Chapter-2

Cams
A cam is a rotating element that gives oscillating or
reciprocating motion to the follower which is another
element of this machine by direct contact. Complicated
output motions which are otherwise difficult to achieve
can easily be produced with the help of cams.

Fig.1
 CAM TERMINOLOGY

(The above figure shows a radial cam with

reciprocating roller follower).
The following terminology is used in reference to
planar cam mechanism.
 1. Cam profile
It is the actual working surface contour of cam. It is the
surface of contact with the knife edge, roller surface or
flat-faced follower.
2. Base circle
The smallest circle drawn tangent to a cam profile from
the radial cam centre is known as base circle. The size
of the cam depends upon the diameter of the base circle.
The magnitude of pressure angle can be decreased by
increasing the size of base circle.
3. Trace point
A theoretical point on the follower that traces the cam
profile is known as trace point. In case of a knife-edged
follower the edge of the knife, the centre of the roller
for a roller follower and centre of the sphere of a
spherical faced follower are the trace points.
4. Pitch curve
The path generated by the trace point as the follower
moves relative to a stationary cam, is known as pitch
curve. For a knife edge follower the pitch curve and the
cam profile are same, but for a roller follower they are
separated by the radius of the follower.
5. Pressure angle
The angle between the instantaneous direction of
follower motion and a normal to the pitch curve is
known as pressure angle. This angle represents the
steepness of the cam profile. The pressure angle is in
between 0 to ±30° for translating followers to avoid
excessive slide load and if the follower is oscillating on
a pivoted arm, a pressure angle up to about ±35° is
acceptable. If the pressure angle is very high, it might
jam the follower in the bearing. The magnitude of the
pressure angle can be decreased by
1. Increasing the size of the base circle,
2. Decreasing the magnitude of follower displacement
3. Increasing the angle of cam rotation prescribed for
the follower rise or fall.
6. Pitch point
A point on the pitch curve where the pressure angle is
maximum is known as pitch point.
7. Pitch circle
A circle drawn from the centre of the cam through the pitch
points is known as pitch circle. Pitch circle is concentric
with the base circle.
8. Prime circle
The smallest circle that can be drawn from the centre of the
cam and tangent to the pitch curve is known as prime circle
or reference circle .The prime and base circle are
concentric. For a knife edged and a flat faced follower the
prime circle is same as the base circle, but for roller
follower the prime circle is larger than that of the base
circle because of the roller radius.
9. Lift or Stroke
The maximum travel of the follower from the lowest
position to the topmost position is known as lift or
stroke.
 10. Cam angle
The angle covered by the cam from its initial position is
known as cam angle.

CLASSIFICATION OF CAM AND

FOLLOWER
Types of CAM:
CAMS are classified according to following criteria:
1. Shape.
2. Follower movement.
3. According to manner of constraint of follower.

ACCORDING TO SHAPE:
1. WEDGE AND FLAT CAMS:
A wedge cam consists of a wedge “W” and a
follower “F”. Wedge “W” has a translational
motion and “F” can either translate or oscillate.
This type of cams usually consists of a spring
which is used to maintain the contact between the
cam and the follower. The cam in figure (c) is
stationary and the guide “G” or follower constraint
causes the relative motion between them. In fig.
(D) a flat plate with groove can be used in place of
wedge and the follower is held on that groove. As
in fig (D) spring is not used, hence it is a positive
drive.
2. RADIAL CAMS OR DISC CAMS:
Radial cams are those types of cams in which
follower move radially from the centre of rotation
of cam. These are very popular due to its
compactness and simplicity. A radial cam converts
a rotational motion into a translational motion of
the follower.
3. SPIRAL CAMS:
It is a face cam which consists of a groove cut in
form of a spiral. This spiral groove consists of
teeth which are meshed with a pin gear follower.
Here, in this type of cams the velocity of the
follower is proportional to the radial distance of the
groove from the axis of the cam. The usage of these
types to cams is limited as the cam has to reverse
its direction to reset the position of the follower. It
is used mostly in computers. The movement of the
follower depend upon the radial distance of the
grooves which is measure from the axis of the cam.

4. CYLINDRICAL CAMS:
These types of cam consist of a circumferential
contour cut in the surface which rotates about its axis.
Usually the follower motion can be of two types as
follows:
 In the first type, there is groove cut on the
surface of the cam and the roller follower has a
constrained or positive oscillating motion.
  In the second type, an end of the cylinder which
is the working surface is an end cam and the
spring loaded follower has a translational motion
along or parallel to the axis of the rotating
cylinder.
These types of cams are also known as barrel or drum
cams.

5. SPHERICAL CAM:
Spherical cam is in the form of spherical shape on
which groove is made. Follower has surface contact
with this groove. As cam rotate follower oscillate about
a fixed point.
6. GLOBOIDAL CAM:
A globoidal cam may have either concave or convex
surface and a circumferential contour is cut on the
surface. The follower in these cams has an oscillatory
motion.

7. CONJUGATE CAM:
In this type two discs are connected to each other and
axes of discs are offset by the distance, to form cam
profile. Follower has surface contact with cam profile
by two rollers. As the cam rotate follower follow it.

CLASSIFICATION ACCORDING TO
MOVEMENT OF THE FOLLOWER:
The motions of the followers are distinguished from
each other by the dwells, rises and return they have.
  Rise of a cam: The motion of the cam which tends
to lift the follower is known as the rise motion.
 Dwell of a cam: The rotation of the cam for which
the follower is stationary at its position is known as
dwell of the cam.
 Return of a cam: The motion (rotation) of the cam
for which the follower tends to move its original
position is known as the return motion of the cam.
CAMS ARE CLASSIFIED ACCORDING TO
THE MOTIONS OF THE FOLLOWERS;
1. Rise-Return-Rise (R-R-R): In this, there is alternate
rise and return of the follower with no periods of
dwell. Its use is very limited in the industry. The
follower has a linear or an angular displacement.

[Figure: Rise-Return-Rise Follower motion]

2. Dwell-Rise-Return-Dwell (D-R-R-D): In such a type

of cam, there is rise and return of the follower after a
dwell. This type is used more frequently than the R-R-R
type of cam.
 [Figure: Dwell-Rise-Return-Dwell Follower motion]

3. Dwell-Rise-Dwell-Return-Dwell (D-R-D-R-D): It is
the most widely used type of cam. The dwelling of the
cam is followed by rise and dwell and subsequently by
return and dwell.

[Figure: Dwell-Rise-Dwell-Return-Dwell Follower motion]

4. Dwell-Rise-Dwell
(D-R-D): The dwelling of the cam
is followed by dwell, rise and then dwell of the
follower.

[Figure: Dwell-Rise-Dwell (D-R-D) Follower Motion]

ACCORDING TO MANNER OF
CONSTRAINT OF THE FOLLOWER:
For proper function of cam and follower mechanism, it
is important to keep surface contact between cam
profile and follower at all time of rotation and any
speed. For this need spring force, gravity force or
positive drives are use in cam and follower mechanism.
On this basis cams are classified by type of constraint of
follower and these are as follow.
1. PRELOADED SPRING CAM:
In this type of cam spring force is used.
Compression spring is preloaded into follower in
such a way that it maintains surface contact all
time.

2. POSITIVE DRIVE CAM:

In this type of cam, it does not require any external

force. The follower is design in such a way that it does
not require any external force to maintain contact
between cam and follower.
3. GRAVITY CAM:
Contact between the cam and follower is maintained
due to the gravity or own weight of the follower, it is
known as gravity cam.

TYPES OF FOLLOWER:
 Follower is a machine element which is used in
cam and follower mechanism.
 Cam and follower mechanism is used in various
machines to transmit motion from cam to follower
in a particular direction.
 Cam and follower have line contact thus constitute
a higher pair.
 Types of follower are in below.

ACCORDING TO SURFACE CONTACT:-

1. KNIFE EDGE FOLLOWER:

When the contacting end of the follower is sharp knife
edge, then it is called knife edge follower. This is the
simplest among all of the followers and these kinds of
followers aren’t in use in case of fast application,
because of its sharp edge.
2. ROLLER FOLLOWER:
When the contacting end of the follower is a roller it is
called roller follower. This type of follower is mainly
used in high speed operation because it has a smooth

contact with the surface. This type of follower has less

wear and tear as compared to other followers.
3. FLAT FACE OR MUSHROOM FOLLOWER:-
When the contacting end of the follower is perfectly flat
face it is called flat face or mushroom follower. This

type of follower looks like a flat surface with an

irregular cam. This type of cam is used when the space
is limited and this follower can resist more side thrust.

4. SPHERICAL FOLLOWER:
When the contacting end of the follower is of
spherical shape, it is called spherical follower. This
type of follower has a curved but regular follower
as well as cam. This is a modification of flat faced
follower.

ACCORDING TO THE MOTION OF

FOLLOWER:
1. Reciprocating or translating follower:
When the follower reciprocates in guides as the cam
rotates uniformly, it is called reciprocating or
translating follower.
2. Oscillating or rotating follower:-
When the uniform rotary motion of the cam is
converted into predetermined oscillatory motion of the
follower it is Oscillating or rotating follower.
ACCORDING TO THE PATH OF
MOTION OF THE FOLLOWER:
1. RADIAL FOLLOWER :
When the motion of the follower is along an axis
passing through the centre of cam it is known as radial
follower.
2. OFFSET FOLLOWER
When the motion of the follower is along an axis away
from the axis of the cam centre it is known as offset
follower.
FOLLOWER DISPLACEMENT
PROGRAMMING
Cam follower systems are designed to achieve a
desired oscillatory motion. The cam is assumed to
rotate at a constant speed and the follower raises,
dwells, returns to its original position and dwells again
through specified angles of rotation of the cam, during
each revolution of the cam.
Follower displacement can be plotted against the
angular displacement θ of the cam and it is called as the
displacement diagram. The displacement of the
follower is plotted along the y-axis and angular
displacement θ of the cam is plotted along x-axis.
Displacement diagrams are basic requirements for the
construction of cam profiles.
The following terms are used with reference to the
angular motion of the cam:
 Angel of ascent (Øa) :- It is the angle through
which the cam turns during the time the follower
rises.
 Angel of dwell (δ):- The angle of dwell is the
angle through which the cam turns while the
follower remains stationary at the highest or the
lowest position.
 Angel of decent (Ød):- It is the angle through
which the cam turns during the time the follower
returns to the initial position.
  Angel of action:- The angle of action is the total
angle moved by the cam during the time, between
the beginning of rise and the end of the return of
the follower.
To satisfy the given requirements of the follower
displacement, a programme can be made keeping in
view the following points:
1. In case of high-speed mechanism produce
vibrations of the system, this is undesirable for a
follower motion. Though it is very difficult to
completely eliminate jerk, efforts are to be made
to keep it within tolerable limits.
2. The force exerted by a cam
on the follower is always
normal to the surface of the
cam at the point of contact.
The vertical component (F
cos α) lifts the follower
whereas the horizontal
component (F sin α) exerts lateral pressure on the
bearing.
In order to reduce the lateral pressure or F sin α,
α in reduced velocity of the follower and more
time for the same rise. This also reduces the
dwell period for a fixed angle of action.
3. The size of the base circle
controls the pressure angle.
The increase in the base
circle diameter increase the
 length of the arc of the circle upon which the
wedge (the raised portion) is to be made. A short
wedge for a given rise requires a steep rise or a
higher pressure angle, thus increasing the lateral
force.

Derivatives of Follower Motion

The derivatives of follower motion can be
 Kinematic (with respect to θ, relate to geometry of
cam system)
 Physical (with respect to time, relate to motion of
the follower)

Kinematic Derivatives
A displacement diagram of the follower is plotted
with the cam angle θ as the abscissa and the follower
linear or angular motion as the ordinate.
Mathematically, if s is the displacement of the
follower, then
s = s(θ)
Differentiating it with respect to θ provides the first
derivative,
s'(θ)= ds/dθ
It represents the slope or the steepness of the
displacement curve at each position of the cam angle.
The second derivative is represented by
s''(θ)= d2s/dθ2
This derivative is related to the related to the radius of
the cam at different points along its profile and is in
inverse position.
The next derivative can also be taken if desired
s’’’ (θ)=d3 s /dθ3
It is not easy to describe it geometrically.

Physical Derivatives
We have,
s = s (θ) and θ= θ(t)
Taking the first derivative with respect to time,
s' =ds/dt= ds/dθ × dθ/dt= ω × ds/dθ
which represents the velocity of the follower.
The second derivative is
s'' = d2 s/ dt2= ω2 × d2 / dθ2.
It represents the acceleration of the follower. A
higher value of acceleration means a higher inertia
force.
A third derivative is known as the jerk.
s''' =d3s/ dt3= ω3 × d3s/dθ3