AUTOMATION OF CAM & FOLLOWER USING

DISPLACEMENT SENSOR UR AND ANGLE

SENSOR ROTORY ENCODER (KY-904)
A Major Project Report Submitted at
RAGIV GANDHI PRODYOGIKI VISHWAVIDYALAYA BHOPAL
(M.P.)

in partial Fulfilmentfor the award of degree

BACHELOR OF ENGINEERING
In
Mechanical ENGINEERING

Submitted by

Shubham Patel (0827ME141092)

Vipul Agrawal (0827ME141112)
Vishal Sahu (0827ME141114)
Yash Bapna (0827ME141118)

Guided By
Prof. Himanshu Bhiwapurkar

Department of Mechanical Engineering

Acropolis Institute of Technology & Research ,Indore
2017-18

1
 Acropolis Institute of Technology& Research, Indore

2017 - 2018

CERTIFICATE

This is to certify that shubham patel ,vipul agrawal ,vishal sahu, yash bapna have completed
their project work, titled “Automation of cam & follower using displacement sensor UR
and rotary encoder (ky -904)’’as per the syllabus and have submitted a satisfactory report as
a partial fulfillment towards the degree of Bachelor of Engineering in Mechanical
Engineering from Rajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal.

Prof. Himanshu Bhiwaripurkar ________________________________

Project Guide

Prof. Parshant Geete ________________________________

Project Coordinator

2
 ACKNOWLEDGEMENT

I am thankful to our technical university RGPV, Bhopal that they have given me chance
to convert my theoretical knowledge into the practical skills through this project.

Any work of this magnitude requires input, efforts and encouragement of people from
all sides. In compiling this project, I have been fortunate enough to get active and kind
co-operation from many people without my endeavors wouldn’t have been a success.
The project work has been made successful by the cumbersome effort of the faculties. I
would like to express my deep gratitude to my project guide Prof. Himanshu
Bhiwapurkar under whose valuable guidance I was able to complete my project
smoothly.

I am thankful to our Project Coordinator of Mechanical Engg. Department Prof

Prashant Geete, for encouraging me regularly and providing me each and every
facility.

Lastly, I am thankful to each & every person involved directly or indirectly in the
project work.

3
 ABSTRACT

The cam can be seen as a device that rotates from circular to reciprocating (or
sometimes oscillating) motion. A common example is the camshaft of an automobile,
which takes the rotary motion of the engine and translates it into the reciprocating
motion necessary to operate the intake and exhaust valve of the cylinders.

The cam follower mechanism is versatile and almost any arbitrarily- specified motion
can be achieved. The use of algebraic polynomials to specify the follower motion is a
new choice for cam profiles. This class of motion function is highly versatile especially
in high speed automobiles.

This project is about automation of a manual Cam & Follower Mechanism using
sensors to ease the process of calibration and enable it to generate automized cam
profile. Using two sensors, Ultrasonic Sensor (UR) for calculating displacement and
KY-040 Rotational Encoder for majoring angles linked via Ardino Uno which routes
the results through PC.

4
 CONTENTS

CHAPTER -1

INTRODUCTION ........................................................... Error! Bookmark not defined.

1.1 Arduino:- ............................................................................................................ 11.

1.2 Ultrasonic Sensor ................................................................................................ 12

1.3 Rotary encoder .................................................................................................... 13

CHAPTER -2

LITERATURE REVIEW ............................................................................................ 16

CHAPTER -3

PROBLEM DEFINITION ........................................................................................... 18

CHAPTER -4

METHODOLOGY ...................................................................................................... 20

CHAPTER-5

EXPERIMENTATION……………………………………………………………….

5.1 CONNECTIING OF ROTARY AND ULTRASONIC SENSOR WITH

AURDINO…………………………………………………………………………...34

5.2 PROGRAMMING OF ROTARY SENSOR KY -040……………………….…35

5.3 PROGRAMMING OF UR SENSOR…………………………………………….38

5.4 MAIN PROGRAMMING…………………………………………………..……40

5.5 DISCRIPTION OF CAM AND FOLLOWER…………………………………

CHAPTER- 6

RESULTS……………………………………………………………………….……45

5
CHAPTER – 7

CONCLUSION & AND FUTURE SCOPE

7.1 CONCLUSION………………………………………………………………….49

7.2 FUTURE SCOPE………………………………………………………………………………………………………….…….49

CHAPTER - 8

REFERENCES………………………………………………………………………51.

ANEXTURE…………………………………………………………………………52

6
LIST OF FIGURES

Figure 1(knife edge follower) ...................................................................................... 10

Figure 2 (Arduino board) ............................................................................................. 11

Figure 3 (basic diagram of ultra sonic sensor) ............................................................. 12

Figure 4 (rotary encoder) ............................................................................................. 13

Figure 5 ( graph of polynomial 2-3 cam) ..................................................................... 22

Figure 6 (graph of polynomial 3-4-5) .......................................................................... 24

Figure 7 (Graph of polynomial cam............................................................................. 26

Figure 8 ( Graph of Cycloidal cam 4-5-6-7) ................................................................ 28

Figure 9 (rotary encoder) ............................................................................................. 30

Figure 10 (line diagram of arduino) ............................................................................. 31

Figure 11 (connection diagram) ................................................................................... 33

Figure 12 (ultrasonic sensor) ....................................................................................... 34

Figure 13 (comparision of graphs of all four cam) ...................................................... 43

7
LIST OF TABLES

Table 1 -(Comparison of Actual and Theoretical Displacement Diagram of 2-3

polynomial cam ) ......................................................................................................... 21

Table 2-(Comparison of Actual and Theoretical Displacement Diagram of 3-4-5

polynomial cam) .......................................................................................................... 23

Table 3 - (Comparison of Actual and Theoretical Displacement Diagram of 4-5-6-7

polynomial cam) .......................................................................................................... 25

Table 4 -(Comparison of Actual and Theoretical Displacement Diagram of 4-5-6-7

polynomial cam) .......................................................................................................... 27

Table 5- (Comparison of actual displacement of all polynomial cam) ........................ 41

8
 CHAPTER 1

INTRODUCTION

9
 INTRODUCTION

Cam &Follower are mechanical member and is used to transmit the rotary motion of
cam to follower by direct contact . In this mechanism the driven part is cam which is
a eccentric disc which rotates about a fixed point and driven part is follower which
perform the translatory motion it may perform oscillatory motion also. It is used in
internal combustion engine , machine tools ,operating valves ,etc.

Figure 1(knife edge follower)

In a cam follower pair, the cam normally rotates while the follower may translate or
oscillate. A familiar example is the camshaft of an automobile engine, where the cams
drive the push rods (the followers) to open and close the valves in synchronization with
the motion of the pistons.

In the world of indexing machines for automated assembly, servo-driven systems have
garnered a lot of attention lately. The flexibility and programmability of such systems
are certainly advantageous, especially in these days of short product life cycles and
high-mix production.

However, if speed, reliability and cost are important, the tried-and-true cam-driven
system is still the best way to go.

Cam-driven systems provide:

 Controlled accelerations and decelerations.

 Accurate and repeatable positioning.
10
  High load and speed capability.
 Smooth motion.

1.1 Arduino:-

Arduino is an open source computer hardware and software company, project, and user
community that designs and manufactures single-board
microcontrollers and microcontroller kits for building digital devices and interactive
objects that can sense and control objects in the physical and digital world. The
project's products are distributed as open-source hardware and software, which are
licensed under the GNU Lesser General Public License (LGPL) or the GNU General
Public License (GPL), permitting the manufacture of Arduino boards and software
distribution by anyone. Arduino boards are available commercially in preassembled
form, or as do-it-yourself (DIY) kits.

Figure 2 (Arduino board)

Arduino board designs use a variety of microprocessors and controllers. The boards are
equipped with sets of digital and analog input/output (I/O) pins that may be interfaced
to various expansion boards or Breadboards (shields) and other circuits. The boards
feature serial communications interfaces, including Universal Serial Bus (USB) on
some models, which are also used for loading programs from personal computers. The
microcontrollers are typically programmed using a dialect of features from the
programming languages C and C++. In addition to using traditional compiler tool
chains, the Arduino project provides an integrated development environment (IDE)
based on the Processing language project.

11
1.2 Ultrasonic Sensor
An Ultrasonic sensor is a device that can measure the distance to an object by using
sound waves. It measures distance by sending out a sound wave at a specific frequency
and listening for that sound wave to bounce back. By recording the elapsed time
between the sound wave being generated and the sound wave bouncing back, it is
possible to calculate the distance between the sonar sensor and the object.

Figure 3 (basic diagram of ultra sonic sensor)

Since it is known that sound travels through air at about 344 m/s (1129 ft/s), you can
take the time for the sound wave to return and multiply it by 344 meters (or 1129 feet)
to find the total round-trip distance of the sound wave. Round-trip means that the sound
wave traveled 2 times the distance to the object before it was detected by the sensor; it
includes the 'trip' from the sonar sensor to the object AND the 'trip' from the object to
the Ultrasonic sensor (after the sound wave bounced off the object). To find the
distance to the object, simply divide the round-trip distance in half.
Ultrasonic level sensors work by the "time of flight" principle using the speed of sound.
The sensor emits a high-frequency pulse, generally in the 20 kHz to 200 kHz range, and
then listens for the echo. The pulse is transmitted in a cone, usually about 6° at the

12
apex. The pulse impacts the level surface and is reflected back to the sensor, now acting
as a receiver (Figure 1), and then to the transmitter for signal processing.
The accuracy of Ultrasonic sensor can be affected by the temperature and humidity of
the air it is being used in. However, for these tutorials and almost any project you will
be using these sensors in, this change in accuracy will be negligible.

1.3 Rotary encoder

A rotary encoder, also called a shaft encoder, is an electro-mechanical device that

converts the angular position or motion of a shaft or axle to an analog or digital signal.
There are two main types: absolute and incremental (relative). The output of absolute
encoders indicates the current position of the shaft, making them angle transducers. The
output of incremental encoders provides information about the motion of the shaft,
which is typically further processed elsewhere into information such as speed, distance
and position.

Rotary encoders are used in many applications that require precise shaft unlimited
rotation including industrial controls, robotics, special purpose photographic lenses,etc

Figure 4 (rotary encoder)

13
14
 CHAPTER -2

LITERATURE REVIEW

15
LITERATURE REVIEW

From (1) In this paper, we have studied the working principle of Arduino, its hardware
/ software features and its applications as to where it is currently being used and where
all it can be used. We have also learnt how to write sketches for Arduino in its own IDE
(software). Developing new ideas with Arduino is endless, with the help of this paper
we have learnt to build new devices of our own to create and implement innovative
things. From wearable fashion to space research, the possibilities of using an Arduino
to learn and develop new ideas is infinite. Though it does have its own limitations, it is
a great tool that can be used in learning.

From [2] it is concluded that, displacement diagram becomes tens to non linear as we
move to high degree polynomial cam profile.

From[3] it is concluded ,Real cam-profile differs from the theoretical one due to the un
avoided manufacturing errors. Those errors can be a source of dynamical trouble
especially in high-speed cam mechanisms like those of automotive engines .Very
common, and rather insufficient cam-profile-control in factories is such that camshafts
are controlled only occasionally and only on statical way. During such a control, a real
cam-followers displacement is measured and compared with data of a theoretical one.

From[4] it is concluded we have taken analysis part of cam.

From[5] it is concluded that , pitch curve is the curve generated by trace point as the
follower move relative to cam . for knife edge follower , pitch curve and cam profile are
same whereas for a roller or mushroom follower, they are separated by the radius of
roller.

16
 CHAPTER -3

PROBLEM DEFINITION

17
 PROBLEM DEFINITION

3.1. The main problem arrived in the earlier mechanism was that the process of
calibration was very lengthy and time taking , as each reading were first
observed and than noted down.
3.2. The ultimate aim of study of cam and follower mechanism was to generate cam
and follower profile / graph which was also lengthy and not upto the mark or
required.
3.3. As the readings are taken by a naked eyes there for it involves lot’s of errors
which was the main problem as these error were completely introduce in entire
reading and were increasing scale by scale in each calculation.

18
 CHAPTER -4

METHODOLOGY

19
METHODOLOGY

 Kinematic analysis

Taking ,Rise Dwell Return Dwell type cam profile, the governing equation of motion
for follower displacement is expressed as

S = c0 + c1q + c2q2 + c3q3 +…….+cnqn

where
S = Displacement of the follower,
q = Cam rotation angle
c = Constants(i=0, 1,2,3… ) are constant coefficients whose value can be
determined by boundary conditions.

q = θ/β

θ= angle of rotation of cam (degree)

β= max. angle of rise ( degree)

displacement equations for 2-3,4-5,3-4-5, polynomial and cycloidal cam are as

   3   
2

s  H 3   2  
       

       
3 2

s  H   10  15   6  

          

 
4
    
2
  
3

s  H   35.84   70   20  

          

H    1  2  
s    sin   
    2    

For a polynomial of order n we have n+1 unknown constant coefficients. These

constant can be determined by considering the end conditions. For cam motion we at
least want to have continuity in displacement velocity and acceleration which results
with the boundary conditions.

20
(A) For 2-3 polynomial cam Profile:

Table 1 -(Comparison of Actual and Theoretical Displacement Diagram of 2-3

polynomial cam )

Cam rotation 2-3 ( Theoretical) 2-3 (Actual error

angle 𝜽 (degree) displacement (mm) Displacement
(mm)
0 0 1.75 -1.75
12 0.672 1.25 -0.578
24 2.496 0 2.496
36 5.184 2.75 2.434
48 8.448 5.5 2.948
60 12 8.75 3.25
72 15.552 14 1.552
84 18.816 20.25 -1.434
96 21.504 22.5 -0.996
108 23.328 24.5 -1.172
120 24 25 -1
132 24 24.5 -0.5
144 24 24 0
156 24 24.25 -0.25
168 24 23.25 0.75
180 24 23.5 0.5
192 23.328 21.75 1.578
204 21.504 21.75 -0.246
216 18.816 23.25 -4.434
228 15.552 18 -2.448
240 12 15.75 -3.75
252 8.448 10 -1.552
264 5.184 5.75 -0.566
276 2.496 3.75 -1.254
288 0.672 2.5 -1.828
300 0 2.25 -2.25
312 0 0.5 -0.5
324 0 0.75 -0.75
336 0 0 0

21
 348 0 0 0
360 0 0 0

30.00

25.00
Follower displacment

20.00

15.00
Sensor reading
Therotical reading

10.00

5.00

0.00
156

324
108
120
132
144

168
180
192
204
216
228
240
252
264
276
288
300
312
0

96
12
24
36
48
60
72
84

Cam rotation

Figure 5 ( graph of polynomial 2-3 cam)

(B) For 3-4-5 polynomial cam Profile:

22
Table 2-Comparison of Actual and Theoretical Displacement Diagram of 3-4-5
polynomial cam

Cam rotation 3-4-5 3-4-5 (Actual error

angle 𝜽 (degree) ( Theoretical) Displacement
displacement (mm) (mm)
0 0.0 2 -2.0
12 0.2 0 0.2
24 1.4 3 -1.6
36 3.9 3.5 0.4
48 7.6 5.25 2.4
60 12.0 8.75 3.3
72 16.4 14.75 1.6
84 20.1 17.5 2.6
96 22.6 20.25 2.4
108 23.8 22.25 1.5
120 24.0 25 -1.0
132 24.0 25 -1.0
144 24.0 24.75 -0.8
156 24.0 24.75 -0.8
168 24.0 25 -1.0
180 24.0 25.1 -1.1
192 23.8 25.4 -1.6
204 22.6 22.5 0.1
216 20.1 22.5 -2.4
228 16.4 20.25 -3.9
240 12.0 16.5 -4.5
252 7.6 12.5 -4.9
264 3.9 7.75 -3.8
276 1.4 6 -4.6
288 0.2 4 -3.8
300 0.0 4.25 -4.3
312 0.0 2.5 -2.5
324 0.0 0 0.0
336 0.0 0 0.0
348 0.0 0 0.0

23
 360 0.0 0 0.0

Chart Title

30

25
Follower displacment

20

15
Sensor reading
Therotical reading

10

0
108
120
132
144
156
168
180
192
204
216
228
240
252
264
276
288
300
312
324
12
24
36
48
60
72
84
96

Cam rotation

Figure 6 (graph of polynomial 3-4-5)

24
 (C) For polynomial cam Profile:

Table 3 - Comparison of Actual and Theoretical Displacement Diagram of 4-5-6-7

polynomial cam

Cam rotation 4-5-6-7 4-5-6-7 (Actual error

angle 𝜽 (degree) ( Theoretical) Displacement
displacement (mm) (mm)
0 0 1 -1
12 0 1 -1
24 0 1.5 -2
36 0 1.75 -2
48 1 1 0
60 3 4 -1
72 7 8 -1
84 12 11.25 1
96 17 13.5 4
108 21 18 3
120 23 22.5 1
132 24 21.75 2
144 24 23 1
156 24 23.75 0
168 24 23 1
180 24 22.25 2
192 24 24 0
204 24 22.75 1
216 24 22.5 1
228 23 24.5 -1
240 21 20 1
252 17 18.25 -1
264 12 17 -5
276 7 12 -5
288 3 9.5 -6
300 1 6.5 -6
312 0 5.25 -5

25
 324 0 2.25 -2
336 0 2.5 -3
348 0 2.75 -3
360 0 0 0

30

25
Follower displacment

20

15
sensor reading
theoretical data

10

0
108
120
132
144
156
168
180
192
204
216
228
240
252
264
276
288
300
312
324
336
348
0

24

96
12

36
48
60
72
84

Cam rotation

Figure 7 (Graph of polynomial cam 4-5-6-7)

26
(D) For Cycloidal cam Profile:

Table 4 -Comparison of Actual and Theoretical Displacement Diagram of 4-5-6-7

polynomial cam

Cam rotation Cycloidal Cycloidal error

angle 𝜽 ( Theoretical)displacement (Actual
(degree) (mm) Displacement(mm)
0 0.00 1 -1.00
12 0.15 2 -1.85
24 1.17 4.75 -3.58
36 3.57 7.5 -3.93
48 7.35 12.25 -4.90
60 12.00 13.5 -1.50
72 16.65 18.5 -1.85
84 20.43 18.75 1.68
96 22.83 21.5 1.33
108 23.85 21.5 2.35
120 24.00 22.5 1.50
132 24.00 23.25 0.75
144 24.00 23 1.00
156 24.00 22.5 1.50
168 24.00 21.5 2.50
180 24.00 22.5 1.50
192 23.85 23.75 0.10
204 22.83 19 3.83
216 20.43 18 2.43
228 16.65 18 -1.35
240 12.00 16.75 -4.75
252 7.35 12.75 -5.40
264 3.57 9.25 -5.68
276 1.17 6.5 -5.33
288 0.15 6 -5.85
300 0.00 1.25 -1.25
312 0.00 0 0.00
324 0.00 0 0.00
336 0.00 1 -1.00

27
 348 0.00 1 -1.00
360 0.00 0.75 -0.75

30

25

20
Follower displacment

15

sensor reading
Therotical reading

10

0
0 24 48 72 96 120 144 168 192 216 240 264 288 312 336 360
Cam rotation

Figure 8 ( Graph of Cycloidal cam 4-5-6-7)

28
 CHAPTER -5
EXPERIMENTATION

29
 EXPERIMENTATION

5.1. Connections of rotary sensor and ultrasonic sensor with arduido with line
diagram and programming

1. KY-040 Rotary Encoder

Figure 9 (rotary encoder)

30
  line diagram of rotory encoder with arduino

Figure 10 (line diagram of arduino)

5.2 programming of ky040 rotory encoder sensor

#define encoder0PinA 2 //CLK Output A Do not use other pin for clock as we are
using interrupt
#define encoder0PinB 4 //DT Output B
#define Switch 5 // Switch connection if available

volatile unsigned int encoder0Pos = 0;

void setup() {

31
 pinMode(encoder0PinA, INPUT);
digitalWrite(encoder0PinA, HIGH); // turn on pullup resistor
pinMode(encoder0PinB, INPUT);
digitalWrite(encoder0PinB, HIGH); // turn on pullup resistor
attachInterrupt(0, doEncoder, RISING); // encoder pin on interrupt 0 - pin2
Serial.begin (9600);
Serial.println("start"); // a personal quirk
}

void loop(){
// do some stuff here - the joy of interrupts is that they take care of themselves
Serial.print("Position:");
Serial.println (encoder0Pos, DEC); //Angle = (360 / Encoder_Resolution) *
encoder0Pos
}

void doEncoder() {
if (digitalRead(encoder0PinB)==HIGH) {
encoder0Pos++;
} else {
encoder0Pos--;
}

 result

Open serial monitor and see the result of rotary encoder. Turn knob clock wise and
anti-clock wise.

32
  connection diagram of ultrasonic sensor with arduino

Figure 11 (connection diagram)

 Plugging the UR sensor

Only upon delivery have I noticed one tiny problem: the original Ping sensor had 3
pins, while my copy version has 4. So I connected the pins this way:

33
 VCC -> Arduino +5V pin
 GND -> Arduino GND pin
 Trig -> Arduino Digital Pin 2
 Echo -> Arduino Digital Pin 2

Figure 12 (ultrasonic sensor)

5.3 Programming of ultrasonic sensor

const int trigPin = 2;

const int echoPin = 4;
void setup() {
// initialize serial communication:
Serial.begin(9600);
}
void loop()
{
// establish variables for duration of the ping,
// and the distance result in inches and centimeters:

34
 long duration, inches, cm;
// The sensor is triggered by a HIGH pulse of 10 or more microseconds.
// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
pinMode(trigPin, OUTPUT);
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
// Read the signal from the sensor: a HIGH pulse whose
// duration is the time (in microseconds) from the sending
// of the ping to the reception of its echo off of an object.
pinMode(echoPin, INPUT);
duration = pulseIn(echoPin, HIGH);
// convert the time into a distance
inches = microsecondsToInches(duration);
cm = microsecondsToCentimeters(duration);

Serial.print(inches);
Serial.print("in, ");
Serial.print(cm);
Serial.print("cm");
Serial.println();

delay(100);
}
long microsecondsToInches(long microseconds)
{

 Result

35
 5.4 MAIN PROGRAMMING

/*
* Ultrasonic Sensor HC-SR04 interfacing with Arduino.
*/
// defining the pins
int outputA = 6;
int outputB = 7;

int counter = 0;
int aState;
int aLastState;
const int trigPin = 9;
const int echoPin = 10;
// defining variables
long duration;
int distance;
void setup() {
pinMode (outputA,INPUT);
pinMode (outputB,INPUT);

Serial.begin (9600);
36
 // Reads the initial state of the outputA
aLastState = digitalRead(outputA);

pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output

pinMode (echoPin, INPUT); // Sets the echoPin as an Input
Serial.begin(9600); // Starts the serial communication
}
void loop() {
aState = digitalRead(outputA); // Reads the "current" state of the outputA
// If the previous and the current state of the outputA are different, that means a Pulse
has occured
if (aState != aLastState){
// If the outputB state is different to the outputA state, that means the encoder is
rotating clockwise

if (digitalRead(outputB) != aState) {
counter ++;
} else {
counter --;
}
//Serial.print("Position: ");
//Serial.println(counter);

aLastState = aState; // Updates the previous state of the outputA with the current
state
// Clears the trigPin
digitalWrite(trigPin, LOW);
delayMicroseconds(1);
// Sets the trigPin on HIGH state for 10 micro seconds
digitalWrite(trigPin, HIGH);
delayMicroseconds(1);
digitalWrite(trigPin, LOW);
// Reads the echoPin, returns the sound wave travel time in microseconds
duration = pulseIn(echoPin, HIGH);
// Calculating the distance

37
distance= (duration*0.034/2)*10-250;
// Prints the distance on the Serial Monitor

Serial.
print(c
ounter
);
Serial.
print("
distan
ce: ");
Serial.
println
(distan
ce);
}

 Result

38
5.5 Description of the cam and follower
 Raw metarial (cam) - mild steel

Specification Values

Length 13.2cm

diameter 12.5cm

density 7.85 gm/cm3

weight 12600 gm

39
CHAPTER -6

RESULT

40
 RESULT

The follower displacement for 2-3, 3-4-5, 3-4-5, polynomial and Cycloidal cam
profile. As the degree of polynomial increases the slope of the displacement curve also
increases for rise strokes. Consequently, the valve opening duration becomes smaller,
alternatively dwell periods at extreme at extreme positions of the follower increases.

Table -5 Comparison of actual displacement of all polynomial cam

Cam rotation 2-3 (Actual 3-4-5 (Actual 4-5-6-7 Cycloidal

angle 𝜽 Displacement Displacement (Actual (Actual
(degree) (mm) (mm) Displacement Displacement
(mm) (mm)
0 1.75 2 1 1
12 1.25 0 1 2
24 0 3 1.5 4.75
36 2.75 3.5 1.75 7.5
48 5.5 5.25 1 12.25
60 8.75 8.75 4 13.5
72 14 14.75 8 18.5
84 20.25 17.5 11.25 18.75
96 22.5 20.25 13.5 21.5
108 24.5 22.25 18 21.5
120 25 25 22.5 22.5
132 24.5 25 21.75 23.25
144 24 24.75 23 23
156 24.25 24.75 23.75 22.5
168 23.25 25 23 21.5
180 23.5 25.1 22.25 22.5
192 21.75 25.4 24 23.75
204 21.75 22.5 22.75 19
216 23.25 22.5 22.5 18
228 18 20.25 24.5 18
240 15.75 16.5 20 16.75
252 10 12.5 18.25 12.75
264 5.75 7.75 17 9.25

41
276 3.75 6 12 6.5
288 2.5 4 9.5 6
300 2.25 4.25 6.5 1.25
312 0.5 2.5 5.25 0
324 0.75 0 2.25 0
336 0 0 2.5 1
348 0 0 2.75 1
360 0 0 0 0.75

42
 Follower displacment

10
15
20
25
30

0
5
0
12
24
36
48
60
72
84
96
108
120
132
144
156
168
180
192
204
216

Cam rotation
228
240
252
264

Figure 13 (comparision of graphs of all four cam)

276
288
300
312
324
336
348

43
cam 4
cam 3
cam 2
cam 1

360
 CHAPTER – 7

CONCLUSION & AND FUTURE SCOPE

44
CONCLUSION & AND FUTURE SCOPE

7.1 CONCLUSION
The which were occurring due to different reasons which were

 Parallax error
 Human error
Had been significantly reduced.

With this the lengthy time taking process of manually .taking calibration has been
reduced enabling. Calibration to be taken. In an almost negligible amount of time.

From plotting the graph manually often taking reading now it can be automatically
generate profile. as the readings are now digitally

Lab equipment have been updated which will be beneficial to students to come over
the years.

7.2 FUTURE SCOPE

1. Use of servo motor for perfect analysis
2. Dynamic analysis
3. Jerk analysis
4. vibration analysis
5. jump and speed calculation.

45
CHAPTER -8
REFRENCES

46
REFRENCES

Bibliography
1. Louis, Leo. ardino open source. Ahmedabad : Department of elecronics and communication
engineering, 2016.

2.. gupta, RS.khurmi &JK. Theory of machine. New delhi : Eurasia publising house, 2012.

3. M. Krawczynski A. Oledzki, I. Siwicki and F. Zrudelny. poland : institute of A eronautica Engrg.and

Applied mechanics. 00-665.

4. G.shijley, J.& uicker. cam design theory of machine and mechanism. U.S.A. : oxford university
press, , 2010.

5. SS.ratan. theory of machine (2nd edition). New Delhi : TATA McGraw HILL, 2011.

47
ANEXTURE

 KY-040 ROTATIONAL ENCODER

Operating voltage 5V

Digital I/O Pins 3

Pin Count 5

Features:

 360° infinite rotation.

 Shaft Diameter - 6mm, D Shaped
 5 Pin - GND, Power - 5V, SW - Push switch connection, DT - Direction, CLK -
 Clock
 Can be used to detect clockwise and anticlockwise directions
 Compatible with Arduino

 HC-SR04 Ultrasonic Sensor

Length 32 mm
Width 24 mm
Operating temperature range -15 - +70 °C
Operating Voltage Range 5-20 VDC
Pin Count 3

Features:

 Working Voltage: 5 VDC

 Static current: Less than 2mA
 Operating Current: 15mA
 Output signal: Electric frequency signal, high level 5V, low level 0V
 Sensor angle: Not more than 15 degrees
 Detection distance: 2cm-400cm
 Precision: Up to 0.3cm
 Input trigger signal: 10us TTL impulse
 Echo signal: Output TTL PWL signal

48
 Arduino UNO REV3

Length 68.6 mm
Width 53.4 mm
Microcontroller ATmega328P
Operating voltage 5V
Digital I/O Pins 6
Analog Input Pins 6
Flash Memory 32 KB
Clock Speed 16 MHz
RAM 2 KB
Data EEPROM 1 KB
Package SMD

49