geneva motion in that controlled acceleration can be obtained by using the basic curves.
In Fig. R-4 is shown a development of an indexing
cam of a type manufactured by Standard Tool and
Manufacturing Co., Arlington, N. J. It uses tapered
roller followers, which are locked during the dwell by
the tapered sides of a raised wedge on the periphery of
the cam.
Adjustment for minimum backlash and wear is accomplished by shimming the dial. This type c~n be
made with cylindrical followers but then rcqmres a
locking-pin for accurate indexing.

FIG. R-3

FIG. R-4
(cen--4 Oct.w, 1962)

f
R-3

Cylindrical Cams

Figure R-5 illustrates a type made by Commercial

Cam Division, Wheeling, Ill.
During the dwell
period, the cylindrical rollers are locked between two
hardened and ground steel plates mounted on the ends
of the cam.
The type shown in Fig. R-6 has the trade name of

FIG. R-6

''Roller gear'.'
The follmn~rs arc anti- friction ball
hearings, and are locked by the raised wedge. Provision for adjusting the distance between the centers
of cam and dial must be mndc to minimize backlash
and compensate for wear.
Further information may be obtained from the catalogs of the respectiYe companies.
Multi-groove cams arc sometimes used to reduce the
width of the cam. The dial is equipped with twice the
number of followers as there are indexing stations. For
information on this subject, see Reference 4 at end of
the section.

FIG. R-5

INTERMITTENT MOTION

R-4
Screw-Type Indexing Cam. This cam combines
some of the features of the mechanisms shown in Figs.
4 and 6. The motion is imparted to two tapered followers by a wedge shaped rib. The continuation of
this rib loC'ks the dial during the dwell period.
In Fig. R-7 is 8hmrn the single roller type; in Fig.
R-8 the dual roller type. Detailed calculation procedures are preEentcd for each.

For Curve A-B ('1>11

< 0.5tJ,.v)

an

0.5(/>N - (/,,.

(18)

h - r sin a,.

(19)

For Curve B-C (4>,.

> 0.54>N)

an

(/,,. - 0.5t/>N

+ r sin an

(20)
(21)

For Curve A'-B'

Nomenclature
c
d
g

h
r
y

y' =

n =

N=
K=
F =
X=
{3
<i>

center distance-dial to cam shaft (in.)

distance-primary curve origin to secondary
curve origin (in.)
offset of follower from dial center at origin of
secondary <'llrve (in.)
offset of follower from dial center at origin of primary curve (in.)
radius-dial center to follower center (in.)
linear displacement of follower from origin at any
point of primary curve (in.)
linear displacement of follower from origin at any
point of secondary curve (in.)
point position
number of division points
displacement factor
number of followers
number of indexing stations
total angular displacement of cam (deg.)
angular displacement of follower (deg.)
angular off set of follower from dial center (deg.)

a,.

1.5</>N - (/,,.

y'

g -

r sin an

(11)

4'.v

360
-

(12)

--cos 0.5(/,.v

(13)

r sin 0.5(/,.v

(14)

r sin 1.5(/,N

(15)

c - r cos l .t'->4>.v

(16)

Kq,N

(17)

"'"

(23)

Calculation Procedure-Dual Roller. See Fig. R-8.

Determine c, X, and {3 from required conditions and
geometry of the system. Apply the following equations to determine the profile.
(24)

2X

(/>N

360
-

(25)

x
c

T
COS

0.25(/,N

(26)

r sin 0.254>.v

(27)

r sin 0.754>.v

(28)

C -

T COS

0.15</>N

K4>.v

Calculation Procedure-Single Roller. See Fig. R-7.

Determine c, X, and {3 from required conditions and
geometry oft he system. Apply the following equations
to determine the profile.

(22)

"'" t4',. < 0.2i>4>N)

For Curve A-B

(29)
(30)

a,.

0.254>.v - (/,,.

(31)

h - r sin a,.

(32)

For Curve B-C (q,,.

> 0.254>N)

a,.

(/,,. - 0.25(/>N

(33)

+ r sin a,.

(34)

For Curve A'-B' (4>,.

< 0.754>N)

071

0.754>.v - 4'11

(3-1)

y'

g - r sin a 11

(36)

For Curve B'-C' (4> 11

> 0.75(/,x)
0.754>.v

(37)

+ r sin a,.

(38)

a,.

(j, 11

y'

Cylinclrical Cams

deorees

FIG. R-7
Sinole Roller

~--------f degrees
S

inches

FIG. R-8
Dual Roller

R-5

R-6

Cylindrical Cams

Size Determination. The main factors determining

thr <'am diameter arc thr offsrt d and the minimum
thi<knes:-; of the ridge.
.\s ill11:-.t ra t<'d in Fig. H-fl, the smaller the radius of
th<' <am, th<' l<'ss contn<"t th<'rr will br hrtwrcn the cam
prnfil<' and follm,<'r at th<' origin A' of thr se<'ondary
<"lllT<'. To pro,id<' point rontact only, the cum radius
m11:-:t <'<J11:.1l /' as shown hy the dot and dash line. Thcreforr, to pro Yid<' Ii nr con tact

d2

+ f2

R>~

(39)

in whi<'h d = origin of primary to origin of secondary

curw (in.), and f = rffcctin' length of follower (in.).

! _,,.--~

~-~-

~/j

To contnd n drfinite proportion of the effrctiYc length

of the follower

R =

d2

+ j2(1

- z)2

2f(l - z)

(40)

whrre z = proportional contact.

For a giYen radius, the proportional contact is

R - VR 2 - d 2
z = I - - - - -----

(41)

FIG. R-9

SIZE DETERMINATION

R-7

Cylintlric:1111 C... 1

Ridge Thickness. Determining the minimum ridge

thickness would imoh-e much calculation. However,
the following layout method will give the approximate
thickness and may save the time a'ld labor of back
tracking if a specified radius and indexing period do not
provide a minimum thickness of sufficient strength.
See Fig. R-10.
1.

2.
:J.

4.
;,.
6.

7.
8.

Draw line 0-1 equal to rR{J/180.

With point 1 as center, inscriber, locating point 2.
Erect J)C'rpcndicular at mid-point of line 2-3, intersecting extension of line 3-4 at point 5.
With point 5 as center, inscribe radius equal to
line T>-3.
With point 2 as center, inscribe radius equal to
line 3-6, locating point 7.
Erect perpendicular at mid-point of line 7-6, intersecting at point 8 a line through point 6 parallel
to line 3-5.
With point 8 as center inscribe radius equal to
line 8-6.
Scale :\I (which is the approximate distance between follower centers) on extension of line
through points 8 and 5.

(a) Sin9le Roller

FIG. R-10

lb) Dual Roller

References
1.

2.
3.
4.

Catalog-Standard Tool and Manufacturing Co.

Catalog-Commercial Cam and Machine Co.
Catalog-Ferguson Machine Co.
Mechanisms for Intermittent Motion. Otto Lichtwitz.
Machine Design. March, 1952.

SECTIONS

S-1

Effective Weight of Cam

Follower Systems
Typical Systems. I II many ram systems, there is
!'1,0me sort of linkag<' bC'tW<'<'ll thC' ram and the end
<'lemPnt ,,hi<'h is hC'i11g moYC'd. In determining the
forces on the <'am the dfect of the linkage should be
eonsidC'I'l'<l.
In Fig:--. S-1 t hro11gh 8-:~ arC' shmrn simple, although
typi<'al, cam :--y:--t<'ms, rnnsisting of thC' cnm, push rod,
l<',<'r a11d t IH' <'IHI PIPnwnt. The total effccti,c weight
of th~ follmr<'r :--\'~t<'m i:-- th<' dTPdin' wPight of the rod,
IP\'('!', a 11<l ,, 11d ,~J,,nw II t. :\' ot a II of t hcse is the act 11al
W<'igh t of th<' pa rt:--.
ThC' PffC'cti,<' w<>ight of tht> push rod inYolvcs its
kinetic C'ncrg?, "hi,h is
EK =

1 lVp

2g

EK =

and

lVEP

= lJTp

J,Vp

R,2

(2)

VM2

t2

)2

VM

(4)

(3)

If the rod is long and slender, fl<'xihility will pren'nt

its entire mass being accelerated at the sam<' rat<'. It
is usual practice to assume that only on<' third of thC'
weight is affected by the acceleration. Therefore for
long slender rods,
lVEP

= 3R/

(6)

The effccthe weight of the le,er is derind from thC'

moment of inertia. The moment of inertia about th<'
center of oscillation is

Io
lJ'EP

2-g-

a
b

Z::\I
Vp

lVp

when' W EP = eff<'dive weight of the push rod;

n~locity of the end C'lcmcnt.
Equating these two expressions and solving,
lJ'EP

RP be the velocity ratio of the arms, thPn

RP =

(1)

v/

whNc TJ'P = wcight of rod; l'p = ,elocity of rod, and g

= gr,ffity <'Onst:rnt (:{8G in.,-'~cc. 2). The corresponding
energy on the C'nd cJ..,ment side must be the same, so

Let

Ia+ mc 2

(7)

where I a = mom<'nt of inertia about th<' <'<'llt<'r of gra,ity; m = mass of the le,er; and c = <lista1w<' hc-t,n'<'ll
centers of oseillation and gra,ity. But Io may also 1,c
written us if the effecti,c weight (Tr n) "<'n' ,011t<'11trated at a distanec "a" from the cC'nt er of o~cillation.

(3)

Io

V!'II

and

lVEL

JVELa 2
g

Ioa 2
g

(8)
(9)

S-2

Effedi ve Weight

An approximation of the effective weight of the levt.

(assuming a fairly uniform section) may be determined
from the following equations:
For Fig. S-1
WEL = 2WL

,5

(-1
- _!_ + 1)
R,2 R11

(10)

For Fig. S-2

(11)

For Fig. S-3

2WL

= -

WEL

5R112

(12)

where WL = actual weight of the lever; and R,, =

a/b = velocity ratio.
The effective weight (W rid of the end element is its
actual weight.
The effective weight of the entire follower system ref erred to the end element side is
WE= WEP

+ WEL + WM

(13)

Thus, the system is equivalent to one moving a weight

WE by means of a weightless linkage.
The forces on the cam (weight and inertial) are obtained by multiplying the corresponding end element
forces by the velocity ratio (R~).

FIG. S-1

FIG. S-2

FIG. S-3

SECTION T

T-1

Polynomial Cam Curves

HEN the function of a cam is simply to
move a follower through a definite displacement in a prescribed time, design requirements usually can be satisfied by one of the basic
curve forms: Cycloidal, harmonic, parabolic, etc.
Final choice will depend only on the type of motion
which is judged to be best for the particular event.
When stringent terminal or intermediate conditions are imposed, the basic curves require considerable manipulation to achieve the required objectives.
Usually some compromise must be reached with
resultant deterioration of desirable features.
Another possibility is to resort to a polynomial
curve, tailored to satisfy the specific problem requirements. However, if more than six conditions are involved, a polynomial of high order will result. Without high-speed computing equipment, the mathematics becomes tedious and time-consuming.
This article presents a method of combining lowpower polynomials to meet specified conditions.
Mathematical operations are relatively simple. and
can be easily and quickly handled with slide rule
and desk calculator. The procedures outlined will
produce continuous and finite velocity, acceleration,
and pulse (jerk) curves.

(5)

where

.H1 = 10x3 - 15 x
H2
H3

C1 x

+ C 2 x 2 + 0 3 x 3 + C4x 4 + Csx5

= x - 6 xs + 8 x4
-

(1)

z4+-2

Thus, the characteristics of all of the common

basic curves are embodied within one set of equations. Application of the tables and equ.ations to
the development of suitable cam curves for certain
fixed conditions will be shown by specific examples.

tRe,ferences are tabulated at end of article.

(4)

:t2J :EJ I2J

K

3x
2

---+

1. If vo, VF, ao and ap are zero, the acceleration is a

sine curve, similar to the cycloidal.
2. If vo = 0, vr
0, ao
w 2 h/2t2 , and ap =
-'iT2h/2t 2 , the acceleration is a cosine curve, similar to
the harmonic.
3. If vo = VF = h/t, and ao and aF are zero, the motion is constant velocity.
4. If vo
0, VF = 2h/t, and ao
ap
2h/t 2, result
is a positive constant-acceleration curve.
5. If vo = 0, VF
2h/t, and ao = aF
-2h/t 2, result
is a negative constant-acceleration curve.

Vr

3 xs

and P 1 = 60 - 360x + 360x2

Values of coefficients H, V, A, and P are tabulated
in Tables I through 4 for the range from x = 0
to x = I. Table I (displacement) provides for 60
divisions, which will be the basis of reference for
all intermediate points. For example, in a curve
between terminal points A and B, the 24th point
(x = 0.4) will be identified as point AB-24.
Equations 2 through 5 display some interesting
characteristics:

+As--+

10

3 xs

+ 7 x4

Corresponding expressions for coefficients V, A, and

P may be determined directly from these expressions
for H by successive differentiation. For example, V 1
30x2
60x 3 + 30x4, A 1 = 60x - l80x 2 + 120x3 ,

(3)

= final velocity,

.:r;5

(2)

QQ

4 x3

Differentiating this equation successively with respect to time, evaluating constants, and collecting
terms give the equations for displacement (y), veloc'.ty (dy/dt), acceleration (d 2 y/dt 2 ), and pulse
(d3y/dt3). These lengthy equations may be simplified to:

Vo

VF

+ 6x5

3x3

Consider any cam-displacement curve where the

event takes place in time t. Let original displacement
y0 = 0 and final displacement YF = h. Typical
displacement diagrams appear in Fig. I.
The general polynomiaP to accommodate six conditions is:
00

= oriEtinal velocity,

and

Design Equations

Vo

ao = original acceleration, ap = final acceleration,

l.Q

lO

Fig. I-Typical cam-displacement diagrams where

event takes place in
time t.

T-2

Polynomial Cant Curves

Table 1-Dlsplacement Fadon

pt_

H1

H2

Table 3--Acceleratlon Fadon

ff4

Hs

0
1
2

0
0.000045
0.000352

0
0.018839
0.033121

0
-0.000018
-0.000140

0
0.000132
0.000502

0
0.000002
0.000017

3
4
5

0.06

0.001158
0.002675
0.005088

0.049299
0.065043
0.080235

-0.00007
-0.001061
-0.001989

0.001072
0.001807
0.002874

0.000051
0.000129
0.000243

I
1
8

0.10

0.008560
0.013230
0.019218

0.094770
0.108558
0.121513

-0.003330
-0.006120
-0.007318

0.003HII
0.004891
0.005788

0.000405
0.000820
0.000890

8
10
11

0.1&

0.028812
0.005494
0.045917

0.133572
0.144876
0.154777

-0.010184
-0.011803
-0.01TH2

0.006909
0.008038
0.009153

0.001219
0.001807
0.0020M

12
13
14

0.20

0.057920
0.071521
0.088724

0.183840
0.171837
0.178750

-0.021780
-0.028891
-0.032UO

0.010240
0.011282
0.012217

0.0021180
0.003121
0.003733

15
11
17

0.2l>

0.103516
0.121869
0.141742

0.184570
0.189298
0.192939

-0.038088
-0.04'600
-0.0111348

0.013184
0.014022
0.014775

0.004395
0.005099
0.005841

11
19
20

0.30

0.163080
0.185817
0.209878

0.195510
0.197031
0.197531

-0.0681190
-0.068182
-0.0740'7'

0.015435
0.0111998
0.018481

0.0088111
0.007U4
0.008230

21

0.35

0.235169
0.261599
0.289060

0.197043
0.195609
0.193271

-0.082213
-0.090041
-0.091997

0.018821
0.017077
0.017230

0.009057
0.009887
0.010710

0.40

0.317440
0.346619
0.376474

0.190080
0.186089
0.181356

-0.1071120
-0.118042
-0.12U97

0.017280
0.017230
0.017084

0.0lJ520
0.012307
0.0130tH

27
28
29

0.45

0.406873
0.437681>
0.468773

0.17~42
0.189908
0.163322

-0.1328111
-0.140928
-0.148182

0.0188411
0.018M9
0.018110

0.013783
0.014454
0.015071

30
3.1
32

0.50

0.500000 0.156250
0.531227 0.148762
0.56231!> 0.140928

-0.1&82110
-0.183322
-0.169908

0.01118211
0.016071
O.OlHM

0. 015625
0.018110
0.016519

33
34

0.55

0.593127
0.623526
0.653381

0.132811>
0.124497
0.116042

-0.175942
-0.181338
-0.181088

0.013783
0.013084
0.012307

0.0168411
0.017084
0.017230

38
37
38

0.80

0.682560
o. 710940
0.738401

0.107520
0.09899'7
0.090541

-0.190080 0.0111120
-0.193271 0.010710
-0.195809 0.009887

0.017280
0.017230
0.017077

39
40
41

O.M

0.764831
0. 790124
0.814183

0.082213
0.074014
0.066182

-0.197043
-0.1971131
-0.197031

0.009057
0.008230
0.007414

0.016821
0.016481
0.015998

42
43

0.70

0.836920 0.058590
0.858258 0.051348
0.878131 0.044500

-0.1931110
-0.192939
-0.189298

0.006615
0.005841
0.005099

0.01M35
0.014775
0.014022

45
48
47

0.75

0.896484
0.913276
0.928479

0.038086
0.032140
0.026691

-0.184370
-0.1787110
-o.1n837

0.004395
0.003733
0.003121

0.013184
0.012267
0.011282

48
49

0.80

0.942080
0.9M083
0.964506

0.021760
0.017362
0.013503

-0.163840
-0.154777
-0.144672

0.002560
0.0020115
0.001607

0.010240
0.009153
0.00803R

51
52
53

0.85

0.973388
0.980784
0.986770

0.010184
0.007396
O.OO:Sl20

-0.133572
-0.121513
-0.108556

0.001219
0.000890
0.000620

0.006909
0.005786
0.004691

0.80

0.991440
0.994912
0.997325

0.003330
0.001989
0.001061

-0.094770
-0.080235
-0.0611043

0.0004~
0.000243
0.000129

0.003845
0.002674
0.001807

0.95

0.998842 0.000457
0.999648 0.000140
0.999955 0.000018

-0.048299
-0.033121
-0.018639

0.000056
0.000017
0.000002

0.001072
0.000602
0.000112

22
23
24
~

28

35

l>O

M
56
57
l>8
59

1.00

80

1.000000

Ai

A2

A3

A,

Aa

0
8
12

0
0.10
0.20

0
,.32
5.78

0
-2.70
-3.84

0
-1.82
-1.112

1.00
0.27
-0.18

0.00
0.111
0.20

18
24
30

0.30
0.40
O.M

IUM
2.88
0

-3.78
-2.88
-1.M

--1.28
0
1.110

-0.35
-0.38
-0.~

0.09
-0.08
-0.~

31
42
48

0.10
0.70
0.80

-2.88
-5.04
-11.78

0
1.28
1.82

2.88
3.78
3.84

-0.08
0.09
0.20

-0.38
-0.35
-0.18

M
80

O.IIO
1.00

-4.32
0

1.82
0

2.70
0

0.111
0

0.27
1.00

Point x

Ha

Table 4-Pulse Fa don

P1

P2

p3

P,

0
I
12

0
0.10
0.20

80.00
27.80
2.40

-38.00
-18.60
-t.80

-2C.OO
-9.00
2.40

-11.00
-5.70
-3.00

3.00
0.90
-0.60

18
24
30

0.30
0.40
0.110

-111.60
-28 . .0
-30.00

5.40
12.00
15.00

10.20
14.40
15.00

-0.00
0.80
1.60

-1.60
-1.60
-1.50

31
42
48

0.10
0.10
0.80

-28.40
-16.80
2.40

14.40
10.20
2.40

12.00
11.40
-4.80

1.80
1.50
0.80

-0.60
0.110
3.00

0.90
1.00

eo.oo

27.80

-9.00
-24.00

-18.80
-38.00

-0.90
-3.00

11.70
11.00

Point x

eo

Pr,

Design Exampks
Dwell-Rise-Dwell Cam-Fixed Intermediate Dis-:
placement: Cam action is shown schematically by
the displacement diagram in Fig. 2a. Find the
optimum displacement equations when hB = 0.64 in.;
he = 0.36 in.; t = 0.04 sec; nt = 0.03 sec; velocity
at point A, V..t = O; velocity at point C, Vo = O;
acceleration at point A, a..t = O; and acceleration at
point C, ao = 0.
To assure smoothness and continuity of the derivative curves, final velocity VB, acceleration aB, and
pulse PB of curve AB should equal the initial velocity, acceleration, and pulse of curve BC.
The first step is to equalize the pulse. From
Table 4 and Equation 5, the pulse at B for curve
AB is:
hB
1'B
PB= 60-- - 3 6 - -

t3

f2

aB

+ 9 -f -

= 60(10) 4 - 2.25(10)41'B

+ 2.25(10) 2 aB

(6)

Similarly, for curve BC,

Table 2-Velocity Factors

Pt.

V1

V2

V3

v,

0
3
6

0
0.0l>
0.10

0
0.06769
0.24300

1.00000
0.95891
0.85050

0
-0.02659
-0.09350

0
0.03H8
0.06075

0
0.0032!
0.011:ZG

9
12
15

0.15
0.20
0.25

0.48769
0.76800
1.05469

0.69541
0.111200
0.31641

-0.18309
-0.28000
-0.37109

0.06773
0.06400
0.05273

0.02162
0.03200
0.04102

Subtracting Equation 6 from Equation 7,

18
21
24

0.30
0.35
0.40

1.32300
1.55269
1. 72800

0.12250
-0.05809
-0.21600

-0.44550
-0.49459
-0.51200

0.03675
0.01848
0.00000

0.04725
0.04977
0.04800

= 20(10)4 - 1.75(10)' "s - 5.25(10)2 as

Solving for each variable,

27
30
33

0.45 1.83769
0.50 1.87500
0.55 1.83769

-0.34409
-0.43750
-0.49359

-0.49359
-0.43750
-0.34409

-0.01702
-0.03125
-').04177

0.04177
0.03125
0.01702

36
39
42

0.60
0.65
0.70

1.72800
1.55269
1.32300

-0.51200
-0.49459
-0.44550

-0.21600
-0.05809
0.12250

-0.04800
0.00000
-0.04977 -0.01848
-C'l.04725 -0.03675

45
48
51

0.7l>
0.80
0.85

1.05469
0.76800
0.48769

-0.37109
-0.28000
-0.18309

0.31641
0.51200
0.69541

-0.04102 -0.05273
-0.03200 -0.06400
-0.02152 -0.06773

M
57
60

0.90 0.24300
0.9l> 0.06709
1.00 0

-0.09350
-0.02659
0

0.85050
0.95891
1.00000

-0.01125 -0.06075
-0.00321 -0.03948
0
0

V5

aa
,,. = 6 0he
- - - 3 6"
-- - 9(nt)3

(t1f)2

t1t

= 80(10)4 - 4(10)4 1'B - 3(10)2 aa

I

(7)

a8 = 381 - 33.3 "

(8)

" = 11.43 - 0.03 as

(9)

If any value is assumed for as and the corresponding value of Vs is determined from Equation 9 and
substituted into Equation 4, point by point accelerations can be calculated and plotted. Successive point

T-3

Polynomial Cam Curves

plots for various values of as will eventually product.

an optimum curve. However, after two trials a
suitable curve can be obtained by inspection.
INSPECTION METHOD: For the first trial, let as =
- 600. From Equation 9, v8 = 11.43- 0.03 ( - 600) =
29.43.
From Equation 4 for curve AB,
d2y

hs

VB

-= A1 -t2- + A3 -t- + As as
d
= 400 A1 + 736.A3 - 600 As
t2

(10)

Similarly, for curve BC,

d 2y

he

d t2

(n t) 2

Vs

+ A2-+ A.as
nt

-- = A 1 ---

400 A1

+ 981 A2

(11)

- 600 A"

For the second trial, let aD = 0. From Equation 9,

Vs = 11.43. Then, from Equation 4 for curve AB,
d2y

-= 400A1 + 286A3
dt2

(12)

and for curve BC,

-= 400 A1 + 381 A2
dt2

(13)

1000

J
I L

,,
!

..

.....~

\\

Anolytocal

' ~ ~ /v

1000

IZ

.......

"'

i-l-\ _i- - ~~457

z
I

-ZOOO

TrlDl ' " " ' _ . _ )

['\~

...

Z4

\: r-- ..
~

IO
0

...

II

::-,:., ....
I""''

..

tZ

O.TI

II

,.10

....
.. ........

..

1...

...

JOA,

736A,

- --.

IT,:

-1112

-uu

11
1112

-&OOAa t/1r1/41 1

_..

-tlf

..

-120

122
TTJ

INI
1200
126<
II ..

- -- --

IN
211
2IO

IJM

,.., .

-uaz

21N

-11

:na

-:z.t

-1121

-HZ

'".,.
Ill

Cu,,.e BC
981Ao -600A, a-11/d1'

- .. --_...~ -'----...

JOA,

_,.
-n11
-n
-26

ITJI

.,. .. - _..., ,_.

--. -_,_-..
...,.,.........
.
.. .. -- '"' --:
n

II

IT~

2l6Aa

-ca

2011

0,tl

1112

-1112
-2011

I-

-ITJI

Tff

..

..

1111

h/41 1

ITIO
IIU

42'

- :129

-112
N

2011

111:,
0

2IO
211

-lt71

-11a2
-2011
-2*
-1'28

. .

-121

Ir.It

-11

c..,,.e
JOA,

-1112
-H:tT
-1:rJI

. ----.

IUI
Hit

Second Trill

400A1

01,
0.20

IO

Flnt TrlI

c-.u

Trial Colculatlen,

c.n. .u

.........
....

12

~'!

"

P,,1111 P011t

(bJ

-~

~1

'-'

i,.v

= 0.64 Bi+ 1.06 Ha =

11 I I I I

~T,.,, I

= 400 Ai + 881 A2 -

500 A"

(15)

(16)

0.80 H5

y ='II.a+ 0.36 Hi+ 0.79 H2 - 0.45 B"

I I

\I

"

......,

I I

-- --~

d2y
-L-

2. Curve BC,

_. TrlCII 2

,'

(14)

I. Curve Ai,

--ft!--------1

..

500 A5

From Equation 2, the displacement equations are:

lr

~
/

d2y

-= 400 Ai + 661 Aa dt2

dt2

1 . I
- - ~ - -

zooo,,

I. Curve AB,

2. Curv:? BC,

d2y

~J.1

Discrete values of d 2 y/dt 2 as calculated from Equations IO through 13, using Table 3 to evaluate the
A coefficients, are given and plotted in Fig. 2. Slide
rule calculations are usually of sufficient accuracy
at this stage.
Inspection of the trial curves, Fig. 2b, reveals
certain characteristics. It can be proved that the
three intersections are common to all curves with
the specified parameters. Therefore, these intersections establish the minimum peak values of posi;
tive and negative accelerations. By visual interpolation, a curve which will approach these minimum accelerations can be sketched. Trial curve
3 (dotted line) closely meets the requirements. In
this curve as = - 500, which would become the
basis for the final curve. From Equation 9, when
an = -500, Vs = 26.43.
From Equation 4, the acceleration equations are:

_,
-

f,fO

BC

381A2

..

,.IIS2

_.

--

6TI

-n211

-an

-1112

-1152

- 0.45 B,

(17)

ANALYTICAL METHOD: In addition to the trial

method, which is quick and efficient, a purely
analytical procedure can be used to give a direct
solution.
In Fig. 2b, trial curve 3 slopes upward to the
right at terminals A and C, signifying that the pulse
at these points is positive. The minimum accelerations possible are at or near points AB-24 and
BC-36. This condition is not only true for this
curve, but for any curve with fixed terminal conditions where the intermediate displacements and
the times of the events are roughly proportional;
that is, the larger displacement occurs in the greater
time.
If minimum accelerations are to occur at these
points, the slope of the acceleration curve (pulse)
must be zero. Also, velocity must be positive at
all points. From Equation 5 and Table 4 the pulse
at terminal A is:

-ue:a

-lift

+ 0.36 H1 + 0.79 H2

tl'v1d1 1

... -........
-- ..... .

JTJII

0.64

-u.

TD

-11n

llT

-1111

'11.s

as

3--

Substituting the known values, eliminating as (Equation 8), and simplifying,

Fig. 2-Dwell-ri,e.dwell cam with intermediate

displacement: ~ di11ace meo.t dill$ram; b, acceleration diagram an trial calculations.

"s

PA= 60-- - 24-t3

t2

PA

= 175(10)2(35.9 -

(18)

Vs)

Thus, PA will not be negative if

Vs

< 35.9.

T-4

Polynomial Cam Curves

Similarly, the pulse at terminal C is:

he

Vs

tnt)3

(nt)2

= 233(10)2(32.7 -

VB)

solving for each unknown,

as
Pc= 6 0 - - -- 2 4 - - - 3 - - -

a8

(nt)

VB

(19)

Thus, Pc will not be negative when Vs < 32.7.

Based on Equations 18 and 19, Vs cannot be greater
than 32.7.
Let the pulse at point AB-24 equal zero. From
Equation 5,
0

hs

=-

26.4 - -

t3

vs

as

t2

14.4 - - - 1.8 - -

Substituting as before and solving give Vs = 26.8,

which is c6mpatible with the limit condition. Let
the pulse at point BC-36 equal zero. Then,
0

he

= - 26.4 - - ( n t) 3

Vs

as

+ 14.4 - + 1.8 - (nt) 2

nt

and vl.f' = 23.5, which is also compatible with the

limit condition. The logical move now appears to
be to take the average of the two computed Vs values.
Thus,
26.8

+ 23.5
2

25.15

From Table 4 and Equations 5 and 26, the pulse

at A is:
PA= 5(10)4(35 - VR)
(28)
Thus, PA will not be negative when
Similarly, the pulse at C is:
Pc= 3.33(10) 4 (37.3 -

=-

I. Curve AB,

d2y

d'y
dt2

629 A3 - 457 A:s

(20)

- - = 400
d t2

+ 905 A:,i + 200 A3 +

= 0.25 H

0.543 H3

838 A 2

457 A,

(32)

0.386 H:s

= 0.25 + 0.63 H1 + 0.815 H2 +

0.18 Hs

2. Curve BC,
y

(21)

(31)

964 A,

The displacement equations are

2. Curve BC,
d2y

(30)

I. Curve AB,

(29)

Vs)

Limiting condition is v 8 ~ 35. Therefore vn cannot

exceed 35.
Let the pulse at point AB-24 equal zero. From
Table 4 and Equations 5 and 26, vn = 25, which
is compatible with the limit conditi<,n.
Let the pulse at point BC-36 ,qual zero. Solving
as before gives 1 11 = 29.3, which is also compatible
(25 +
with the limit condition. Therefore, let Vs
29.3)/2 = 27.15. From Equation 26, as = 964.
The acceleration equations are:

- - = 700 A 1

457

I. Curve AB,
1

< 35.

Vs

dt2

This result compares favorably with the value of

- 500 obtained by inspection.
The acceleration equations are:
d2y

(27)

2. Curve BC1

= 381 - 33.3(25.15)

-= 400 A
dt2

(26)

- - = 625 A 1 + 1357.l5 A3 + 964 A:s

and, from Equation 8,

aB

= - 847 + 66.7 Vs
= 12.7 + 0.015 aR

+ 0.868 H,

(33)

The acceleration curve is shown in Fig. 3b.

The displacement equations are:

(\Constant)

C _1V_:~1ty

I. Curve AB,
y = 0.64 H 1

+ 1.006 H3

0.73 Br,

....-------~--------=-. .r

(22)

2. Curve BC,
y

= 0.64

+ 0.36 H 1 + 0.755 H2

- 0.41 H,

(23)

(aJ

ha0-25 in

I . - ~ ~ - - - + - - - - - - - _ _ _ ; ' ..
f---t =002 sec
-nt=003 sec---j

The acceleration curve (analytical) is shown in

Fig. 2b.

p8

= 187.5(10)4 -

9(10)4 vs+ 4.5(10) 2 aB

(24)

and for curve BC

PB= 124(10)4 -

4(10) 4 vs - 3(10)2 aB

(25)

Subtracting Equation 24 from Equation 25, and

2000 A

Dwell-Rise Cam-Fixed Intermediate Displacement and Fixed Terminal Velocity: Displacement

diagram is shown in Fig. 3a. Design conditions are:
hs = 0.250 in., he = 0.630 in., t = 0.02 sec; nt =
0.03 sec, v A = 0, Ve = 6.0, aA = 0, and ac = 0.
A5 in the previous example, first equalize the pulse
at B. From Table 4 and Equation 5, for curve AB,

hc=O 63 ,n

1,,.- ~k.

t-,.."' ...
~

t\..

t"\
-2000

(b)

' "'
0

12

24 36 48 60
0
12
24
Point Position

JJ

36

i......,-v

48

60

Fig. 3--Dwell-rise cam with intermediate displacement and fixed terminal velocity: 11, displacement
diagram; b, acceleration diagram.

T-5

Polynomial Cam Curves

The displacement equations are:

Dwell-Rise-Dwell Cam-Fixed Intermediate Displacement with Inverse Time Relationships: In the

previous examples, displacements hs and h 0 have
occurred in relatively proportional times. When the
smaller displacement takes place in the greater time,
the procedure becomes slightly more complex. The
optimum acceleration curve may not be immediately
apparent by the trial and inspection method and,
even with the analytical method, some judgment is
required to determine the best solution.
The difficulty arises because the minimum peak
negative acceleration may not be near point BC-36,
as in the previous examples. It may occur between
points AB-54 and BC-6 and, for practical purposes,
may be assumed to be at point B.
A procedure for checking this cam action is detnonstra ted here. Consider the displacement diagram
shown in Fig. 4a. Design conditions are: hs = 0.64
in., he = 0.36 in., t = 0.03 sec, nt = 0.04 sec,
VA = 0, Ve = 0, aA = 0, and a 0 = 0. Using the
same procedure as in the previous examples,
as

=-

2066

Vs

+ 0.030 as

62

+ 33.3 v 8

d'y
df2

(35)

(36)

as

Let Vs = 0. Then, from Equation 34, as =

- 2066, and from Equation 36, asc-a6 = - 483.
Similarly, when Vs = 28.1, as = - 1130 and aso-ae
= -558.
Thw, for all possible values of Vs, the acceleration at BC-36 is less numerically than the acceleration at B. Therefore, the minimum peak negative
acceleration will occur near B.
Let the pulse at point B equal zero. Solving as
before, vs = 26.8.
Let the pulse at point AB-24 equal zero. Then
Vs = 35.8.
The average of these two values, Vs = 31.3, is not
compatible with the limit condition Vs < 28.1.
The value which is the nearest to 31.3, but does
not violate the condition of non-negative pulse at
the terminals is Vs = 28.l. From Equation 34, this
value gives as = -1130.
The acceleration equations are:
1. Curve AB.

d'y
-= 711 A + 937 As df2
1

= O.M + 0.36 Hi+ 1.12' H2 -

(3{f)

1.808 H,

(40)

The acceleration curve is shown in Fig. 4b.

c
.--------r------==""---""\--::-.

"co 36 ,n
T

n8=064 ,n
A-::;:__----+---------_j_l--t=0.03 sec
2000

nt=004sec

,,-..

' ',
~

...
I"'-,..

2000

-----l (a}

' I\

12

24

.36 48

60
0

F\:>tlt

.,,,,..

,,,,,,.. .......

l/

......

(b}

12

Poc;it .on

24

36

48

60

Fig. 4-Dwell-rise-dwell am with intermediate displacement and inverse time relationships: ", displace
ment diagram; b, acceleratioo. diagram.

Dwell-Rise-Return-Cams - Basic Considerations:

None of the basic curves satisfactorily fulfill the
requirements of dwell-rise-return cam action. The
cycloidal curve has an unnecessary return to zero
acceleration at the maximum rise point. The harmonic curve has infinite pulse at the start of the
rise. Combinations of the basic curves, the doubleharmonic curve, and certain polynomials have been
developed to eliminate these objectionable characteristics. However, when stringent intermediate conditions are introduced, the same difficulties arise as
in the D-R-D curve. Basically, the same procedure
as described before can be used.
Dwell-Rise-Return Cam-Faed Intermediate Displacement with Symmetrical Rise and Return: Displacement diagram is shown in Fig. Sa. Design con ditions are: h11
0.40 in, h0
0.60 in., t = 0.02
sec, nt = 0.02 sec, V..t = 0, a..4. = 0, Ve = 0, Pc = 0.
Acceleration ac must be determined. Note that the
pulse at point C is zero to insure tangency of the rise
and return acceleration curves at this point.
For curve AB, from Equation 5 and Table 4,

PB= 300(10)' - 9(10)' ""

+ 4.5(10)2 "B

(41)

Also, for curve BC,

PB

1130 A11

= 450(10)' -

(37)

9(10)' 1'B

4.5 ( 10) 2 a.B

+ 1.5 (10 )2 Cle

(42)

and

2. Curve BC,
d'y
-= 225 A + 703 A2 dt
2

y = O.M Hi+ 0.843 H3 - 1.017 H1

2. Curve BC,

(34)

Pulse PA will not be negative when v 8 < 52, and

Pc will not be negative, when Vs < 28.1. Therefore,
vs must be between zero and 28.1.
The position of the minimum possible peak negative acceleration can be determined by the following
procedure. From Equation 4 and Table 3, the
acceleration at point BC-36 is:
- - = - 648 - 0.08

]. Curve AB.

1130 A,

(38)

Pc

450(10)4 - 6(10)4
1.5(10)2 "

1'B -

+ 4.5(10)2 Cle= 0

(43)

T-6

Polynomial Cam Curves

If Equation 41 is subtracted from Equation 42,

simultaneous solution of result and Equation 43
gives
as= 23.51Js

ao = 141.2 C-

(44)
70.8

+ us)

(45)

< 70.8.

Since ac must be negative and vn positive, vn

From Table 4 and Equations 5 and 44,
p.._ = 565(10)2(53.1 - 1J8 )

(46)

Thus, PA will not be negative if vn < 53.1. Let the

pulse at point AB-24 equal zero. From Equation 5
then, Vs = 39. Similarly, if the pulse at point BC-36
equals zero, Vn = 49.6. Let vn = (39 + 49.6)/2 =
44.3, which is compatible with Equation 46. Then
from Equations 44 and 45, an = I 041 and ac =

-3742.

The acceleration equations are:

1. Curve AB,

d2y

-= 1000 A1 + 2215 A3 + 1041 A

dt2

(47)

Dwell-Rise-Return-Cam-Unsymmetrical Perioru
of Rise and Return: When the function of a car.r
requires that the rise and return occur in uneq1;.:;;'
periods of time, the designer is faced with the problems of matching accelerations at the maximum rise
point to prevent discontinuity of the acceleration
curve. As a solution, Neklutin 2 3 has developed systems of modified trapezoids and modified sine curves,
Schmidt has proposed combinations of cycloidal
and harmonic curves, and Rothbart 5 has recommended, but not enlarged on, the use of polynomial
curves. With the methods demonstrated here, a set
of general equations which will meet the requirements of this type of curve can be developed.
A typical displacement diagram is shown in Fig.
6a where L
total displacement, 2t = longer time
period, and 2nt = shorter time period. Intermediate
displacements, hn, he, hD, and hE are to be determined, as well as the matching acceleration, ac, at
point C. Also, VA = 0, VE = 0, aA = 0, as = 0,
and Pc = 0.

-,

2. Curve BC,

d2y

- - = 1500 A1 + 2215 A3 + 1041 A 4

dt:!

"c

3742 A5 (48)

_'7r_ ,_A..-,:::_ _ _+------+----+---___;::s

The displacement equations arc:

I. Curve AB,
y

= 0.40 Hi

0.886 H3

0.416 H

0.886 H2

+ 1.497 H5

(50)

---~+=:=J~:~
r

{a) f--1=002 sec

ll

:/

nt:002 sec--:

(b}

12

'\

24

36

r-,....,.

--r-,.....

r--. r -

-,

60
0

I
\.

60
0

0
60

60

PQlnt Pos,t,on

Fig. 6-Dwell-rise-retUrn cam with unsymmetrical periods of rise and return: 11, displacement diagram; b, acceleration diagram.

For curve AB, solving as before,

hs
~B
as
PB = 60 - - - 36 - - + 9 - t3

t2

(51)

and for curve BC,

~,..,.

' 'r--,.

PB

48 6
12
Point Pos,t,on

= 60

(L- hs)
t3

tJs

as

- 36 - - - 9 - t2
t

ac

+ 3 -t-

( 52)

Subtracting Equation SI from Equation 52,

r-,..
....

-4000

,,....- ,..._ r-,,.....

(b)

=i:: ...

_......_

v'
1,

'I\.. .Y
-400

The acceleration curve is shown in Fig. Sb.

The return is, of course, a mirror image of the
rise. Note that if the average of the velocities at
points AB-24 and BC-36 had exceeded the velocity
limit established by Equations 45 and 46, the choice
would be the lower value from these equations.

4000 ...A

400 A

+ 0.60 Hi +

t~nf

(49)

0.416 H5

2. Curve BC,

y = 0.40

r---'

{aJ

24

""

r,,. I""-,

36

r,.....,._

48 60

Fig. 5-Dwell-rise-retum cam with intermediate displacement and symmeuical rise and retum: " displacement diagram; 6, acceleration diagram.

As

as

60-- - 120-- - 1 8 t3
f2
t

ac

+ 3t

(53)

from which,
hs

= 0.500 L -

0.150 a11 f2

+ 0.025 ac f2

(54)

0.025 actz

(55)

and
he

0.500 L

+ 0.150 a11 t2

T-7

Polynomial Cam Curves

From Equation 5,
Pc

60

+ 0.165 n2)

(67)

hg = - L(0.625 - 0.165 n2)

(68)

ho= - L(0.375

L - hB

VB

- 24 - - -

t3

f2

aB

ac

1.042
- - - 0.193n

3--+9-=0

(56)

v0

= - L -n- - - - - -

Solving Equations 53 and 56 simultaneously,

L

v 8 = 1.250 - t

0.250 as t

0.3125 a 0 t

0.833
- - - - 0.880

( 57)

To establish a relationship between as and ac, assume that the maximum peak positive acceleration
will occur at point AB-24. Thus the pulse at this
point will be zero:
hs
O = - 26.4 - f3

VB

aB

14.4-- - 1.80-t2
f

(58)

Substituting Equations 54 and 57 into Equation 58

and solving,
L
- 1.250 - - - 1.50 as

(59)

t2

Advantage can be taken of the desirability of having the maximum positive and negative accelerations
the same numerical value. Therefore, let the negative value of the acceleration at point AB-24 equal
the acceleration at point C. From Table 3 and Equation 4 then,
a0

= - ( 2.88 :: - 0.08 as )

(69)

(60)

a0

= -

n2

(70)

f2

Note that if n = I, these equations are identical

with those for curve ABC, except for the signs of displacement and velocity.
Use of these equations is best demonstrated with
an example. In the displacement diagram, Fig. 6a,
let L = 2.00 in., t = 0.15 sec, nt = 0.09 sec, and
n = 0.60. Then, from Equations 64, 65, and 66, h 8
= 0.920 in., he = I .080 in., and v n = 11.32 ips.
From Equations 62 and 63, an = 4.20 in.fsec 2
and ac = - I 17.4 in./sec 2 Finally, from Equations
67 through 70, h0 = -0.869 in., hFJ = - l.I31 in.,
Vo = -21.6 ips, and an = - 127.5 in./sec 2
The acceleration equations are:
I. Curve AB,

d2y

- - = 40.9 A1
dt 2

+ 75.5 A3 +

2. Curve BC,

d2y
-= 48 A1 + 75.5 A3 + 4.20 A4 dt
2

Substituting Equation 54 into Equation 60 and solving,

ac = -

L
1.343-t2

(71)

4.20 A5

117.4 As

(72)

3. Curve CD,

d2y

+ 0.478 as

(61)

-= 2
dt

107.3 A1 - 240 Aa (73)

117.4 A4 - 127.5 As

Combining Equations 59 and 61,

4. Curve DE,

as= 0.047-t2

(62)

dt

and from Equation 59 or 61,

L

ac = - 1.321 - t2

d2y

-= 2

(74)

The displacement equations are:

(63)

I. Curve AB,
y

From Equations 54, 55, and 57,

= 0.920 H1 + 1.698 H3

+ 0.095 Hs

(75)

2. Curve BC,

hs = 0.460 L

(64)

he= 0.540 L

(65)

L
Vs= 0.849-f

139.6 A1 - 240 A2 - 127.5 A 4

(66)

By similar methods, assuming that the pulse at

point DE-36 is zero and recognizing that displacements and velocities are negative for the return,
and the value of a 0 is fixed, these equations can be
derived for the return curve, CDE:

y = 0.920

+ 1.08 H1 +

1.698 H 2

+
(76)

0.095 H4 - 2.642 Hs

3. Curve CD,
y

= 2.00 -

0.869 H1 - 1.9H H3 -

(77)

0.951 H 4 - 1.033 Hs

4. Curve DE,
Y

= 1.131 -

1.131 H1 - 1.944 H 2

1.033 H 4

The acceleration curve is shown in Fig. 6b.

(78)

ADDENDA

AD-I

Special Cam Problems

CAM IN LIMITED SP ACE

-D~

Problem Statement Sometimes conditions, such as

available space or clearance of adjacent parts, make
it necessary to design a cam of limited major radius.
If angular and linear displacements must be held to
fixed limits, the largest possible cam diameter may
result in a maximum pressure angle greater than considered to be satisfactory. If specifications will not
allow an increase in angular displacement, or a decrease in linear displacement, a combination curve
will usually provide a solution.
Curve Comparison Figure AD-1 (a) shows typical
displacement diagrams of a D-R-D cam, in which the
angular displacement (/3), the linear displacement (h),
and the pitch radius (Rp), are fixed. The dotted line
represents a cycloidal motion resulting in an excessive maximum pressure angle. The full line shows
the combination of half-cycloidal and constant velocity curves, which reduce the pressure angle.

heh

(a)

he

ea

ec

80

{3
,,. .,,..
(b)

'

'

Figures AD-1 (b) and (c) show a comparison of the

velocity and acceleration diagrams of the basic and
combination curves. Note that maximum accelerations of the latter are the greater. This is not always objectionable, as the critical radius of curvature of the combination curve may be better, resulting
in reduced contact stress.

FIG. AD-1
Equations. The intermediate angular and linear displacements of the combination curve may be found
from the following equations, in which y represents
the reduced pressure angle.

ha =ho :

RP/3

tanY

- 0.5 h

114.6

R p f3 tan Y
he = 2 h - - - - 57.3
57.3 h

{3--Rp

114.6 h _
Oe = - - - -

Rptan y

f3

tan

(a) Displacement (b) Velocity (c) Acceleration

Generally, the maximum pressure angle should not

exceed 30. Therefore, if this angle is chosen as
29.81, the tangent is 0.573, and the equations are
simplified to:

(1)

ha = h o = 0.005 RP {3- 0.5 h

(5)

(2)

he =2h-O.OlRp{3

(6)

(3)

B 8 = B0 = f3 -h/0.01

(4)

8c

= h/O.oos R p-/3

Rp

(7)

(8)

AD-2

Special Cam Problems

SHORT STROKE VS. LONG STROKE CAMS

The displacement equations are

1. Curve AB. (Use Table E-5, points O to 60.)

(9)

2. Curve BC. (Use Table E-1, points Oto 120.)

y =hB

Kh c

(10)

Desiga Coasiderallons. A basic concept of good

cam design is minimum displacement in maximum
time. However, conditions arise where it is advantageous to increase the displacement beyond the
minimum required, with a moderate increase in the
time of the event. A cam problem of this type is
demonstrated in the following example.

3. Curve CD. (Use Table E-5, points 60 to 120.)

y = h8

hc

Example. Given

+ (2

K-

RP

= 1.5 in.,

1)

ho

(11)

h = 1.0

in., B =90;

N = 200RPM.
From Section F, Equation 2, the maximum pressure
angle for a full cycloidal curve is
(2) (57. 3) ( 1.0)

= tan - 1

40.36
1.5 (90)

For a pressure angle of 29.81 , applying equations

5 through 8

hB

hD

hc

= 2 (1.0) - 0.01 (1.5) (90) = 0.650 in.

(} B

: (} o

Desiga Exmaple. Consider a cam which operatE>s

a tool in conjunction with a dial which is driven
intermittently by a geneva motion or an indexing cam.
Assume that a displacement of one inch for clearance is required before the dial starts to rotate.
Also, assume that this displacement is to occur in
60 1 of cam rotation and that it is to be cycloidal
motion. The dotted line of Fig. AD-2 shows the displacement diagram of a cam with this minimum stroke.
The full lines show a diagram with increased displacement and time. The problem is to determine
the angular displacement (time) required for the
greater linear displacement while maintaining the
one inch clearance at 60.

= 0.005 (1.5) (90)- 0.5 (1.0) : 0.175 in.

c
: 90- 1.0/0.01 (1.5) = 23.333 O

ec = 1.0/0.oos (1.5) -

......__ _

....__lndex .

0 __

60
.,_____{3

1. Curve AB

= 0.35

1.01.25

90 = 43.333

From Equations 9 thru 11, the displacement equations are

-------1

(90)-~

K
FIG.AD-2

2. Curve BC

y =0.175

+ 0.65

K
Deaip s.lalloa: Assume the cam stroke is lengthened to 1~ inches. The proportion of clearance to
full displacement is,

3. Curve CD

y =0.650

+ 0.3SOK

Cuve claaracterlstics. Peak velocities and accelerations of the curves are 26.6 in./sec. and 1120
in./sec. 2 for the full cycloidal, 18 in./sec. and
1450 in./sec. 2
for the combination curve.
The
least radii of curvature are 0.825 in. and 1. 53 in.
respectively.

K = 1/1.25 = o.soo.
From Table E-4 the nearest K factor is 0.80450 at
the 80th point of the 120 point table. As this factor is to occur at 60, the full angular displacement
required is

(:3 =120 (60)/80 =90.

Special Ca"' Prow .....

Klaemadc Copmaoa. Comparison of the kinematic characteristics of the two cams shows the
advantages of the longer stroke. Assume that the
cam rotates at 150 RPM. The peak velocity of the
short stroke cam is
V 2 (1) (6 x 150/60) 30 in./ sec.

The peak acceleration is,

a=

6.28 (1) (6 x 150/60) 2

1413 in/sec.2

The peak velocity of the long stroke cam is

V = 2 (1.25) (6 x 150/90)

=25 in./sec.

The peak acceleration is

a =6.28 (1.25) (6 x 150/90) 2

=785 in./sec.2

The long stroke cam has lower peak velocities and

accelerations.
The maximum velocity is reduced
17% and the maximum acceleration, 45%.

Physical ComparlllOL Assume that the short stroke

cam has a 3.312 pitch radius. The major radius is,

RN = 3.312

+ 1.0/2

=3.812 in.

The maximum pressure angle is

Y:

tan I 57.3 (2) (1.0) /3.312 (60) : 30 o.

Maintaining the same size for the long stroke cam,

the pitch radius is

Rp

= 3.812 - 1.25/2 = 3.187 in.

The maximum pressure angle is

y = tan' 57.3 (2) (1.25) /3.187 (90) =26.54.

Again, the long stroke cam is better, having a lower maximum pressure angle.
Approaching the physical size in a different manner,
the pitch radius of the long-stroke cam for approximately a 30 pressure angle is

Rp

= 200 (1.25) /90 = 2.8 in.

The major radius, then, is

RN = 2.8

+ 1.25/2 = 3.425 in.

Therefore, the long stroke cam could be about

13/16 inches smaller in diameter and be kinemati~ally satisfactory.

AD-l

INDEX

Acceleration.
angular, A 1, 2.
co-efficient of, E-1/7,M-l,N2,3.
constant, Al,2,Dl,Nl.
cycloidal, D-1,2, E5,G2,J I, K 1/3,L l, 2,M 1, 2,Nl,2,P2.
defined, AI
diagram, C I, Dl, 2, E 1/7, K-1,2 ,L I, 2,N I, 3.
see also specific CurTe.
equations, El,K-3, ue also specific Cu"e
harmonic, D-1,2, E4, K2,L l, 2,N-2,3.
instantaneous, A-2.
linear, A 1.
modified sine, N3.
modified trapezoid, N-2.
normal, A2, F 4.
tables, see specific Cune
unsymmetrical, Kl,Ll.
Ampco, see Materials
Base radius, defined, C-1.
Basic cur,es, D-1,2, E-1.
Calculation, cam pr,file, P-2,3, 5, Rl,2.
Cam, defined, B 1.
materials, H-1.
profile, defined, C l.
profile detennination, P-1/7, R-1,2,4, 5.
Cam rod, effective weight, S l, 2.
Cam shaft diameter, F-2.
Cam types.
closed, B-2.
cylindrical, 82,Rl.
disk, see open.
dwell-rise-dwell, B I.
dwellrisereturndwell, BI.
face-groove, see closed.
fl at plate, B2.
indexing, R2/4.
intermittent motion, see indexing.
inverse, B-2.
open, B-2.
plate, see open.
positive, see closed.
ris e-returnrise, B 1.
roller gear, B-2.
rotating, B-2.
stationary, B2.
translating, B-2.
wedge, 82.
Closed cam, B-2.
Combination curves.
cycloidal constant velocity, K-2.
cycloidal cycloidal, Kl.
cycloidal harmonic, K-2.
cycloidal velocity adjusted, M I.
modified sine, N2.
modified trapezoid, N 1.
Constant acceleration.
angular, A-2.
linear, A I.
Constant acceleration cane, D-1.
construction of displacement dia1rH1, D-2.
dia1rams, D-1, E 3.
equations, D 1.
tables, E 3.
Constant Telocity curTe, D- I.
dia1rams, D-1, E 2.
equations, D-1.
tables, E2.
Contact stress
equations, Hl.
Henz equation, H-1.
nomoaraph, H-2.
Cunature, radius of.
defined, Cl.
equations, Fl,2,Rl.
1rasmlcal methods, F4.
Cu"es.
acceleration, see specific CUtTe type.
basic, D-l.2,El/7.
displacement, see specific C.aTe type.
half. ICl/3.
synthesis of, ICl.
nlocity, see specific C11 u type.
Cune types.
constant acceleration, D-1.
constant Telocity, D-1.
cycloidal, D-2.
hafllN)ai C, D-2.

modified sine, N2.

modified tnpezold, N-1.
polynomial, D-1, T 1.
tri1onometrlc, D 1.
Cycloidal cune, D-2.
construction of displacement diaaram, D-2.
diagrams, D-2,E5.
equations, D-2.
tables, E5.
Cylindrical cam, 8- 2.
Design examples, G-2 Jl,K2,3,L2,Ml,2,P2, T2.t7.
Diagram.
acceleration, C l, D l, 2, see also specific Cune.
displacement, Cl,D-1,2, see also specific Cu"e.
force, G-2.
velocity, Cl,Dl,2, see also specific Cu"e.
Disk cam, see Open cam.
Displacement, AI.
angular, Al.
diagram, C 1, K 1/ 3, see also specific Cu"e.
equations, El,K3, see also specific Cune.
factor, EI, K3.
linear, AI.
rotation, Al.
tables, see specific Curve.
translation, A 1.
Drive components, B l.
Dwell-rise-dwell (D-RD) cam, Bl.
Dwellrise-returndwell (DRRD) cam, Bl,LI.
symmetrical, Ll, T-5.
unsymmettical, Ll, T-6.
using basic curves, L-1.
Effective weight, S-1,2.
Elasticity, modulus of, S-1.
Energy, S l.
Face groove cam, see Closed cam.
Flat plate cam, B-2.
Follower, defined, BI.
materials, H 1.
Follower constraint.
gravity, B-2.
positive, B-2.
spring, B-2.
Follower system.
defined, BJ
effective weight, S-1,2.
rotating, B2.
translating, B-2.
Follower types.
flat face, 8-1.
knife-edge, B 1.
offset, B l.
on-center, Bl.
roller, B l.
spb erical face, 8-1.
swingin1 arm, B-1.
uanslating, Bl.
Force, A-2.
analysis, G-1.
external, G-1.
frkdon, G-1.
inertial, A2,G-l,Jl.
normal, G-2.
sprin1, G-1.
weight, G-1.
Force dia1ram, G-2.
Friction, c~efficient of G-1.
force, G-1.
Gtaphical melhods.
pressure aa1le, F2,3
radius of cunature, F3,4.
GraTity c"e, see Constant acceleradon cune.
GrOOTe cam, s~ Closed and Cylindrical cams.
Half cunes, Kl/3.
Harmonic cune, D-2.
construcdon of displacement diapaa. D-2.
cliapams, D-2,E4.
equations, D-2.
tables, E-4.
Heitz equation. Hl.
Hub size, F2.
lacreme.,i cunina, ,ee Maaafacturla& aedlod1.
lnde:daa cam, R2/ 4,
rldae tblclmesa, R7.

II

INDEX

size determination, R6.

Inertia.
moment of, S l.
Inertial force, G l.
Intermittent motion, see Indexing cam.
In,ersc cam, 82.
Jerk. see Pulse.
Knife-edge follower, A 1.
Layout, cam profile, P2,45.R2.
manufacturing method, P-1.
Lever, effective weight,.Sl.2.
velocity r.1tic. S-1.2.
Major radius, defined, C l.
Manufacturing methods, P- l.
increment curring, P l.
layout, P-1.
master cam, P-l ,R-2.
Mass, A-2.
Master cam, Pl R-2.
Materials.
Ampco, H-1.
Meehanite, H l.
Steel, H l.
Meehanite, see Materials.
Minor radius, defined, C-1.
Modified sine curve, Nl.
development, N l.
diagrams, E-7.
equations, N 3.
tables, E7.
Modified trapezoid curve.
development, Nl.
diagrams, E-6.
equations, N2.
tables, E6.
Moments, Gl.

Radial cam, see Open and Closed cams.

Radians, A-2.
Rise-return-rise cams, B- L
Roller gear, B-2,R-3.
Roller follower. B-1.
Rotating cam, B-2.
Rotating follower system, U2.
Rotation, A2.
Scalar quantities, A-1.
Side Thrust, F l.
Size determination.
closed cam, F l.
cylindrical cam, R-1.
indexing cam, R6, 7.
open cam, F l.
Spring, follower constraint, B-2.
force, G-1,2.
size determination, G2.
Stationary cam, B-2.
Steel, see Materials.
Stress, contact, G-2,H-l.
design, H l.
Henz equation, H 1.
nomograph, H2.
Swinging arm follower, Dl,R2.
cam profile calculation, P-S, R 2.
cam profile layout, P-S, R-2.
pressure angle, C-l,F-3.
radius of curvature, F-4.
Synthesis, cam curve, K 1.
Systems, cam. B-1,2.
Terminal velocity, curve with, M-1.
Torque, G-2
equation, G-2.
Trace point, defined, C-1.
Transition point, defined, C-1.
Translating cam, B-2.
Undercutting, Fl.

Newton's laws, A-2.

Nomenclature, cam, C l.
Nomograph, contact stress, H2.
maximum pressure angle, FS.
Number of divisions, P l.
Offset follower, B l.
cam profile calculation, P3.
cam profile layout, P4.
pressure angle, F3.
radius of curvature, F-4.
On-center follower. 8 l.
cam profile calculation, P-2, Rl.
cam profile layout, P-2, R-2.
pressure angle F 1,2.
radius of curvature, Fl,Rl.
Open cam, 82.
Parabolic curve, sec Constant acceleration.
Pitch curve, defined, C l.
Pitch point, defined, C l.
Pitch radius, defined, C l.
equations, Fl.
Plate-groove cam, sec Closed cam.
Polynomial curve, T-1/8.
diagrams, T 3/6.
equations, T-1.
tables, T2.
Positive cam, sec Closed cam.
Pressure angle.
defined, C l.
effect on side thrust, F l
equations, Fl,K3,Rl,T-8.
graphical methods, F2,3.
maximum, Cl,Fl.
nomograph, F5.
Profile, cam.
defined, C-1.
calculation, P2,3,5,Rl,2,4.
layout, P2,4.5.R2.
Pulse, A2,Tl.

Revised Feb. 1962

Vector quantities, A-1.

Velocity adjusted curve, M-1.
Velocity.
angular, A-1, A-2.
basic curTc, sec specific CurTe.
co-efficient of E-1/7, Fl,2,4.
constant, A-1, D-1, E2.
defined, A-1.
diagram, C-1, Kl,2, sec also specific curve.
equations, E-1, K-3, see also specific curve.
instantaneous, A-l,A2.
linear, A-1.
ratio, S-1.2.
tables, sec specific curve.
Wedge cam. B-2.
Weight.
effective, S-1.2.
force, A2, G-1.