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*Department of Theory of Mechanisms and Robots / Polytechnic University of Bucharest / Romania / Europe
** Department of Transport, Traffic & Logistic Department / Polytechnic University of Bucharest/ Romania / Europe
*E-mail: petrescuflorian@yahoo.com
**E-mail: petrescuvictoria@yahoo.com
(Received 10 October 2013; accepted 4 February 2014)
Abstract
The paper presents an original method to make the geometric synthesis of the rotary cam and translated tappet with
roll. Classical method uses to the geometric synthesis and the reduced tappet velocity, and in this mode the geometric
classic method become a geometric and kinematic synthesis method. The new geometric synthesis method uses just the
geometric parameters (without velocities), but one utilizes and a condition to realize at the tapped the velocities
predicted by the tapped movement laws imposed by the cam profile. Then, it makes the dynamic analyze for the
imposed cam profile, and one modify the cam profile geometric parameters to determine a good dynamic response
(functionality). In this mode it realizes the dynamic synthesis of the cam, and we obtain a normal functionality.
Keywords: Geometric synthesis, Dynamic synthesis, Rotary cam, Translated tappet with roll.
1. Introduction
In conditions which started to magnetic
motors, oil fuel is decreasing, energy which was
obtained by burning oil is replaced with nuclear
energy, hydropower, solar energy, wind, and other
types of unconventional energy, in the conditions
in which electric motors have been instead of
internal combustion in public transport, but more
recently they have entered in the cars world
(Honda has produced a vehicle that uses a
compact electric motor and electricity consumed
by the battery is restored by a system that uses an
electric generator with hydrogen combustion in
cells, so we have a car that burns hydrogen, but
has an electric motor), which is the role and
prospects which have internal combustion engines
type Otto or Diesel?
Internal combustion engines in four-stroke
(Otto, Diesel) are robust, dynamic, compact,
powerful, reliable, economic, autonomous,
independent and will be increasingly clean.
M x K ( y x) k x c x F0
C0
(1)
C
3
M x c x K ( y x) ( F0 k x)
(2)
F(t)
c
kx
x(t)
.
cx
F
M
K(y-x)
K
y(t)
cam
y 2
i
y y 5
Fig. 2. Dynamic Model with a Single Liberty, with
variable internal amortization.
1 dM
x Fm Fr
2 dt
(3)
1 dM
2 dt
)2 J 4 (
4
x
y 2 1 y2' 1 i y'
(13)
1
1 x'
CC 0
1
x'
y 2
y ' y '.i
1 2 1
CC 0
CC 0
CC 0
1 y ' CC 0
C0 D
1 y '
(14)
(15)
C0 D
1 y'
y'
1
C 0 D 1 x' C 0 D x'
i y' 2
)
x'
1
1 y' 2
J1 ( ) 2 J 4 (
)
x'
C 0 D x'
..(16)
M m5 ( m 2 m3 ) (
(12)
1 dM
M x
x ( K k ) x K y F0 (7)
2 dt
J1 (
x 12 x' '
(5)
y 2 2
)
x
(11)
(6)
M m5 ( m 2 m 3 ) (
x 1 x'
Fr F0 k x k x0 k x k ( x0 x) (4)
(10)
Fm K ( y x) K (s x)
CC 0
C0 D
M x
(9)
(17)
M m5 [i 2 (m2 m3 )
(8)
)2
J4
y'
1
] ( ) 2 J1 ( ) 2
2
x'
x'
(C 0 D)
y'
1
M m5 m * ( ) 2 J 1 ( ) 2
x'
x'
3
(18)
..(19)
y'
x'
y'
x'
...(20)
y'
( K k ) x K y F0
x'
(29)
2 m5 x '' ( K k ) x 2 m* y ''
1
d [( ) 2 ]
x' 2 x' ' 2 x' '
d
x ' x '2
x'3
y'
Ky F0
x'
(30)
(21)
y'
x'
y'
y ' ' x' '
dM
x' '
2 m * ( ) 2 ( ) 2 J 1 3
d
x'
y ' x'
x'
(31)
The exact equation (31) can be approximated
at the form (32) with xy.
...(22)
The relation (6) can be written in form (23) and
with relation (22), its taking the forms (2425).
dM
c
2 d
(23)
c {[i 2 (m2 m3 )
J4
]
(C 0 D) 2
(24)
y'
y ' ' x' '
x' '
( ) 2 ( ) J1 3 }
x'
y ' x'
x'
y'
y ' ' x' '
x' '
c [m * ( ) 2 ( ) J 1 3 ] (25)
x'
y ' x'
x'
With the notation (26):
m* i 2 (m2 m3 )
J4
(C 0 D) 2
(26)
( K k ) x K y k x0
mS* 2 x II
(27)
mT* 2 y II y I
xI
(35)
2 x '' m5 2 m* ( ) 2 x ''
1
y'
y '' x ''
J1 ( ' ) 2 x '' 2 2 x ' m* ( ) 2 ( ' ' )
x
x'
y x
( K k ) x x I K y x I k x0 x I
y'
x'
x ' 2 J1
mS* 2 x I x II mT* 2 y I y II
x ''
( K k ) x K y F0
x'3
(36)
(28)
4
one
replaces
the
term
K.y.x
K
y I , (taken in calculation the
with K y
K k
K2
(K k ) x x
y y I k x0 x I
K k
*
2
I
II
mS x x mT* 2 y I y II
I
(k x0 ) 2 ( K s) 2
( K k )2
(37)
One integrates directly the equation (37) and
one obtains the mother equation (38).
x2
K 2 y2
k x0 x
2 K k 2
x' 2
y'2
mS* 2
mT* 2
C
2
2
(K k )
X 1, 2
k x0 x
2 K k 2
x' 2
y'2
mS* 2
mT* 2
2
2
(39)
x2 2
one
notes:
x'
(40)
s 2 (X ) 2 2Xs 2
(the
static
k x0
k x0
s2
X
K k
K k
k x0
K2
x
y2
2
K k
(K k )
K2
mS* mT*
2
(K k )
2 y'2 0
(K k )
(46)
K2
mS* mT*
K2
( K k )2
2
s
2 y '2 0
2
(K k )
(K k )
(47)
assumption, Fm=Fr).
x2 2
(45)
K
y' ,
K k
k x0
K k
X s X
K k
.
2
(44)
k x0
m
x
x' 2
K k
K k
*
2
m
K2
T
y'2
y2 0
2
K k
(K k )
*
S
K2
mT*
( K k )2
( Ds' )2 2
(K k )
(43)
k x0
K k
K2
mT*
(K k )2
y '2 2
(K k )
(42)
(38)
(K k )
(kx0 ) 2 ( Ks ) 2
( K k )2
mS*
mS*
(41)
X (1)
K2
(k 2 2kK ) s 2 2kx0 ( K k ) s [
mS* ( K k )mT* ] 2 ( Ds' ) 2
K k
k x0
2 (s
) (K k )2
K k
(48)
K2
K s k x [
mS* ( K k )mT* ] 2 ( Ds' ) 2
K k
( K k )2
2 2
2 2
0
(49)
X ( s
k x0
)
K k
rB2 e 2 (s 0 s) 2
... (1.1)
rB rB2
...(1.2)
cos B sin
e
rB
...(1.3)
sin B cos
s0 s
rB
...(1.4)
cos
(50)
sin
s0 s
( s 0 s) 2 ( s'e) 2
s'e
( s 0 s) 2 ( s'e) 2
e ( s0 s) 2 ( s'e) 2 rb ( s'e)
cos A
rA ( s0 s ) 2 ( s 'e) 2
e rb sin
cos A
rA
...(1.9)
( s s) [ ( s0 s) 2 ( s'e) 2 rb ]
sin A 0
rA ( s0 s ) 2 ( s'e) 2
s0 s rb cos
sin A
rA
Fi, vi
...(1.10)
Fm, vm
rb
A-
rB
B0
rb
n
( s0 s ) s'
cos( A )
rA ( s0 s ) 2 ( s 'e) 2
rA
Fa, va
rA
s0
A0
...(1.11)
0 A
e
...(1.7)
...(1.8)
Fn, vn
...(1.6)
2
2
2
rA (e rb sin ) ( s0 s rb cos )
2
2
2
rA rB rb 2 rb rB cos( )
Fn, vn
...(1.5)
cos( A ) cos
r0
s'
cos 2
rA
v a v m sin( A )
Fa Fm sin( A )
...(1.12)
...(1.13)
v n vm cos( A )
Fn Fm cos( A )
...(1.14)
vi v n sin
Fi Fn sin
...(1.15)
Pu Fu v 2 Fm v m cos ( A ) cos 2
Pc Fm v m
2
cos
...(1.17)
(1.29)
Pu Fm vm cos 2 ( A ) cos 2
i
Pc
Fm vm
s'
2
2
2
i [cos( A ) cos ] [ cos ]
rA
s'
i 2 cos 4
rA
sin
rb
sin( )
rA
(1.31)
...(1.18)
A B
(1.32)
A B
(1.33)
rB0 r0 rb
(1.19)
s0 rB20 e 2
(1.20)
cos 0
sin 0
e
rB0
(1.21)
s0
rB0
(1.22)
sin B B
e rB
rB2
(1.34)
e rB rB
( s0 s) rB2
(1.35)
2 rB rB 2 ( s0 s) s
rB rB ( s0 s) s
(1.36)
e ( s0 s) s e s
2
( s0 s) rB2
rB
(1.37)
2 rA rB cos 2 rA rB cos
2 rA rB sin 2 rA rA 2 rB rB
(1.24)
(1.26)
(1.27)
(1.28)
(1.38)
From (1.38) one writes (1.43), but it is
necessary to obtain first
expression (1.8):
7
rA
(1.39) from
2 rA rA 2 rB rB 2 rb rB cos( )
2 rb rB sin( ) ( )
(1.39)
D AI cos 2
(1.40)
'
(1.41)
e s
rB2
cos 2
(1.42)
(1.48)
AI [( s0 s ) 2 e 2 e s 'rb
( s0 s ) 2 ( s 'e) 2 ] {[(s0 s ) 2
( s 'e) 2 ] ( s0 s ) 2 ( s 'e) 2
2
2
2
( s 'e) ]} /[( s0 s ) ( s 'e) ] /
2
2
2
/{[( s0 s ) e rb ]
2
2
( s0 s ) ( s 'e)
2 r [( s s ) 2 e 2 e s ' ]}
b
0
and A (1.44):
A A
( s0 s) 2
( s0 s) 2 ( s'e) 2
(1.47)
(1.44)
(1.49)
cos
2
2
2
2
[( s0 s ) e ] ( s0 s) ( s 'e)
rA rB ( s0 s ) 2 ( s 'e) 2
2
2
rb [( s0 s ) e e s ' ]
r r ( s s ) 2 ( s 'e) 2
0
A B
(1.50)
The followers velocity (1.16) can be written
into the form (1.45).
sin
s'
s'
2
2
vm cos rA A cos
rA
rA
2
I
s ' cos s' cos 2
A
A
rb ( s0 s) s'
rA rB ( s0 s) 2 ( s'e) 2
(1.51)
(1.45)
8
(1.52)
K2
[
mS* mT* ] 2
k 2 2kK 2 2kx0
(K k ) 2
( D s' ) 2
K k
K k
(K k )2
X
kx0
2 [s
]
K k
(1.53)
X s X
(1.54)
The dynamics are better than for the classical
module C. For a phase angle of just 65 degrees the
accelerations have the same values as for the
classical module C for a relaxed phase (750-800).
In Figure 5 we can see the cams profile. It
uses the profile sin, a rotation speed n=5500 rpm,
and u=650, r0=13 [mm], rb=13 [mm], hT=6 [mm].
10
m 2 c 2
h h
s cos
2 2
u
s ' vr h sin
2 u
u
2
s ' ' a h cos
r
2 u2
u
3 h
sin
s ' ' ' r
3
2 u
u
...(2.5)
Differentiating the formula (2.2), against time,
is obtained the angular acceleration expression
(2.6).
J m*
m2
*
J
...(2.4)
...(2.1)
2 nmotor n
60
2
60
...(2.3)
2
J cama 2 M c R
2
2
2
2
2
2
2
R rA x A y A e rb sin 2 e rb sin
2
2
2
s0 s rb cos 2 rb s0 s cos
r 2 e 2 r 2 s s 2 2 r e sin s s cos
b
0
b
0
A
2
s 'e
2
2
2
rA e rb s0 s 2 rb e
s0 s 2 s'e 2
s 0 s
2 rb s0 s
s0 s 2 s'e 2
2
2
2 rb s0 s
2
2
2
rA e rb s0 s
s0 s 2 s'e 2
2 rb e s 'e
2
2
0 s s 'e
J m* 1 M c r02 rb2 r0 rb 1 M c s0 h 1 M c h 2
2
4
16
h
h
e
e 2 s0
1
2 0
2
m 2 h2
T
M c rb
2
2
8 02
2
h h
e
s0
2 2 0
1
1
*
2
2
J M c 2 rb r0 2 r0 rb M c s0 s M c s 2
2
2
e s 'e 2 s0 s
M c rb
mT s ' 2
s0 s 2 s'e 2
nc
60
2 J *'
2
J*
...(2.6)
...(2.2)
11
xs
( K k ) mT s' (k 2k K ) s 2k x0 ( K k ) s
k x0
2 (K k )2 s
K k
...(2.7)
...(2.10)
N ( K k ) mT 2 s ' 2 (k 2 2k K ) s 2 2k x0 ( K k ) s
2
2
M K k mT 2 s ' s ' ' k 2kK 2ss'2kx0 K k s '
kx0
s
N s'
K k
M
x' s '
2
kx0
2
2 K k s
K k
(2.8)
N ( K k ) mT 2 s '2 (k 2 2k K ) s 2 2k x0 ( K k ) s
s kx0 N s '
K k
kx0
kx0
0
2 K k s
K k
yT s0 s rb cos
xC xT cos yT sin
y x sin y cos
T
T
C
...(2.11)
(2.9)
12
yf
rb
rb
s0
A0
r0
r0
xf
O
s0 r0 rb 2 e 2
s0 s
cos
s0 s 2 s'e2
s 'e
sin
s0 s 2 s'e2
xc x rA cos m
xT cos yT sin
y c y Am rA sin m
yT cos xT sin
0
i
m
A
rB
xm
s
Fig. 12. The cam profile to the rotary cam with
translated follower with roll; rb=0.003 [m]; e=0.003
[m]; h=0.006 [m]; r0=0.013 [m]; 0=/2 [rad];.
...(2.14)
(2.13)
13
vn vm cos
vT vn cos vm cos cos
Pu FT vT
Fm cos cos vm cos cos
i P F v
Fm vm
c
m
m
A; A ;
2
2
rb2 r 2 rB2
2
; rB e 2 s0 s ;
cos A
2
r
b
r r e 2 r 2 s s 2 2 r e sin s s cos
A
b
0
b
0
(2.13)
One uses and the next relationships (where the
pressure angle was obtained with the new
method):
(2.15)
s r r 2 e 2
0
b
0
2
cos
2 [s 0 s e 2 ]
arccos cos
2
2
2
arccos s 0 s s 0 s s 0 s 4 s ' 4 e s ' 2 e s '
2 [ s 0 s e 2 ]
2
2
2
2
2
[
s
e
]
yf
Fn
FT
F
FR B n rb A
Fm
s
Fa rB
0
B
r
rb 0
Ai
s0
r0
A0
r0
e
xm
...(2.16)
xf
O
Fig. 15. The new cam profile to the rotary cam with
translated follower with roll; rb=0.003 [m]; e=0.003
[m]; h=0.006 [m]; r0=0.013 [m]; 0=/2 [rad];
14
(3.1)
xc e rb sin cos s0 s rb cos sin
...(3.2)
s'
sin A
rA cos
;
A
r
2
2
2
B
sin A sin B
rA
r
s'
s'
B sin B
sin B
rB cos
rA cos rA
s0 s
e
sin B sin cos B sin B cos
sin cos
r
r
B
B
s s sin e cos
s'
0
s ' s 0 s sin cos e cos 2
rB
rB cos
2
2
s 0 s cos 1 cos s 'e cos
s s 2 cos 2 s s 2 cos 4 s ' 2 e 2 cos 4 2 e s ' cos 2
0
0
2
s0 s 2 2es ' s0 s 2 2 e s' 4s' 2 s0 s 2 e 2
cos
2
2 [s 0 s e 2 ]
cos
2
2 [ s 0 s e 2 ]
rotates
...(2.17)
Then, it makes the dynamic analyze for the
imposed cam profile, and one modify the cam
profile geometric parameters to determine a good
dynamic response (functionality). In this mode it
realizes the dynamic synthesis of the cam, and we
obtain a normal functionality. The synthesis was
made using the natural geometro-kinematics
parameters (of cam mechanism). It follows the
proper functioning dynamics. We will optimize
and the couple cam-pusher efficiency. Forces,
velocities and accelerations are also limited.
xpp [m/s2]
600
600
400
400
400
200
200
0
50
100
xpp [m/s2]
200
0
0
xpp [m/s2]
600
0
0 150
50 200
100 250
0 150 300
-200
-200
-200
-400
-400
-400
-600
-600
-600
-800
-800
-800
-1000
-1000
-1000
-1200
-1200
-1200
-1400
-1400
-1400
50 200 350
150 300
200
xpp [m/s2]
16
17
xpp [m/s2]
4000
4000
4000
4000
3000
3000
3000
3000
2000
2000
2000
2000
1000
1000
1000
1000
50
xpp [m/s2]
100
0
150
50
0
100
2000
150
25050
0
0
200
300
100
-1000
-1000
-1000
-1000
-2000
-2000
-2000
-2000
-3000
-3000
-3000
-3000
-4000
-4000
-4000
-4000
50
250
350
150
xpp [m/s2]
xpp [m/s2]
100
300
400
200
150
350
250
200
400
300
xpp [m/s2]
18
xpp [m/s2]
500
500
500
0
0
0100
50
50
150
0
100
0
200
xpp [m/s2]
xpp [m/s2]
500
0
150
50
250
0200
100
300
-500
-500
-500
-500
-1000
-1000
-1000
-1000
-1500
-1500
-1500
-1500
-2000
-2000
-2000
-2000
50
250
150
350
100
300
200
400
150
350
250
200
400
300
m3
m5
J1=Jc
J4
xpp [m/s2]
y 2
x
x
i=i25
y
m
=1=
Nomenclature
M
K
k
1 dM
2 dt
F0
Fr
Fm
x
x0
x
x
y s
ys
rb
r0
e
s0
rA , rB
J*
J*
the
elastically
force
which
compressing the valve spring
the resistant force
J*m
4. Discussion
In this paper one presents an original method
to determine the dynamic parameters at the
camshaft (the distribution mechanisms). It makes
the synthesis, of the rotary cam and tappet with
translational motion with roll, with a great
precision.
The authors introduce a new pressure angle,
alpha, and a new method to determine the two
pressure angles, alpha and delta.
The presented method is the most elegant and
direct method to determine the kinematics and
dynamic parameters.
The dynamic synthesis can generate a cam
profile which will work without vibrations.
Processes robotization increasingly determine
and influence the emergence of new industries,
applications in specific environmental conditions,
approach new types of technological operations,
handling of objects in outer space, leading
teleoperator in disciplines such as medicine,
robots that covers a whole larger service benefits
our society, modern and computerized. In this
context, this paper seeks to contribute to the
scientific and technical applications in dynamic
analysis and synthesis of cam mechanisms.
In 1971 K. Hain proposes an optimization
method to cam mechanism to achieve the
optimum output transmission angle (maximum)
and minimum acceleration [11].
In 1979 F. Giordana investigates the influence
of measurement errors in kinematic analysis of
cam [10].
In 1985 P. Antonescu presents an analytical
method for the synthesis mechanism flat tappet
cam and tappet rocker mechanism [2].
In 1987 F.I. Petrescu presents a new dynamic
model with general applications [3].
In 1988 J. Angelas and C. Lopez-Cajun
presents optimal synthesis mechanism oscillating
flat tappet cam and [1].
In 1991 B.S. Bagepalli presents a generalized
model of dynamic cam-follower pairs [4].
In 1999 R.L. Norton studying the effect of
valve-cam ramps on the valve-train dynamics
[12].
Z. Chang presents in 2001 [5] and 2011 [6] a
study on dynamics of roller gear cam system,
considering clearances.
In 2002 D. Taraza synthesized analyzes the
influence of the cam profile, the variation of the
angular velocity distribution tree, and the
parameters of power load consumption and
emissions of internal combustion engine [16].
5. Conclusions
The distribution mechanisms work with small
efficiency for about 150 years; this fact affects the
total yield of the internal heat engines. Much of
the mechanical energy of an engine is lost through
the mechanism of distribution. Multi-years the
yield of the distribution mechanisms was only 48%. In the past 20 years it has managed a lift up to
the value of 14-18%; car pollution has decreased
and people have better breathing again.
Meanwhile the number of vehicles has tripled and
the pollution increased again.
Now, its the time when we must try again to
grow the yield of the distribution mechanisms.
The paper presents an original method to
increase the efficiency of a mechanism with cam
and follower, used at the distribution mechanisms.
This paper treats only one module: the
mechanism with rotary cam and translated follower
with roll (the modern module B).
At the classical module C we can increase again
the yield to about 30%. The growth is difficult.
Dimensional parameters of the cam must be
optimized; optimization and synthesis of the cam
profile are made dynamic, and it must set the
elastic (dynamic) parameters of the valve (tappet)
spring: k and x0.
The law used is not as important as the module
used, sizes and settings used. We take the classical
law cosine; dimensioning the radius cam, lift
height, and angle of lift.
To grow the cam yield again we must leave the
classic module C and take the modern module B.
In this way the efficiency can be as high as 60%.
Yields went increased from 4% to 60%, and
we can consider for the moment that we have gain
importance, since we work with the cam and
tappet mechanisms.
If we more increase h, or decrease the angle
,
u then is tapering cam profile very much. We
must stop now at a yield value, =60%.
20
6. References
[1] Angelas J., Lopez-Cajun C., Optimal
synthesis of cam mechanisms with oscillating
flat-face followers. Mechanism and Machine
Theory 23,(1988), Nr. 1., p. 1-6., 1988.
[2] Antonescu, P., Petrescu, F., Antonescu, O.,
Contributions to the Synthesis of The Rotary
Disc-Cam Profile, In VIII-th International
Conference on the Theory of Machines and
Mechanisms, Liberec, Czech Republic, p. 5156, 2000.
[3] Antonescu, P., Oprean, M., Petrescu, F.I.,
Analiza dinamic a mecanismelor de
distribuie cu came. n al VII-lea Simpozion
Naional de Roboi Industriali, MERO'87,
Bucureti, 1987, Vol. III, p. 126-133.
[4] Bagepalli, B.S., a.o., Generalized Modeling
of Dynamic Cam-follower Pairs in
Mechanisms, Journal of Mechanical Design,
June 1991, Vol. 113, Issue 2, p. 102-109.
[5] Chang, Z., a.o., A study on dynamics of
roller gear cam system considering
clearances, Mechanism and Machine Theory,
January 2001, Vol. 36, N. 1, p. 143-152.
[6] Chang, Z., a.o., Effects of clearance on
dynamics of parallel indexing cam
mechanism, ICIRA11 Proceedings of the 4th
international conference on Intelligent
Robotics and Applications Volume, Part I,
2011, p. 270-280.
[7] Dan, K., a.o., Research on Dynamic Behavior
Simulation Technology for Cam-Drive
Mechanism in Single-cylinder Engines, SAE
Technical Paper, 2009, paper number 200932-0089.
[8] Ge, Z., a.o., Mechanism Design amd
Dynamic Analysis of Hybrid Cam-linkage
Mechanical
Press,
Key
Engineering
Materials Journal, Vol. 474-476 (2011), p.
803-806.
21
AUTHORS INFORMATION
1
1.
Ph.D.
Eng.
Florian
Ion
T.
PETRESCUSenior Lecturer at UPB (Bucharest
Polytechnic University), Theory of Mechanisms
and Robots department,
Association:
Member ARoTMM, IFToMM, SIAR, FISITA,
SRR, SORGING, AGIR.
22
10 1 )2014( 82 -65
**Relly Victoria V. Petrescu
* / / /
** / / /
* petrescuflorian@yahoo.com :
** petrescuvictoria@yahoo.com :
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