機動學

Mechanisms and Dynamics of Machinery

Chapter 10 Profile Cam Design

臺灣科技大學 機械工程系
石伊蓓 博士

Precision Transmission Lab.

 10.1 Introduction
Cams are used to generate the irregular motion.

2D cam 3D cam

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 Cam design compared with linkages
Advantages:
much tighter motion specification
更緊湊的運動設計

Disadvantages:
Manufacturing expense.
Poor wear resistance.
Relatively poor high-speed capability.

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 Cam design usually requires three steps
1. Select type of the cam-follower system

2. Synthesis of the motion program for

the follower.
Position
Velocity
Acceleration
Jerk

3. Generation of the cam profile.

Cam profile
Pressure angle
Radius of Curvature

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 10.2 Cam-Follower Systems
A general cam-follower system consists of three elements
A cam and a follower
A spring or other means of ensuring that the follower
remains in contact with the cam.

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 Type of follower motion

(1) Oscillating Type

搖擺

(2) Translating Type

平移

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 Type of Joint Closure
Force Closure
Require an
external force to
keep follower and
cam
A spring

Form Closure
Close the joint by
geometry

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 Type of follower
Roller follower
Mushroom follower
Flat-faced follower
Knife-edged follower

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 Type of Cam
Plate Cam(Radial Cam)
Cylindrical Cam
3D cam

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 Some Types of Cam-Follower Systems

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 10.3 Synthesis of motion programs
Known positions/cam angles

Filling the gaps with constant velocities

Dwell Disadvantage of discontinuous velocity
The velocity is discontinuous that
causes the acceleration to become
Rise Return infinite.
This lead to
Dwell
1. Loss contact
2. Excessive local stress
3. Resultant noise and wear problem
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 Parabolic curves are used in the transition portions

Subdivided synthesized segment into two parts with a

constant acceleration (a).
a  cons.
Constant angular velocity of cam 
v  v0  at
   0  t  2
 y  s0  v0 t  1/ 2 at
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 Velocity, Acceleration and Jerk of the follower Motion
Cam rotates at the constant speed 凸輪為等速旋轉

d d 2 d 3
   const , 2
   0, 3
 j0
dt dt dt

(1)Displacement, (2)Velocity, (3)Acceleration and (4)Jerk

(1) y  y ( ) Position: deg or rad

dy ( ) dy d
(2) v    y ' Velocity and Acceleration: rad
dt d dt
d 2 y ( ) d dy d 2 y 2 dy d2y 2 '' 2
(3) a  2
 (  )  2
    2
  y 
dt dt d d d d
d 3 y ( ) d d 2 y 2 dy d3y 3 d2y dy d 3y 3
(4) j  3
 ( 2   )  3   3 2   j  3   y ''' 3
dt dt d d d d d d

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 S V A J Diagrams for the Motion of Follower
S: Displacement function
V: First derivative, velocity
A: Second derivative, acceleration
J: Third derivative, jerk

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 Criterion for Cam Mechanism Design
Any cam designed for operation at other very low speeds must be
designed with the following constraints.
The cam function must be continuous through the first (velocity) and
second derivatives (acceleration) of displacement across the entire
interval (rotate 360 degree).
The jerk function must be finite across the entire interval(360 degree).

Dwell 之間用直線連
接
No Good!!

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 10.4 Analysis of Different Types of Followers Displacement
Functions
Several different standard functions can be used to connect
the parts of the displacement diagram where a specific
type of motion is required.
Uniform motion, Parabolic motion( 拋物線 )
Harmonic motion( 諧波 ), Cycloidal motion( 擺線 )
General polynomial motion( 多項式 )
Terminology of follower displacement program
Rises 上升
Returns 回程
Low dwell and High
dwell 停滯

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 Displacement Curves for Rise and Return
上升兩段曲線
1. Linear motion 2. Parabolic motion 回程兩段曲線
1.0 1.0

0.8 0.8

0.6 0.6

0.4 0.4

0.2 0.2

0.0 0.0
0 10 20 30 40 50 60 60 40 20 0 20 40 60

2. Harmonic motion 2. Cycloidal motion

1.0 1.0

0.8
0.5

0.6
0.0 上升一段曲線
0.4

0.5
回程一段曲線
0.2

1.0 0.0
0 10 20 30 40 50 60
0 10 20 30 40 50 60

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 10.4.1 Uniform motion
Displacement during the rise.

 L
 y  C  C 
  
 y (0)  0  
 y (  )  L  y ( )  L 
  

Velocity and acceleration when transition from dwell to

rise or rise to dwell.
adr  
  Constant    0 
ard  
 ' dy L
 y (  )    ' L
d   v ( )  y   
  
2
 y '' ( )  d y  0  a ( )  y '' 2  0
 
d 2
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 Return Process
Displacement
L y
y ( )  L  
 

Velocity and Acceleration

L

  Constant    0
0 
 ' dy L
 y (  )     ' L
 d   v ( )  y    
        0
2
 y '' ( )  d y  0 a ( )  y '' 2  0
 d 2 

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 10.4.2 Parabolic motion
Two parabolas must be used for each transition.
The first and second half of the rise

1.First half 2.Second half

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 Parabolic Curve
 y  C0  C1  C2 2
 '
 y  C1  2C2
 ''
 y  2C2
1.First half of the rise 2.Second half of the rise

( , y )  (0,0) C0  0 ( , y )  (  / 2, L / 2) C0   L

   
( , y )  (  / 2, L / 2)  C1  0 ( , y )  (  , L)  C1  4 L / 
( , y ' )  (0,0)  ( , y ' )  (  ,0)  2
 C2  2 L / 
2
 C2  2 L / 
4 L
 y  2 L ( /  ) 2 
v  y '
 
4 L
  y  L[1  2(1   /  ) 2 ] v  y '  (1   /  )
  '  
 '   2 
2
 y  (4 L /  )    y  4 L /  (1   /  )   2
 y ''  4 L /  2  a  y '' 2  4 L
2
 y ''  4 L /  2  a  y '' 2   4 L
    2
2

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 Return Process

1.First half of the return 2.Second half of the return

y ( )  L  [2 L( / ) 2 ],    r y ( )  L[1  2(1   /  ) 2 ],    r

  Constant    0
 ' 4 L  4 L  ' 4 L(1   /  )  ' 4 L
y   v ( )  y '
     y    v ( )  y    (1   /  )
  2   2   
   
 
 y ''  4 L
2
 y ''   4 L  a ( )  y '' 2  4 L
2
 a( )  y '' 2   4 L
 2  2  2  2

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 Example 10.1 Design for Parabolic Motion
1. The rise 2. The return Position: deg or rad
 ya1  2 L( / ) 2  yb1  L  ya1  L[1  2( /  ) 2 ]
 2  2
 ya 2  L[1  2(1   /  ) ]  yb 2  L  ya 2  2 L(1   /  )

 L  0.8    120o 2  L  0.8    210o 2

y
 a1  2(0.8)( ) y
 b1  0.8[1  2( ) ]
 o 60o  o 150o
   180  120  60   o    360  210  150   o
  120o  y  0.8[1  2(   120 )2 ]   210o  y  2(0.8)(1    210 ) 2
 0  a 2 60o  0  b 2 150o
0. 8

 0  210o
0. 6

0. 4

0. 2

0. 0
0 10 0 20 0 30 0 40 0

o
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 Velocity and Acceleration
Cam rotation speed, rad/s
2
  100rpm  100  rad / s
60
Rise process, angle in rad
 L  0.8  4 L 4  0.8  4 L 2 4  0.8 2
  va1 ( )    aa1 ( )  2

 1  2 (1/ 3 ) 2   ( / 3) 2
     , 
 3 v ( )  4 L 4  0.8 2
 a ( )   4 L   4  0.8
2
(1   /  )  (1   /(1/ 3 ))
 0  120 o
 a 2   /3  a 2 2 ( / 3) 2

Return process , angle in rad

 L  0.8  4 L 4  0.8  4 L 2 4  0.8 2

  va1 ( )   2
   2
 a a 2 ( )    2   (5 / 6) 2
 5   (5 / 6) 
     , 
 6 v ( )   4 L 4  0.8 2
 a ( )  4 L  4  0.8
2
(1   /  )   (1   /(5 / 6))
 0  210 o
 a1  (5 / 6)  a 2 2 (5 / 6) 2

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 10.4.3 Harmonic Follower-Displacement Programs
Function
1. The rise 2. The return
 L   L 
 y  (1  cos )  y  L  y r  (1  cos )

2  
2 
 ' L    ' L  
 y  ( )sin , v( )  y '  y   ( )sin , v( )  y '
 2    2  
 '' L  2  '' 2
 '' L  2  '' 2
 y  ( ) cos , a ( )  y   y   ( ) cos , a ( )  y 
 2    2  

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 Example 10.2 Design for Harmonic Motion
1. The rise 2. The return
 L  0.8  L   L  0.8  L 
  y  2 (1  cos  )   y  L  yr  2 (1  cos  )
180  120 1  360  210 5 
       
 180 3  ' L   '  180 6  ' L   '
  y  ( )sin , v( )  y    y   ( )sin , v( )  y 
  120   2   2     210   7   2  
 0 180 3  '' L  2  '' 2
 0 180 6  '' L  2  '' 2
  100rpm  y  ( ) cos , a( )  y    100rpm  y   ( ) cos , a( )  y 
  2     2  

 , rad
2
  100rpm  100( )  10.472rad / s
60
0.8

0.6

0.4

0.2

0.0
0 10 0 20 0 30 0 40 0

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 10.4.4 Cycloidal Follower-Displacement Programs
1. The rise 2. The return
  1 2   1 2
 y  L (  sin )  y  L  y r  L  L (  sin )

 2  
 2 
 ' L 2  ' L 2
 y  (1  cos ), v( )  y '  y   y '
r   (1  cos ), v( )  y '
     
 '' 2 L 2  '' 2 L 2
 y  2 sin , a( )  y '' 2 ''
 y   yr   2 sin , a( )  y '' 2
     

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 Design for Cycloidal Motion
1. The rise 2. The return
 L  0.8   1 2  L  0.8   1 2
  y  L(   2 sin  )   y  L  yr  L  L(   2 sin  )
180  120 1  360  210 5
        
 180 3  ' L 2   180 6  ' L 2 
  y  (1  cos ), y  y ' 
'
 y   yr   (1  cos ), y  y '
  120   2       210   7    
 0 180 3  '' 2 L 2   0 180 6  '' 2 L 2 
  100rpm  y  2 sin , y  y '' 2   100rpm
''
 y   yr   2 sin , y  y '' 2
       

 , rad
2
  100rpm  100( )  10.472rad / s
60
0. 8

0. 6

0. 4

0. 2

0. 0
0 10 0 20 0 30 0 40 0

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 凸輪曲線運動特性
運動曲線設計分三類
基本曲線
多項式曲線
修正曲線

較佳運動曲線設計
加速度和跳動要避免
無窮大或無窮小設計

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 Example Design for Parabolic Motion
Given
The motion program is to provide a dwell at zero lift for the
first 120o of the motion cycle and to dwell at 0.8 in for cam
angles from 180o to 210o.
Rise and return is programmed by the parabolic motion.
Cam rotates with a constant angular velocity 200rpm.
2
 y1 ( )  2 L( / ) , 0    /2
Parabolic Motion for Rise  2
 y2 ( )  L[1  2(1   /  ) ],  / 2    
Solve
(a) Expressions of displacement, velocity and acceleration for
rise and return processes
(b) Displacement, velocity and acceleration at cam angle
qi=160deg

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  (a)Expressions of displacement, velocity and acceleration for
rise and return
Rise Return

 ya1 ( )  2 L( / ) 2 , 0     / 2  yb1 ( )  L  ya1  L[1  2( /  ) 2 ], 0     / 2

 2  2
 ya 2 ( )  L[1  2(1   /  ) ],  / 2      yb 2 ( )  L  ya 2  2 L(1   /  ) ,  / 2    

 L  0.8  L  0.8
 
 o o o 1  o o o 5
   180  120  60      360  210  150  
3 6
 ya1 ( )  1.45903 2  y b1( )  0.8  0.233444 2
 2  2
 ya 2 ( )  0.8(1  2(1  0.95493 ) )  y b 2 ( )  0.8  0.8(1  2(1  0.3819 72 ) )
va1 ( )  2.91805 vb1( )  0.466888
 
va 2 ( )  (3.05577  2.91805 ) vb 2 ( )  ( 1.22231  0.466888 )
aa1 ( )  2.91805 2 ab1( )  0.466888 2
 2  2
aa 2 ( )  2.91805 ab 2 ( )  0.466888
31 @ 石伊蓓 /NTUST ME/09/17/2022
  (b)Displacement, velocity and acceleration at q=160deg
Rise, second
 ya 2 ( )  0.8(1  2(1  0.95493 ) 2 )

va 2 ( )  (3.05577  2.91805 )
a ( )  2.91805
 a2

  200rpm  20.944rad / s

 0 0 40 2
  160  120  
180 9
 2
 a 2 9 )  0.622 in
y (

 2
va 2 ( )  21.333 in / s
 9
 2 2
 a 2 9 )  1280 in / s
a (


32 @ 石伊蓓 /NTUST ME/09/17/2022

 10.5 Determining the Cam Profile
Graphical cam profile layout
Base circle 基圓 : 凸輪最小徑
Prime circle 主圓或參考圓 : 從動子圓心至凸輪中心最小
徑
Stroke 衝程
工作曲線 : 圖輪廓型
Pitch curve 節曲線
Pressure
The angle
angle a between the 壓力角
direction a
of follower motion and the normal
vector of cam profile

1. 根據位移圖以 prime circle 為最低

的位置畫 360 度 ( 逆時針 ) 從動子
位置圖
2. 從動子的包絡線即凸輪外型
33 @ 石伊蓓 /NTUST ME/09/17/2022
 10.5.1 Graphical Cam Profile Layout
Radial Roller Follower
凸輪順時鐘旋轉畫圖
逆時針 凸輪運動 - 滾輪平移
圖解法求凸輪輪廓
假想凸輪固定
從動子逆時鐘旋轉
r0  rb
OP
從動子中心位置
Q( )  OP  s ( ) e
OP  (r0  rb ) 2  e 2

給定
r0 從動子半徑
r
b 基圓半徑

 s ( ) 位移量
e 偏位量
34 @ 石伊蓓 /NTUST ME/09/17/2022
 Radial Flat-Faced Follower
凸輪順時鐘旋轉畫
圖逆時針 凸輪運動 - 平板平移
圖解法求凸輪輪廓
假想凸輪固定
平板逆時鐘旋轉
Q( )
平板距離

Q ( )  rb  s ( )

給定
rb 基圓半徑

 s ( ) 位移量

35 @ 石伊蓓 /NTUST ME/09/17/2022

 Cam Profile for an Oscillating, Cylindrical Follower
凸輪順時鐘旋轉畫圖逆時針 凸輪運動 - 滾輪搖擺

圖解法求凸輪輪廓
假想凸輪固定
從動子逆時鐘旋轉
從動桿自轉角度
Q( )  i  s ( ) rl
Cosine Law: r0  rb
2 2 2 a2  b2  c2
c  a  b  2ab cos C  cos C 
2ab rr
2 2 2
1 rl  rr  ( r0  rb )
i  cos ( )
2rl rr
給定 rr
r 軸樞圓半徑
 l 從動桿旋轉半徑
r0 從動子半徑
r
b 基圓半徑
 s( ) 位移角度
36 @ 石伊蓓 /NTUST ME/09/17/2022
 Cam Profile for a Flat-Faced Follower That Oscillates
凸輪順時鐘旋轉 凸輪運動 - 平板搖擺

圖解法求凸輪輪廓
假想凸輪固定
平板逆時鐘旋轉
平板自轉角度
Q ( )  i  s ( ) rr
e  rb
rb  e
i  sin 1 ( )
rr
給定
rr 軸樞圓半徑
r
b 基圓半徑

 s ( ) 位移角度
e 偏位量

37 @ 石伊蓓 /NTUST ME/09/17/2022

 10.5.2 Analytical Determination of Cam Profile
Although the graphical approach works well for low-speed cams,
for high-speed greater accuracy is required, making analytical
techniques necessary.
Analytical techniques
Establish a coordinate system on both the cam and the frame
Determine the location of follower relative to the cam coordinate
system
Find envelope( 包絡線 )of locus of the follower
Cam profiles for four different follower
1. Offset, radial roller follower
2. Radial flat-faced follower
3. Oscillating, cylindrical follower
4. Oscillating, flat-faced follower

38 @ 石伊蓓 /NTUST ME/09/17/2022

 Analytical Determination of Cam Profile for an Offset,
Translating Cylindrical Follower
Using the instant center method
Point A on the cam profile must passes Line
BC. y ( )
For I23 (B) ( Follower Displacement)
R  (rb  r0 ) 2  d 2  y ( )

vB2  2b
v  dR  dR d   dR   R '
 B3 dt d dt 2
d 2

vB  vB  2b  2 R '
2 3

sgn=1 for CW rotation

b  R '  sgn y '( ) sgn=-1 for CCW rotation
39 @ 石伊蓓 /NTUST ME/09/17/2022
 Computing Pressure Angle
f is angle between common
normal at point of contact and
follower velocity direction

 
  tan 1 b  d  tan 1  R ' d   
R  R 

判斷第幾象限

40 @ 石伊蓓 /NTUST ME/09/17/2022

 Determine Profile Points of the Cam
 Coordinates of A based on components of r.
 Direction of r given by g+q.

 d  r0 sin  判斷第幾象限
      tan 1    
 R  r0 cos 

 Magnitude of r

r  (d  r0 sin ) 2  ( R  r0 cos ) 2  

 Components of A

x A  r cos(  )

 y A  r sin(  )
41 @ 石伊蓓 /NTUST ME/09/17/2022
 Example: Calculating Cam Profile
Parameters

Harmonic Motion

L  L 
yrise ( )  (1  cos ), yreturn ( )  L  (1  cos )
2  2 

42 @ 石伊蓓 /NTUST ME/09/17/2022

 Harmonic Motion
yf
' 
yrise ( )  75sin(3(  ))
6
y1
' 
yreturn ( )  75sin(3(  )) B
6

Other parameters when  =45o b A



y  7.322, y '  53.033 

xf
R  75.696

b  53.033
  26.677 o 壓力角
  16.274o
r  69.547 x1

rc  33.426 60.988
43 @ 石伊蓓 /NTUST ME/09/17/2022
 Animation

44 @ 石伊蓓 /NTUST ME/09/17/2022

 Pressure Angle

45 @ 石伊蓓 /NTUST ME/09/17/2022

 Curvature Radius

46 @ 石伊蓓 /NTUST ME/09/17/2022

 Computing Radius of Curvature of Cam
Importance of radius of curvature at cam surface
Typically will change at every point on the cam surface
Must be convex to work with flat-faced follower
For roller follower, can be concave but must be larger than
radius of follower and of milling cutter
Contact stresses are a function of radius of curvature

需要知道凸輪輪廓曲線函式 r(q)
Cam profile position r ( )  { X ( ), Y ( )}
Curvature radius

[(dX / d )2  ( dY / d )2 ]3    convex
 ( )  
(dX / d )(d 2Y / d 2 )  (dY / d )( d 2 X / d 2 )    concave

47 @ 石伊蓓 /NTUST ME/09/17/2022

 Example: Curvature Radius for Circle
Position vector is function of q
r ( )  {cos  ,sin  }
Curvature radius

[(dX / d ) 2  ( dY / d ) 2 ]3
 ( ) 
(dX / d )(d 2Y / d 2 )  ( dY / d )( d 2 X / d 2 )

 dX dY
 d    sin  ,   cos
d
 2
d X d 2
Y   ( )  
    cos  ,    sin 
 d 2
d 2

48 @ 石伊蓓 /NTUST ME/09/17/2022

 Approximate Calculation of Radius of
Curvature of Cam
 Derivatives can be complex and difficult to compute
 Approximate method determines approximate radius for
osculating circle.
 Define positions of series of points on cam surface

pi 1  ( xi 1, yi 1 )
pi  ( xi , yi ) pi 1  ( xi 1, yi 1 )

 Center of curvature given by

pc  ( xc , yc )


2( xi1  xi ) 2( yi1  yi ) xc  ( xi21  xi2 )  ( yi21  yi2 )
2( xi1  xi ) 2( yi1  yi ) y c 
( xi21  xi2 )  ( yi21  yi2 )
49 @ 石伊蓓 /NTUST ME/09/17/2022
 Center point pc  ( xc , yc )
c1 b1 a1 c1
 a1 b1   xc   c1  c2 b2 a2 c2
a   x  , y 
 2 b2   yc  c2  c
a1 b1 c a1 b1
a2 b2 a2 b2
Curvature radius

  rpi / pc   xi  xc 2   yi  yc 2

For direction of r, use cross product

 xi  xi1  yi1  yi  
rpi / pi1  rpi1 / pi   k
  i1 i  i i1
 x  x y  y

rpi / pi1  rpi1 / pi  0    0 Convex

rpi / pi1  rpi1 / pi  0    0 Concave
50 @ 石伊蓓 /NTUST ME/09/17/2022
 Interpretation of the Sign of r

51 @ 石伊蓓 /NTUST ME/09/17/2022

 Center of Circle Pass Three Points
( x3 , y3 )
Equation Set:
r12  v c1  0 r23

r23  v c 2  0
where ( x2 , y2 )
r12  ( x2  x1 , y2  y1 ) vc2
r  ( x  x , y  y )
 23 3 2 3 2 r12
v c1
 x x y  y2
 v c1  ( 1 2  xc , 1  yc )
 2 2
 x2  x3 y2  y3 ( x1 , y1 )
 vc2  (  xc ,  yc ) ( xc , yc )
 2 2

 2( x3  x2 ) 2( y3  y2 )   xc  ( x32  x22 )  ( y32  y22 ) 

     2 2 
2(
 1 2x  x ) 2( y1  y )
2  cy (
 1x  x2
2
)  ( y1
2
 y 2 )

52 @ 石伊蓓 /NTUST ME/09/17/2022

 Example: Calculating Curvature Radius
Three consecutive rotation angles v1 =r2  r1  4.883 0.493 0
 =(70o ,75o ,80o ) v 2 =r3  r2  4.593 1.605 0

Three consecutive points v1  v 2  0 0 5.569 

5.569  0  Convex
r1 =(  32.578,62.655)
r2 =(  37.460,62.162)
r3 =(  42.053,60.557)

 9.1857 3.2094   168.271 

 9.7653 0.9870  rc =  280.374 
   
 32.941
 rc =   ,  =20.8057
 41.853 

53 @ 石伊蓓 /NTUST ME/09/17/2022

 Analytical Determination of Cam Profile for an Oscillating
Cylindrical Follower

The follower angular displacement is given in the

form f = f(q)

Also,
rb = base circle radius
r0 = follower radius
r1 = pivot distance
r3 = distance from the
follower pivot to the center
of the cylindrical contour
54 @ 石伊蓓 /NTUST ME/09/17/2022
 Invert the mechanism so that the follower again rotates
about the cam.
The initial angle f0 is given by
 r12  r32  rb  r0 2 
0  cos 1  
 2 r r
1 3 
Locate the three instant
centers for the displaced
position.
D is the location of instant
center I232 b
v D2 

55
v D  3 ( r1  b)
3
@ 石伊蓓 /NTUST ME/09/17/2022
 Look at w3

d ( +0 ) d
3  
dt dt
d  d  d d 
   2   ' 2
dt d dt d
vD = 3 (r1  b)   ' 2 (r1  b)
3

 2 b   ' 2 ( r1  b)
 ' r1
b
1  '
 '  sgn f '( )
sgn=1 for CW rotation
sgn=-1 for CCW rotation
56 @ 石伊蓓 /NTUST ME/09/17/2022
 Position and Orientation of r
Coordinates of B based on components of r.
Consider triangle CFE and polygon CFAB
r3 sin(  0 )  判斷第幾象限
  tan 1 
 r1  b  r3 cos(  0 ) 
Magnitude of r

r  r1  r3 cos(  0 )  r0 cos    r3 sin( 0 )  r0 sin  

2 2

The direction of r is g+q

r sin(  0 )  r0 sin  
  tan 1  3
 r1  r3 cos(  0 )  r0 cos  
判斷第幾象限
xB  r cos(  )

57  y B  r sin(  ) @ 石伊蓓 /NTUST ME/09/17/2022
 Computing Pressure Angle
Pressure angle indicated by e

   {[  (  0  )]  }
2
 (  0      )
2
Where

   [(  0 )   ]

BE  r32  r02  2r3r0 cos

 r 2  BE 2  r 2
0 
  cos 1  3

 2r3 BE 
58 @ 石伊蓓 /NTUST ME/09/17/2022
 Example: Calculating Cam Profile
Parameters

Cycloidal Motion

 1 2  1 2
yrise  L(  sin ), yreturn  L  L(  sin )
 2   2 

59 @ 石伊蓓 /NTUST ME/09/17/2022

 Cycloidal Motion yf

' 2
yrise ( )  cos(3 ) 2
3  y1

' 2 B
yreturn ( )   cos(3 ) 2 
3 
  +0
Other parameters when  E
D b A xf
o '
y  3.910 , y  0.5 

0  36.182o
b  100   122.798o
  17.110o BE  75.884 x1

  48.799 o   6.360o
r  56.007   39.158o 壓力角
rc  8.567 55.348
60 @ 石伊蓓 /NTUST ME/09/17/2022
 Animation

61 @ 石伊蓓 /NTUST ME/09/17/2022

 Pressure Angle

62 @ 石伊蓓 /NTUST ME/09/17/2022

 Curvature Radius

63 @ 石伊蓓 /NTUST ME/09/17/2022

 Offset, Translating Cylindrical Follower

64 @ 石伊蓓 /NTUST ME/09/17/2022

 Envelope of Roller Locus

Prime Circle
主圓

Base Circle
基圓

Roller Locus

65 @ 石伊蓓 /NTUST ME/09/17/2022

 Pressure Angle
Pressure Angle  cos 1 (n1  v1 )

n1 凸輪輪廓單位法向量

 v1 從動子移動方向單位法向量

66 @ 石伊蓓 /NTUST ME/09/17/2022

 Radius of Curvature for Cam Profile
凸輪輪廓位置方程式 r ( )  { X ( ), Y ( )}
[(dX / d ) 2  (dY / d ) 2 ]3
凸輪曲率半徑  ( ) 
(dX / d )(d 2Y / d 2 )  (dY / d )(d 2 X / d 2 )

畫圓趨近曲線以求曲率半徑 rc

2
3

1
4
1

2 3
4

67 @ 石伊蓓 /NTUST ME/09/17/2022

 Cam Profile for Radial Flat-Faced Follower

68 @ 石伊蓓 /NTUST ME/09/17/2022

 Contact point between the follower and the cam
rb 基圓半徑
R  rb  f ( )  y sin   x cos  
 f ( ) 位移函式
dR t
t  y cos  x sin    f '( )  距離從動軸到接觸點
d
可決定平板寬度
 x( )  R cos  t sin   x( )  [ rb  f ( )]cos  f '( )sin 
 
 y ( )  R sin   t cos  y ( )  [ rb  f ( )]sin   f '( )cos 法向量

Cam profile is an envelope of follower locus

Use envelope theory to solve cam profile
相對速度
嚙合方程式可得凸輪精確輪廓

n(u, )  v12 (u, )  0

( 法向量 ) ． ( 相對速度 )

69 @ 石伊蓓 /NTUST ME/09/17/2022

 Curvature Radius for Cam Profile
 X ( )  [rb  f ( )]cos   f '( )sin 
凸輪曲率半徑 
Y ( )  [ rb  f ( )]sin   f '( )cos 

 ( )  [(dX / d ) 2  (dY / d ) 2 ]3
 ( ) 
(dX / d )(d 2Y / d 2 )  (dY / d )(d 2 X / d 2 )

一次和二次對 x 和 y 的 q 偏微

 dX
 d  [rb  f ( )  f ''( )]sin 
 2
 d X  [ f '( )  f '''( )]sin   [r  f ( )  f ''( )]cos
 d 2 b

   ( )  rb  f ( )  f ''( )
 dY  [r  f ( )  f ''( )]cos
b
 d
 2
 d Y  [ f '( )  f '''( )]cos  [ rb  f ( )  f ''( )]sin 
 d 2

70 @ 石伊蓓 /NTUST ME/09/17/2022

 Position for Cam Profile
1
Pressure Angle  cos (n1  v1 )  0

n1 凸輪輪廓單位法向量

 v1 從動子移動方向單位法向量

壓力角為
0

71 @ 石伊蓓 /NTUST ME/09/17/2022

 基圓半徑 rb=1cm
有兩個尖點
This can not be manufactured

The smallest value for the base

circle radius rb to avoid cusps
is 3.147( 曲率半徑不為 0)

72 @ 石伊蓓 /NTUST ME/09/17/2022

 Curvature Radius
 ( )  rb  f ( )  f ''( )

(1) rb  4cm (2) rb  1cm

Cusps(r=0) happen

73 @ 石伊蓓 /NTUST ME/09/17/2022

 Cam Profile for an Oscillating, Cylindrical Follower

r12  r32  (rb  r0 ) 2

1
0  cos ( )
2r1r3

i

i

74 @ 石伊蓓 /NTUST ME/09/17/2022

 Pressure Angle
Angle between the transmission direction (a) and the
normal vector (b) of cam profile
傳動方向 a 和凸輪輪廓法向量 b 的夾角
a  1 i ,  i   / 2  i  0  i

 1 yi  Yi
b  1 i ,  i  tan ( )
 xi  X i 判斷在第幾象限

a  (cos  i ,sin  i )

b  (cos i ,sin i )
    i  i

( xi , yi ) 從動滾子中心

75
( X i , Yi ) 凸輪輪廓
@ 石伊蓓 /NTUST ME/09/17/2022
 Envelope of Roller Locus

76 @ 石伊蓓 /NTUST ME/09/17/2022

 Position for Cam Profile and Pressure Angle
1
Pressure Angle   cos (n1  v1 )

n1 凸輪輪廓單位法向量

 v1 從動子移動方向單位法向量
Pressure angle

77 @ 石伊蓓 /NTUST ME/09/17/2022

 Curvature Radius
r ( )  { X ( ), Y ( )}
[(dX / d ) 2  (dY / d ) 2 ]3
 ( ) 
( dX / d )( d 2Y / d 2 )  ( dY / d )(d 2 X / d 2 )

78 @ 石伊蓓 /NTUST ME/09/17/2022

 Cam Profile for a Flat-Faced Follower That Oscillates
 R  rb  AB
 r1 r1
 AE  
 1  d / R 1  d / rb
 2 2
 BE  AE  rb

 0  tan 1 ( rb )
 BE i

i
79 @ 石伊蓓 /NTUST ME/09/17/2022
 Follower plate position
 xC  r1 cos rb 基圓半徑

 r1 凸輪和樞紐中心距
 yC  r1 sin   ( )
3
 i 角度函式

x
 D  xC  d cos(   i  i  0 )
2

 y  y  d sin( 3       )
 D C
2
i i 0

法向量
Cam profile is an envelope of
follower locus 相對速度
Use envelope theory to solve cam
profile
嚙合方程式可得凸輪精確輪廓
n (  ,  )  v (  , )  0
12

80 ( 法向量 ) ． ( 相對速度 ) @ 石伊蓓 /NTUST ME/09/17/2022

 Pressure Angle
Angle between the transmission direction (a) and the
normal vector (b) of cam profile
傳動方向 a 和凸輪輪廓法向量 b 的夾角

 1
yFi  yCi 
a  1 i ,  i  tan ( )
 x Fi  yCi 2

b  1 , 1
yFi  yM i 
  tan ( )   
 i i
x  y
i
2
 Fi Mi

   cos 1 (a  b)

81 @ 石伊蓓 /NTUST ME/09/17/2022

 Envelope of Flat-Faced Follower Locus

82 @ 石伊蓓 /NTUST ME/09/17/2022

83 @ 石伊蓓 /NTUST ME/09/17/2022
 Position for Cam Profile and Pressure Angle
Pressure Angle  cos 1 (n1  v1 )

n1 凸輪輪廓單位法向量

 v1 從動子移動方向單位法向量

Pressure angle

84 @ 石伊蓓 /NTUST ME/09/17/2022

 Curvature Radius
r ( )  { X ( ), Y ( )}
[(dX / d ) 2  (dY / d ) 2 ]3
 ( ) 
(dX / d )(d 2Y / d 2 )  (dY / d )(d 2 X / d 2 )

85 @ 石伊蓓 /NTUST ME/09/17/2022