Kinematics and Dynamics of Machinery SOLUTION MANUAL 8-22-1

PROBLEM 8-22
Statement: Write a computer program or use an equation solver such as Mathcad or TKSolver to calculate and
plot the s v a j diagrams for a modified sinusoidal acceleration cam function for any specified values
of lift and duration. Test it using a lift of 20 mm over an interval of 60 deg at 1 rad/sec.
Enter: Lift: h1 
20
mm
Duration: 1 
60
deg

Solution: See Mathcad file P0822.

1. Enter values for lift and duration above.
2. The numerical constants in these SCCA for the modified trapezoidal equations are given in Table 8-2.
b
0.25 c
0.00 d
0.75
Cv 
1.7596 Ca 
5.5280 Cj 
69.466
3. The SCCA equations for the rise or fall interval () are divided into 5 subintervals. These are:
for 0 <= x <= b /2 where, for these equations, x is a local coordinate that ranges from 0 to 1

 b b     2
b   x
y1( x)  
C ax  
sin  
x y' 1( x ) 
Ca 
1 cos  
   b    b 
 x
sin  
   
y'' 1(x ) 
C a  y'''1( x)  cos 
C a  x
b  b b 
for b/2 <= x <= (1 - d )/2

 2
1 
   
2
   y' 2( x )   
 2 
x 1 1 1 1 1 
y2( x) 
C a 
b 
x b 
  
Cax b  

2   2  8 2    

   

y'' 2(x ) 
C a y'''2( x) 
0

for (1 - d)/2 <= x <= (1 + d)/2

 2
( 1 d)
2 2
 
  1 d 

 2 x 

2
  
 
b c d 1 1 d
y3( x) 
C a 
  b 
  
cos 
x 

   8 2 8   d 2 

   
b c d  
1 d 
y' 3( x )   2  
Ca sin 
x 

  d  2 

 
  1 d 
cos 
  
 1 d 
y'' 3(x ) 
C a x 
 y'''3( x) 
Ca sin 
x 


d  2  d d  2 
for (1 + d)/2 <= x <= 1 - b/2

 1
 
2
 
x b
1  
b 2 2 1
  
1
y4( x) 
C a  
x  2
d b 
2 8 4
2  2
   
 b b
y' 4( x )  
Cax  1   y'' 4(x ) 
C a y'''4( x) 
0
  2
for 1 - b/2 <= x <= 1


b 2d b 2 ( 1 b )2 d2 b 2sin(x 1)
2

y5( x) 
C a 
x   
 2 4  
b 

  
Kinematics and Dynamics of Machinery SOLUTION MANUAL 8-22-2

b  
 

y' 5( x ) 
Ca 
1 cos 
( x 1 )

 
b 


y'' 5(x ) 
C a


sin 

( x 1) y'''5( x) 
  
cos
C a 

( x 1)

b  b 
b 
4. The above equations can be used for a rise or fall by using 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 x1 and x2 and zero elsewhere.

R( x 
x1 
x2) 
if [ ( x x1) ( x x2) 
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 local svaj equations for the first interval, 0 <= <= 1. Note that each subinterval function is multiplied
by the range function so that it will have nonzero values only over its subinterval.

For 0 <= <= 

(Rise)


 b 1 d  1 d 1 d 
R 0  y 1(x ) R y 2(x ) R 
b
s1(x ) 
 h1 
 x  x   x  
y3( x) 


 1     
2 2 2 2 2

R
d b  b 
 
x  1  
4
y ( x) R 
x 
1  
1 
5
y ( x) 
  2 2  2  

R b 1 d  1 d 1 d 
0  y' 1( x ) R y' 2(x ) R 
h1 b
v 1( x ) 
 
 x  x   x  
y'3( x) 


1
  2  2 2   2 2 

R 1   y' 4(x ) R
1 d b b 
x  
 x
1  1
y' 5( x) 
  2 2  2  

 b 1 d  1 d 1 d
R 0  y'' 1( x) R y'' 2( x ) Rx  2  2  
h1 b
a1( x) 
 
 x 
 x   
y'' 3( x) 


1  1      
2 2 2 2

R
d b  b 
 x   1  
 4
y'' ( x) R 
x 
1  1 
 5
y'' (x ) 
  2 2  2  

 b 1 d  1 d 1 d 
R 0  y'''1(x ) R y'''2(x ) R 
h1 b
j1( x ) 
 
 x  x    x  
y'''3( x) 


1  1     
3 2 2 2 2 2

R
d b  b 
 
x   1  
 4
y''' ( x) R 
x 
1  1 
 5
y''' ( x) 
  2 2  2  
5. Plot the displacement, velocity, acceleration, and jerk functions over the lift interval: 
 0
deg 
0.5
deg 
1
Kinematics and Dynamics of Machinery SOLUTION MANUAL 8-22-3

DISPLACEMENT, s
25

20
Displacement, in

15
s 1 
1
mm 10

0
0 10 20 30 40 50

deg

VELOCITY, v
40

30


Velocity, in

v1  
120
mm

10

0
0 10 20 30 40 50 60

deg

ACCELERATION, a
150

100
Acceleration, in

50

a 1 
1 0
mm
50

100

150
0 10 20 30 40 50 60

deg
Kinematics and Dynamics of Machinery SOLUTION MANUAL 8-22-4

JERK, j
1500

1000
Acceleration, in


j1 
1 500
mm

500
0 10 20 30 40 50 60

deg
Cam Rotation Angle, deg