CAMS

Introduction : A cam is a rotating machine element

which gives reciprocating or oscillating motion to
another element known as follower. The cam and the
follower have a line contact and constitute a higher pair.
The cams are usually rotated at uniform speed by a
shaft, but the follower motion is predetermined and will
be according to the shape of the cam.
The cams are widely used for operating the inlet
and exhaust valves of internal combustion engines,
automatic attachment of machineries, paper cutting
machines, spinning and weaving textile machineries,
feed mechanism of automatic lathes etc.
2. According to the motion of the follower. The
Classification of Followers : followers, according to its motion, are of the following
The followers may be classified as discussed below : two types:
1. According to the surface in contact. (a) Reciprocating or translating follower. When the
The followers, according to the surface in contact, are follower reciprocates in guides as the cam rotates
as follows : uniformly, it is known as reciprocating or translating
(a) Knife edge follower. When the contacting end of follower. The followers as shown above are all
the follower has a sharp knife edge, it is called a knife reciprocating or translating followers.
edge follower. In knife edge followers, a considerable (b) Oscillating or rotating follower. When the uniform
side thrust exists between the follower and the guide. rotary motion of the cam is
converted into predetermined
oscillatory motion of the
follower, it is called oscillating
or rotating follower.

3. According to the path of motion of the follower. The

followers, according to its path of motion, are of the
following two types:
(a) Radial follower. When the motion of the follower is
along an axis passing through the centre of the cam, it is
known as radial follower. The followers, as shown
(b) Roller follower. When the contacting end of the above are all radial followers.
follower is a roller, it is called a roller Follower . Since
the rolling motion takes place between the contacting
surfaces (i.e. the roller and the cam), therefore the rate
of wear is greatly reduced. In roller followers also the (b) Off-set follower. When
side thrust exists between the follower and the guide. the motion of the follower is
(c) Flat faced or mushroom follower. When the along an axis away from the
contacting end of the follower is a perfectly flat face, it axis of the cam centre, it is
is called a flat-faced follower. The side thrust between called off-set follower.
the follower and the guide is much reduced in case of
flat faced followers. The relative motion between these
surfaces is largely of sliding nature but wear may be
reduced by off-setting the axis of the follower. The flat Classification of Cams
faced followers are generally used where space is Though the cams may be classified in many ways, yet
limited such as in cams which operate the valves of the following two types are important from the subject
automobile engines. point of view
(d) Spherical faced follower. When the contacting 1. Radial or disc cam. In radial cams, the follower
end of the follower is of spherical shape, it is called a reciprocates or oscillates in a direction perpendicular to
spherical faced follower

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the cam axis. The cams as shown above are all radial
cams.
2. Cylindrical cam. In cylindrical cams, the follower
reciprocates or oscillates in a direction parallel to the
cam axis. The follower rides in a groove at its
cylindrical surface.

Terms Used in Radial Cams Motion of the Follower

Fig. shows a radial cam with reciprocating roller The follower, during its travel, may have one of the
follower. The following terms are important in order to following motions.
draw the cam profile. 1. Uniform velocity
1. Base circle. It is the smallest circle that can be drawn 2. Simple harmonic motion
to the cam profile. 3. Uniform acceleration and retardation and
2. Trace point. It is a reference point on the follower 4. Cycloidal motion
and is used to generate the pitch curve. 1. Follower Moves with Uniform Velocity
In case of knife edge follower, the knife edge represents The displacement, velocity and acceleration diagrams
the trace point and the pitch curve when a knife-edged follower moves with uniform
corresponds to the cam profile. In a roller follower, the velocity are shown The abscissa (base) represents the
centre of the roller represents the trace point. time (i.e. the number of seconds required for the cam to
3. Pressure angle. It is the angle between the direction complete one revolution) or it may represent the angular
of the follower motion and a normal to the pitch curve. displacement of the cam in degrees. The ordinate
This angle is very important in designing a cam profile. represents the displacement, or velocity or acceleration
If the pressure angle is too large, a reciprocating of the follower.
follower will jam in its bearings.
4. Pitch point. It is a point on the pitch curve having the
maximum pressure angle.
5. Pitch circle. It is a circle drawn from the centre of the
cam through the pitch points.
6. Pitch curve. It is the curve generated by the trace
point as the follower moves relative to
the cam. For a knife edge follower, the pitch curve and
the cam profile are same whereas for a roller follower,
they are separated by the radius of the roller.
7. Prime circle. It is the smallest circle that can be
drawn from the centre of the cam and tangent to the
pitch curve. For a knife edge and a flat face follower,
the prime circle and the base circle are identical. For a
roller follower, the prime circle is larger than the base
circle by the radius of the roller.
8. Lift or stroke. It is the maximum travel of the
follower from its lowest position to the topmost
position.
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 Since the follower moves with uniform velocity S = Stroke of the follower
during its rise and return stroke, therefore the slope of ΘO θR = Angular displacement of the cam during out
the displacement curves must be constant. In other stroke and return stroke of the follower respectively, in
words, AB1 and C1D must be straight lines. A little radians, and
consideration will show that the follower remains at rest ω = Angular velocity
elocity of the cam in rad/s.
during part of the cam rotation. The periods during Consider a point P moving at a uniform speed ωP
which the follower remains at rest are known as dwell radians per sec round the circumference of a circle with
periods, as shown by lines B1C1 and DE . the the stroke S as diameter. The point P′ (which is the
acceleration or retardation of the follower at the projection of a point P on the diameter) executes a
beginning and at the end of each strokee is infinite. This simple harmonic motion as the point P rotates. The
is due to the fact that the follower is required to start motion of the follower is similar to that of point P′.
from rest and has to gain a velocity within no time. This
is only possible if the acceleration or retardation at the
beginning and at the end of each stroke is infinite. These
conditions are however, impracticable.
In order to have the acceleration and retardation within
the finite limits, it is necessary to modify the conditions
which govern the motion of the follower. This may be
done by rounding off the sharp corners of the
displacement diagram at the beginning and at the end of
each stroke. By doing so, the velocity of the follower
increases gradually to its maximum value at the Peripheral speed of the point P1
beginning of each stroke and decreases gradually to zero
at the end of each stroke.

and maximum velocity of the follower on the outstroke,

that the centripetal acceleration of the point P,

Maximum acceleration of the follower on the outstroke,

Similarly, maximum velocity of the follower on the return

stroke,

and maximum acceleration of the follower on the return

stroke,

2. Follower Moves with Simple Harmonic Motion

The displacement, velocity and acceleration diagrams 3. Follower Moves with Uniform Acceleration
when the follower moves with simple harmonic motion and Retardation
are shown .Since the follower moves with a simple The displacement, velocity and acceleration diagrams
harmonic motion, therefore velocity diagram consis
consists of when the follower moves with uniform acceleration and
a sine curve and the acceleration diagram is a cosine retardation are shown.
curve. The velocity of the follower is zero at the We know that time required for the follower during
beginning and at the end of its stroke and increases outstroke, tO = θO /ω
gradually to a maximum at mid-stroke.
stroke. On the other and time required for the follower during return stroke,
hand, the acceleration of the follower is maximum at the t R = θR / ω
beginning and at the ends of the stroke and diminishes Mean velocity of the follower during outstroke = S/tO
to zero at mid-stroke. mean velocity of follower during return stroke = S/tR
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Since the maximum velocity of follower is equal to 4. Follower Moves with Cycloidal Motion
twice the mean velocity, therefore
maximum velocity of the follower during outstroke, cycloid is a curve traced by a point on a circle when the
circle rolls without slipping on a straight line. In case of
cams, this straight line is a stroke of the follower which
is translating and the circumference of the rolling circle
is equal to the stroke (S)) of the follower. Therefore the
Similarly, maximum velocity of the follower during radius of the rolling circle is S / 2π
return stroke,

During first half of the outstroke there iis uniform

acceleration and during the second half of the out stroke
there is uniform retardation. Thus, the maximum
velocity of the follower is reached after the time tO / 2
(during out stroke) and tR /2 (during return stroke).
Maximum acceleration of the follower during outstroke,

Similarly, maximum acceleration of the follower during

return stroke,

Let θ = Angle through which the cam rotates in time t

seconds, and ω = Angular velocity of the cam.
We know that displacement of the follower after time t
seconds,
∴

Velocity of the follower after time t seconds,

The velocity is maximum, when

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 In order to draw the cam profile for a radial cam, first of
all the displacement diagram for the given motion of the
follower is drawn. Then by constructing the follower in
Substituting θ = θO / 2 we have maximum velocity of its proper position at each angular position, the profile
the follower during outstroke, of the working surface of the cam is drawn.
In constructing the cam profile, the principle of
kinematic inversion is used, i.e. the cam is imagined to
be stationary and the follower is allowed to rotate in the
opposite direction to the cam rotation.
Similarly, maximum velocity of the follower during
return stroke, Case (i) Knife edge follower without offset :
A cam is to give the following motion to a knife-edged
follower :
1. Outstroke during 60° of cam rotation ;
2. Dwell for the next 30° of cam rotation ;
Now, acceleration of the follower after time t sec, 3. Return stroke during next 60° of cam rotation, and
4. Dwell for the remaining 210° of cam rotation.
The stroke of the follower is 40 mm and the minimum
radius of the cam is 50 mm. The follower moves with
uniform velocity during both the outstroke and return
strokes. Draw the profile of the cam when the axis of
the follower passes through the axis of the cam shaft,
. Sol :
The acceleration is maximum, when

Substituting θ = θO / 4 we have maximum acceleration

of the follower during outstroke,

Similarly, maximum acceleration of the follower during

return stroke,

Construction of Cam Profile for a Radial Cam

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Case (ii) Knife edge follower with offset :
For the above problem in case (i) , if the follower is
offset by 20 mm from the cam axis , then there is no
change in the displacement diagram . But the
construction of cam profile changes.

Case (iii) Roller follower with and without offset :

An example problem is solved considering the roller
follower with and without offset as two cases.
Also it is asked to find the maximum acceleration and
to draw the variation of displacement , velocity and
acceleration
A cam, with a minimum radius of 25 mm, rotating
clockwise at a uniform speed is to be designed to give a
roller follower, at the end of a valve rod, motion
described below :
1. To raise the valve through 50 mm during 120°
rotation of the cam ;
2. To keep the valve fully raised through next 30°;
3. To lower the valve during next 60°; and
4. To keep the valve closed during rest of the revolution
i.e. 150° ;
The diameter of the roller is 20 mm and the diameter of
the cam shaft is 25 mm.
Draw the profile of the cam when
(a) the line of stroke of the valve rod passes through the
axis of the cam shaft, and
(b) the line of the stroke is offset 15 mm from the axis of
the cam shaft.
The displacement of the valve, while being raised and
lowered, is to take place with simple harmonic motion.
Determine the maximum acceleration of the valve rod
when the cam shaft rotates at 100 r.p.m.
Draw the displacement, the velocity and the
acceleration diagrams for one complete revolution of
the cam.
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 and maximum acceleration of the valve rod to lower the
valve

Case (iv) Flat faced follower without offset

We know that angular velocity of the cam shaft,

We also know that maximum velocity of the valve rod Case (v) Oscillating follower
to raise valve, Draw a cam profile to drive an oscillating roller
follower to the specifications given below :
(a) Follower to move outwards through an angular
displacement of 20° during the first 120° rotation of the
cam ;
(b) Follower to return to its initial position during next
and maximum velocity of the valve rod to lower the 120° rotation of the cam ;
valve, (c) Follower to dwell during the next 120° of cam
rotation.
The distance between pivot centre and roller centre =
120 mm ; distance between pivot centre and cam axis =
130 mm ; minimum radius of cam = 40 mm ; radius of
The velocity diagram for one complete revolution of the roller = 10 mm ; inward and outward strokes take place
cam is shown with simple harmonic motion.
We know that the maximum acceleration of the valve
rod to raise the valve,

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We know that the angular displacement of the roller
follower = 20° = 20× π/180 = π / 9 rad
Since the distance between the pivot centre and the
roller centre (i.e. the radius A1 A) is 120 mm, therefore
length of the arc AA2, along which the displacement of
the roller actually takes place = 120× π / 9 = 41.88 mm
. . . (∵ Length of arc = Radius of arc × Angle subtended
by the arc at the centre in radians)

Since the angle is very small, therefore length of chord

AA2 is taken equal to the length of arc
AA2. Thus in order to draw the displacement diagram,
we shall take lift of the follower equal to
length of chord AA2 i.e. 41.88 mm.