Source: Norton, Design of Machinery

Introduction to Cam Design
At the end of this video, you should be able to:
• Explain what a cam is, how it is used, and the typical types of cams
• Identify force closed and form closed followers and explain the 
benefits and limitations of each
• Describe the primary types of cam motion programs
What is a Cam and Follower?
Cam: specially shaped part designed to move a follower 
in a controlled fashion
Follower: a link constrained to rotate or translate
• A cam‐follower is a degenerate 4‐bar linkage

Source: Norton, Design of Machinery
What are Cams Used For?
• Valve actuation in IC engines
• Motion control in machinery
• Force generation
• Precise positioning
• Event timing
Valve Trains

Source: Norton, Cam Design and 
Manufacturing Handbook

Overhead Valve Overhead Camshaft

Industrial Cam Trains

Source: Norton, Cam Design and 
Manufacturing Handbook
Hydraulic Pump Application
 Types of Cams
Barrel or axial - track Stationary-axial-track

Radial
track
Stationary
segment

Source: Norton, Cam Design and 
Manufacturing Handbook Radial or plate Radial or plate
Types of Followers

Source: Norton, 
Design of Machinery
Two Ways to Close Follower Joint
Force Closed:

Source: Norton, 
Form Closed: Design of Machinery
Conjugate Cams

Source: Norton, 
Design of Machinery
Barrel Cams
Tracked: Ribbed:
z

Source: Norton, 
Design of Machinery
FIGURE 13-13
Ribbed barrel cam with oscillating roller follower
Rotary Indexers Use Ribbed Barrel Cams
Types of Cam Motion Programs
• No‐Dwell or Rise‐Fall (RF)
• Single‐Dwell or Rise‐Fall‐Dwell (RFD)
• Double‐Dwell (RDFD)
• Multi‐Rise‐Multi‐Dwell‐Multi‐Fall

• Different Motion Programs Needed for Each
 A Cam Timing Diagram

Motion
mm or in
High
dwell
1
Low
Rise Fall
dwell
0
0 90 180 270 360 Cam angle θ deg
0 0.25 0.50 0.75 1.0 Time t sec

FIGURE 2-2
A cam timing diagram
SVAJ Diagrams
S

J
 Source: Norton, Design of Machinery

Cam Motion Design: Critical Extreme Position
At the end of this video, you should be able to:
• Describe the difference between critical extreme position and 
critical path motion
• Explain how the fundamental law of cam design applies to selecting 
an appropriate cam profile
• Design double dwell cam profiles using a variety of motion types
Unwrapping Cam Profile

S - Position
Source: Norton, Design of Machinery

θ
Type of Motion Constraints
• Critical Extreme Position (CEP)
– End points of motion are critical
– Path between endpoints is not critical
• Critical Path Motion (CPM)
– The path between endpoints is critical
– Displacements, velocities, etc. may be specified
– Endpoints usually also critical
 Double Dwell Cam Timing Diagram
Motion
mm or in
High
dwell
1
Low
Rise Fall
dwell
0
0 90 180 270 360 Cam angle θ deg
0 0.25 0.50 0.75 1.0 Time t sec

FIGURE 2-2
A cam timing diagram
Naïve and Poor Cam Design: Constant Velocity
s High
Rise dwell Fall
h
(a) Low
dwell
0
θ deg
v

(b)
0
θ deg

a
∞ ∞
(c) 0
θ deg
∞ ∞

j
∞2 ∞2
(d ) 0
θ deg
∞ 2
∞ 2

0 90 180 270 360

FIGURE 2-3
The s v a j diagrams of a "bad" cam design—pure constant velocity
Constant Acceleration (Parabolic Displacement)?

Low High
a dwell Rise dwell
a max

(a) Acceleration 0 θ

a min

0 β
j
∞ ∞

(b) Jerk 0 θ

∞
0 β
FIGURE 2-6
Constant acceleration gives infinite jerk
Simple Harmonic Motion (SHM)?

h ⎡ ⎛ θ⎞⎤
s = ⎢1 − cos⎜ π ⎟ ⎥ (2.6a)
2 ⎢⎣ ⎝ β ⎠ ⎥⎦

π h ⎛ θ⎞
v = sin⎜ π ⎟ (2.6b)
β 2 ⎝ β⎠
π2 h ⎛ θ ⎞
a = 2 cos⎜ π ⎟ (2.6c)
β 2 ⎝ β⎠
π3 h ⎛ θ ⎞
j =– 3 sin⎜ π ⎟ (2.6d)
β 2 ⎝ β⎠
Norton’s Fundamental Law of Cam Design:
The cam-follower function must have continuous
velocity and acceleration across the entire interval,
thus making the jerk finite.
Choosing Cam Functions
• They must obey the fundamental law
• Lower peak acceleration is better:   F = ma
• Lower peak velocity lowers KE = 0.5 mv2
• Smoother jerk means lower vibrations
• Magnitude of jerk is poorly controlled in 
manufacturing
Acceptable Double Dwell Function:
Cycloidal Motion
Acceptable Double 
Dwell Function:
Modified Trapezoidal 
Acceleration
Acceptable Double 
Dwell Function:
Modified Sine 
Acceleration
 Polynomial Functions
s = C0 + C1 x + C2 x 2 + C3 x 3 + C4 x 4 + C5 x 5 + C6 x 6 +  + Cn x n (3.19)
s Low High
Rise Fall 2 3 4 5
dwell dwell ⎛ θ⎞ ⎛ θ⎞ ⎛ θ⎞ ⎛ θ⎞ ⎛ θ⎞
h s = C0 + C1 ⎜ ⎟ + C2 ⎜ ⎟ + C3 ⎜ ⎟ + C4 ⎜ ⎟ + C5 ⎜ ⎟ (c)
⎝ β⎠ ⎝ β⎠ ⎝ β⎠ ⎝ β⎠ ⎝ β⎠
(a)

1⎡
0 2 3 4⎤
⎛ θ⎞ ⎛ θ⎞ ⎛ θ⎞ ⎛ θ⎞
0 β1 0 β2 θ deg v = ⎢C1 + 2C2 ⎜ ⎟ + 3C3 ⎜ ⎟ + 4C4 ⎜ ⎟ + 5C5 ⎜ ⎟ ⎥ (d)
v β⎢ ⎝ β⎠ ⎝ β⎠ ⎝ β⎠ ⎝ β⎠ ⎥
⎣ ⎦

1⎡ ⎛ θ⎞ ⎤
2 3
(b) ⎛ θ⎞ ⎛ θ⎞
0 a = 2 ⎢2C2 + 6C3 ⎜ ⎟ + 12C4 ⎜ ⎟ + 20C5 ⎜ ⎟ ⎥ (e)
θ deg β ⎢ ⎝ β⎠ ⎝ β⎠ ⎝ β⎠ ⎥
⎣ ⎦

a 0 β1 0 β2 0 = C0 + 0 + 0 + 
C0 = 0 (f)
1
(c) 0 0 = [C1 + 0 + 0 + ]
β
θ deg
C1 = 0 (g)
j 0 β1 0 β2 1
0=
β2
[C2 + 0 + 0 + ]
(d ) 0 C2 = 0 (h)
θ deg
h = C3 + C4 + C5 (i)
0 β1 0 β2
0 = [3C3 + 4C4 + 5C5 ]
FIGURE 3-13
1
(j)
β
Minimum boundary conditions for the double-dwell case

[6C3 + 12C4 + 20C5 ]

1
when θ = 0; then s = 0, v = 0, a=0 0= (k)
(a) β2
when θ = β1; then s = h, v = 0, a=0 C3 = 10h; C4 = −15h; C5 = 6h (l)
The 3‐4‐5 and 4‐5‐6‐7 Polynomials
3-4-5 Polynomial 4-5-6-7 Polynomial
Comparison of Five Double-Dwell Fcns
 Source: http://nptel.ac.in

Cam Motion Design: Polynomial Deep Dive
At the end of this video, you should be able to:
• Describe why a double‐dwell profile is not ideal for a single‐dwell 
cam
• Construct the boundary conditions for a polynomial cam segment
• Solve for the coefficients of a polynomial cam segment
Task: Rise‐Fall‐Dwell
Single Dwell Cam Design
• Rise: 1 inch in 90°
• Fall: 1 inch in 90°
• Dwell: 180°360° Source: http://nptel.ac.in

2 Double‐Dwell Profiles?

ఉ
0 ߚ
Cycloidal Rise ଶ Cycloidal Fall