DESIGN OF MACHINERY SOLUTION MANUAL 8-7-1

! PROBLEM 8-7
Statement: Design a double-dwell cam to move a follower from 0 to 2.5 in in 60 deg, dwell for 120 deg, fall 2.5
in in 30 deg and dwell for the remainder. The total cycle must take 4 sec. Choose suitable programs
for rise and fall to minimize accelerations. Plot the SVAJ diagrams.
Given: RISE DWELL FALL DWELL

1
60 deg
.

2
120 deg
.

3
30 deg
.

4
150 deg
.
h
1
2.5 in
.
h
2
0 in
.
h
3
2.5 in
.
h
4
0 in
.
Cycle time: 4 sec
.
Solution: See Mathcad file P0807.
1. The camshaft turns 2 rad during the time for one cycle. Thus, its speed is

2
.
rad
.

1.571
rad
sec
=
2. From Table 9-2, the motion program with lowest acceleration that does not have infinite jerk is the modified
trapezoidal. The modified trapezoidal motion is defined in local coordinates by equations 8.13. The numerical
constants in these equations are first defined below in constants C
1
through C
11
.
c
1
0.38898448 c
2
0.0309544 c
3
4.888124 c
4
61.425769
c
5
2.44406184 c
6
0.22203097 c
7
0.00723407 c
8
1.6110154
c
9
0.3055077 c
10
4.6660917 c
11
1.2292648
3. The equations for the rise or fall interval () are divided into 5 subintervals. These are:
for 0 <= <= /8 where, for these equations, is a local coordinate that ranges from 0 to ,
s
1
, h , ( ) h c
1

.
c
2
sin 4
.

. . .
v
1
, h , ( ) c
1
h

.
1 cos 4
.

. .
a
1
, h , ( ) c
3
h

2
.
sin 4
.

. .
j
1
, h , ( ) c
4
h

3
.
cos 4
.

. .
for /8 <= <= 3/8
s
2
, h , ( ) h c
5

2
.
c
6

.
c
7
.
v
2
, h , ( )
h

c
3

.
c
6
.
a
2
, h , ( ) c
3
h

2
.
j
2
, h , ( ) 0 in
.
for 3/8 <= <= 5/8
s
3
, h , ( ) h c
8

.
c
2
sin 4
.

.

.
c
9
.
v
3
, h , ( )
h

c
8
c
1
cos 4
.

.

. .
2nd Edition, 1999
DESIGN OF MACHINERY SOLUTION MANUAL 8-7-2
a
3
, h , ( ) c
3
h

2
.
sin 4
.

.

.
j
3
, h , ( ) c
4
h

3
.
cos 4
.

.

.
for 5/8 <= <= 7/8
s
4
, h , ( ) h c
5

2
.
c
10

.
c
11
.
v
4
, h , ( )
h

c
3

.
c
10
.
a
4
, h , ( ) c
3
h

2
.
j
4
, h , ( ) 0 in
.
for 7/8 <= <=
s
5
, h , ( ) h c
1

.
c
2
sin 4
.

.
3
. .
c
8
1
.
v
5
, h , ( ) c
1
h

.
1 cos 4
.

.
3
. .
a
5
, h , ( ) c
3
h

2
.
sin 4
.

.
3
. .
j
5
, h , ( ) c
4
h

3
.
cos 4
.

.
3
. .
4. The above equations can be used for a rise or fall by inserting the proper values of , , and h. To plot the SVAJ
curves, first define a range function that has a value of one between the values of a and b and zero elsewhere.
R a , b , ( ) if a > ( ) b ( )
.
1 , 0 , ( )
5. The global SVAJ equations are composed of four intervals (rise, dwell, fall, and dwell). The local equations above
must be assembled into a single equation each for S, V, A, and J that applies over the range 0 <= <= 360 deg.
6. Write the global SVAJ equations for the first interval, 0 <= <=
1
. For this interval, the local and global frames
are coincident so the local equations can be used as written, substituting only for h
1
for h and
1
for . Note that
each subinterval function is multiplied by the range function so that it will have nonzero values only over its
subinterval.
For 0 <= <=
1
S
1
( ) R 0 deg
.
,

1
8
, s
1

1
, h
1
,
.
R

1
8
,
3
8

1
.
, s
2

1
, h
1
,
.
R
3
8

1
.
,
5
8

1
.
, s
3

1
, h
1
,
.
R
5
8

1
.
,
7
8

1
.
, s
4

1
, h
1
,
.
+
...
R
7
8

1
.
,
1
, s
5

1
, h
1
,
.
+
...
V
1
( ) R 0 deg
.
,

1
8
, v
1

1
, h
1
,
.
R

1
8
,
3
8

1
.
, v
2

1
, h
1
,
.
R
3
8

1
.
,
5
8

1
.
, v
3

1
, h
1
,
.
R
5
8

1
.
,
7
8

1
.
, v
4

1
, h
1
,
.
+
...
R
7
8

1
.
,
1
, v
5

1
, h
1
,
.
+
...
2nd Edition, 1999
DESIGN OF MACHINERY SOLUTION MANUAL 8-7-3
A
1
( ) R 0 deg
.
,

1
8
, a
1

1
, h
1
,
.
R

1
8
,
3
8

1
.
, a
2

1
, h
1
,
.
R
3
8

1
.
,
5
8

1
.
, a
3

1
, h
1
,
.
R
5
8

1
.
,
7
8

1
.
, a
4

1
, h
1
,
.
+
...
R
7
8

1
.
,
1
, a
5

1
, h
1
,
.
+
...
J
1
( ) R 0 deg
.
,

1
8
, j
1

1
, h
1
,
.
R

1
8
,
3
8

1
.
, j
2

1
, h
1
,
.
R
3
8

1
.
,
5
8

1
.
, j
3

1
, h
1
,
.
R
5
8

1
.
,
7
8

1
.
, j
4

1
, h
1
,
.
+
...
R
7
8

1
.
,
1
, j
5

1
, h
1
,
.
+
...
7. Write the global SVAJ equations for the second interval,
1
<= <=
1
+
2
. For this interval, the value of S is the
value of S at the end of the previous interval and the values of V, A, and J are zero because of the dwell.
For
1
<= <=
1
+
2
S
2
( ) R
1
,
1

2
, S
1

1
.
V
2
( ) R
1
,
1

2
, 0
.
in
.
A
2
( ) R
1
,
1

2
, 0
.
in
.
J
2
( ) R
1
,
1

2
, 0
.
in
.
8. Write the global SVAJ equations for the third interval,
1
+
2
<= <=
1
.+
2
+
3
. For this interval, the local and
global frames are not coincident so we must transform the local to the global by subtracting the first two
intervals from it. Note that, for a fall, the local equation for s is subtracted from the value of S at the end of the
previous interval while V, A, and J are simply negated.
For
1
+
2
<= <=
1
.+
2
+
3
Let a
1

2
S
3
( ) R a , a

3
8
, s
1
a
3
, h
3
,
.
R a

3
8
, a
3
8

3
.
, s
2
a
3
, h
3
,
.
+
...
R a
3
8

3
.
, a
5
8

3
.
, s
3
a
3
, h
3
,
.
+
...
R a
5
8

3
.
, a
7
8

3
.
, s
4
a
3
, h
3
,
.
+
...
R a
7
8

3
.
, a
3
, s
5
a
3
, h
3
,
.
+
...
R a , a
3
, S
2
a ( )
.
+
...
2nd Edition, 1999
DESIGN OF MACHINERY SOLUTION MANUAL 8-7-4
V
3
( ) R a , a

3
8
, v
1
a
3
, h
3
,
.
R a

3
8
, a
3
8

3
.
, v
2
a
3
, h
3
,
.
+
...
R a
3
8

3
.
, a
5
8

3
.
, v
3
a
3
, h
3
,
.
+
...
R a
5
8

3
.
, a
7
8

3
.
, v
4
a
3
, h
3
,
.
+
...
R a
7
8

3
.
, a
3
, v
5
a
3
, h
3
,
.
+
...
A
3
( ) R a , a

3
8
, a
1
a
3
, h
3
,
.
R a

3
8
, a
3
8

3
.
, a
2
a
3
, h
3
,
.
+
...
R a
3
8

3
.
, a
5
8

3
.
, a
3
a
3
, h
3
,
.
+
...
R a
5
8

3
.
, a
7
8

3
.
, a
4
a
3
, h
3
,
.
+
...
R a
7
8

3
.
, a
3
, a
5
a
3
, h
3
,
.
+
...
J
3
( ) R a , a

3
8
, j
1
a
3
, h
3
,
.
R a

3
8
, a
3
8

3
.
, j
2
a
3
, h
3
,
.
+
...
R a
3
8

3
.
, a
5
8

3
.
, j
3
a
3
, h
3
,
.
+
...
R a
5
8

3
.
, a
7
8

3
.
, j
4
a
3
, h
3
,
.
+
...
R a
7
8

3
.
, a
3
, j
5
a
3
, h
3
,
.
+
...
9. Write the global SVAJ equations for the fourth interval,
1
+
2
+
3
<= <=
1
.+
2
+
3
+
4
. For this interval,
the values of S, V, A, and J are zero because of the dwell.
For
1
+
2
+
3
<= <=
1
.+
2
+
3
+
4
Let a
1

2

3
S
4
( ) R a , a
4
, 0
.
in
.
V
4
( ) R a , a
4
, 0
.
in
.
A
4
( ) R a , a
4
, 0
.
in
.
J
4
( ) R a , a
4
, 0
.
in
.
10. Write the complete global equation for the displacement and plot it over one rotation of the cam, which is the sum
of the four intervals defined above.
S ( ) S
1
( ) S
2
( ) S
3
( ) S
4
( )
0 deg
.
1 deg
.
, 360 deg
.
..
2nd Edition, 1999
DESIGN OF MACHINERY SOLUTION MANUAL 8-7-5
0 60 120 180 240 300 360
0
1
2
3
DISPLACEMENT, S
Cam Rotation Angle, deg
D
i
s
p
l
a
c
e
m
e
n
t
,

i
n
S ( )
in

deg
11. Write the complete global equation for the velocity and plot it over one rotation of the cam, which is the sum of the
four intervals defined above.
V ( ) V
1
( ) V
2
( ) V
3
( ) V
4
( )
0 60 120 180 240 300 360
10
5
0
5
VELOCITY, V
Cam Rotation Angle, deg
V
e
l
o
c
i
t
y
,

i
n
V ( )
in

deg
12. Write the complete global equation for the acceleration and plot it over one rotation of the cam, which is the sum of
the four intervals defined above.
A ( ) A
1
( ) A
2
( ) A
3
( ) A
4
( )
2nd Edition, 1999
DESIGN OF MACHINERY SOLUTION MANUAL 8-7-6
0 60 120 180 240 300 360
50
25
0
25
50
ACCELERATION, A
Cam Rotation Angle, deg
A
c
c
e
l
e
r
a
t
i
o
n
,

i
n
A ( )
in

deg
13. Write the complete global equation for the jerk and plot it over one rotation of the cam, which is the sum of the four
intervals defined above.
J ( ) J
1
( ) J
2
( ) J
3
( ) J
4
( )
0 60 120 180 240 300 360
1000
500
0
500
1000
1500
JERK, J
Cam Rotation Angle, deg
J
e
r
k
,

i
n
J ( )
in

deg
2nd Edition, 1999