Design a double-dwell cam to move a follower from 0 to 60 mm in 60 ̊, dwell for 120 ̊, fall 60

mm in 30 ̊, and dwell for the remainder. The total cycle must take 4 s. choose suitable functions
for rise and fall to minimize accelerations. Plot the s v a j diagrams.
 38 38 44.3040593 1.61781481 - -0.00656
0.0619259
Angle θ S v a j 39 39 45.8898375 1.5526875 -0.06825 -0.00608
0 0 0 0 0 0.016667 40 40 47.4074074 1.48148148 - -0.00556
0.0740741
1 1 0.0027088 0.00805787 0.0158426 0.015028 41 41 48.8509495 1.40472454 - -0.00497
2 2 0.02112593 0.03114815 0.0300741 0.013444 0.0793426
42 42 50.2152 1.323 -0.084 -0.00433
3 3 0.0694875 0.0676875 0.04275 0.011917
43 43 51.495506 1.23694676 - -0.00364
4 4 0.16047407 0.11614815 0.0539259 0.010444 0.0879907
44 44 52.6878815 1.14725926 - -0.00289
5 5 0.3052662 0.17505787 0.0636574 0.009028
0.0912593
6 6 0.5136 0.243 0.072 0.007667 45 45 53.7890625 1.0546875 -0.09375 -0.00208

7 7 0.79382269 0.31861343 0.0790093 0.006361 46 46 54.796563 0.96003704 - -0.00122

0.0954074
8 8 1.15294815 0.40059259 0.0847407 0.005111 47 47 55.7087301 0.86416898 - -0.00031
0.0961759
9 9 1.5967125 0.4876875 0.08925 0.003917
48 48 56.5248 0.768 -0.096 0.000667
10 10 2.12962963 0.5787037 0.0925926 0.002778
49 49 57.2449532 0.67250231 - 0.001694
11 11 2.75504676 0.67250231 0.0948241 0.001694 0.0948241
50 50 57.8703704 0.5787037 - 0.002778
12 12 3.4752 0.768 0.096 0.000667 0.0925926
13 13 4.29126991 0.86416898 0.0961759 -0.00031 51 51 58.4032875 0.4876875 -0.08925 0.003917

14 14 5.20343704 0.96003704 0.0954074 -0.00122 52 52 58.8470519 0.40059259 - 0.005111

0.0847407
15 15 6.2109375 1.0546875 0.09375 -0.00208 53 53 59.2061773 0.31861343 - 0.006361
0.0790093
16 16 7.31211852 1.14725926 0.0912593 -0.00289 54 54 59.4864 0.243 -0.072 0.007667
17 17 8.50449398 1.23694676 0.0879907 -0.00364 55 55 59.6947338 0.17505787 - 0.009028
18 18 9.7848 1.323 0.084 -0.00433 0.0636574
56 56 59.8395259 0.11614815 - 0.010444
19 19 11.1490505 1.40472454 0.0793426 -0.00497 0.0539259
57 57 59.9305125 0.0676875 -0.04275 0.011917
20 20 12.5925926 1.48148148 0.0740741 -0.00556
58 58 59.9788741 0.03114815 - 0.013444
21 21 14.1101625 1.5526875 0.06825 -0.00608 0.0300741
22 22 15.6959407 1.61781481 0.0619259 -0.00656 59 59 59.9972912 0.00805787 - 0.015028
0.0158426
23 23 17.3436079 1.6763912 0.0551574 -0.00697 60 60 60 0 0 0.016667
24 24 19.0464 1.728 0.048 -0.00733 61 1 60 0 0 0
25 25 20.7971644 1.77228009 0.0405093 -0.00764 62 2 60 0 0 0
26 26 22.5884148 1.80892593 0.0327407 -0.00789 63 3 60 0 0 0
27 27 24.4123875 1.8376875 0.02475 -0.00808 64 4 60 0 0 0
28 28 26.2610963 1.85837037 0.0165926 -0.00822 65 5 60 0 0 0
29 29 28.1263884 1.87083565 0.0083241 -0.00831 66 6 60 0 0 0
30 30 30 1.875 0 -0.00833 67 7 60 0 0 0
31 31 31.8736116 1.87083565 - -0.00831 68 8 60 0 0 0
0.0083241
32 32 33.7389037 1.85837037 - -0.00822 69 9 60 0 0 0
0.0165926
70 10 60 0 0 0
33 33 35.5876125 1.8376875 -0.02475 -0.00808
71 11 60 0 0 0
34 34 37.4115852 1.80892593 - -0.00789
0.0327407 72 12 60 0 0 0
35 35 39.2028356 1.77228009 - -0.00764
0.0405093 73 13 60 0 0 0
36 36 40.9536 1.728 -0.048 -0.00733 74 14 60 0 0 0
37 37 42.6563921 1.6763912 - -0.00697 75 15 60 0 0 0
0.0551574
76 16 60 0 0 0 117 57 60 0 0 0
77 17 60 0 0 0 118 58 60 0 0 0
78 18 60 0 0 0 119 59 60 0 0 0
79 19 60 0 0 0 120 60 60 0 0 0
80 20 60 0 0 0 121 61 60 0 0 0
81 21 60 0 0 0 122 62 60 0 0 0
82 22 60 0 0 0 123 63 60 0 0 0
83 23 60 0 0 0 124 64 60 0 0 0
84 24 60 0 0 0 125 65 60 0 0 0
85 25 60 0 0 0 126 66 60 0 0 0
86 26 60 0 0 0 127 67 60 0 0 0
87 27 60 0 0 0 128 68 60 0 0 0
88 28 60 0 0 0 129 69 60 0 0 0
89 29 60 0 0 0 130 70 60 0 0 0
90 30 60 0 0 0 131 71 60 0 0 0
91 31 60 0 0 0 132 72 60 0 0 0
92 32 60 0 0 0 133 73 60 0 0 0
93 33 60 0 0 0 134 74 60 0 0 0
94 34 60 0 0 0 135 75 60 0 0 0
95 35 60 0 0 0 136 76 60 0 0 0
96 36 60 0 0 0 137 77 60 0 0 0
97 37 60 0 0 0 138 78 60 0 0 0
98 38 60 0 0 0 139 79 60 0 0 0
99 39 60 0 0 0 140 80 60 0 0 0
100 40 60 0 0 0 141 81 60 0 0 0
101 41 60 0 0 0 142 82 60 0 0 0
102 42 60 0 0 0 143 83 60 0 0 0
103 43 60 0 0 0 144 84 60 0 0 0
104 44 60 0 0 0 145 85 60 0 0 0
105 45 60 0 0 0 146 86 60 0 0 0
106 46 60 0 0 0 147 87 60 0 0 0
107 47 60 0 0 0 148 88 60 0 0 0
108 48 60 0 0 0 149 89 60 0 0 0
109 49 60 0 0 0 150 90 60 0 0 0
110 50 60 0 0 0 151 91 60 0 0 0
111 51 60 0 0 0 152 92 60 0 0 0
112 52 60 0 0 0 153 93 60 0 0 0
113 53 60 0 0 0 154 94 60 0 0 0
114 54 60 0 0 0 155 95 60 0 0 0
115 55 60 0 0 0 156 96 60 0 0 0
116 56 60 0 0 0 157 97 60 0 0 0
158 98 60 0 0 0 198 18 19.0464 -3.456 0.130963 0.058667
159 99 60 0 0 0 199 19 15.6959407 -3.2356296 0.192 0.052444
160 100 60 0 0 0 200 20 12.5925926 -2.962963 0.2477037 0.044444
161 101 60 0 0 0 201 21 9.7848 -2.646 0.2962963 0.034667
162 102 60 0 0 0 202 22 7.31211852 -2.2945185 0.336 0.023111
163 103 60 0 0 0 203 23 5.20343704 -1.9200741 0.365037 0.009778
164 104 60 0 0 0 204 24 3.4752 -1.536 0.3816296 -0.00533
165 105 60 0 0 0 205 25 2.12962963 -1.1574074 0.384 -0.02222
166 106 60 0 0 0 206 26 1.15294815 -0.8011852 0.3703704 -0.04089
167 107 60 0 0 0 207 27 0.5136 -0.486 0.338963 -0.06133
168 108 60 0 0 0 208 28 0.16047407 -0.2322963 0.288 -0.08356
169 109 60 0 0 0 209 29 0.02112593 -0.0622963 0.2157037 -0.10756
170 110 60 0 0 0 210 30 0 0 0.1202963 -0.13333
171 111 60 0 0 0 211 1 0 0 0 0
172 112 60 0 0 0 212 2 0 0 0 0
173 113 60 0 0 0 213 3 0 0 0 0
174 114 60 0 0 0 214 4 0 0 0 0
175 115 60 0 0 0 215 5 0 0 0 0
176 116 60 0 0 0 216 6 0 0 0 0
177 117 60 0 0 0 217 7 0 0 0 0
178 118 60 0 0 0 218 8 0 0 0 0
179 119 60 0 0 0 219 9 0 0 0 0
180 120 60 0 0 0 220 10 0 0 0 0
181 1 59.9788741 -0.0622963 0 -0.10756 221 11 0 0 0 0
182 2 59.8395259 -0.2322963 - -0.08356 222 12 0 0 0 0
0.1202963
183 3 59.4864 -0.486 - -0.06133 223 13 0 0 0 0
0.2157037 224 14 0 0 0 0
184 4 58.8470519 -0.8011852 -0.288 -0.04089
225 15 0 0 0 0
185 5 57.8703704 -1.1574074 -0.338963 -0.02222
226 16 0 0 0 0
186 6 56.5248 -1.536 - -0.00533
0.3703704 227 17 0 0 0 0
187 7 54.796563 -1.9200741 -0.384 0.009778
228 18 0 0 0 0
188 8 52.6878815 -2.2945185 - 0.023111
0.3816296 229 19 0 0 0 0
189 9 50.2152 -2.646 -0.365037 0.034667 230 20 0 0 0 0
190 10 47.4074074 -2.962963 -0.336 0.044444 231 21 0 0 0 0
191 11 44.3040593 -3.2356296 - 0.052444 232 22 0 0 0 0
0.2962963
192 12 40.9536 -3.456 - 0.058667 233 23 0 0 0 0
0.2477037
234 24 0 0 0 0
193 13 37.4115852 -3.6178519 -0.192 0.063111
235 25 0 0 0 0
194 14 33.7389037 -3.7167407 -0.130963 0.065778
236 26 0 0 0 0
195 15 30 -3.75 - 0.066667
0.0663704 237 27 0 0 0 0
196 16 26.2610963 -3.7167407 0 0.065778
238 28 0 0 0 0
197 17 22.5884148 -3.6178519 0.0663704 0.063111
239 29 0 0 0 0 280 70 0 0 0 0
240 30 0 0 0 0 281 71 0 0 0 0
241 31 0 0 0 0 282 72 0 0 0 0
242 32 0 0 0 0 283 73 0 0 0 0
243 33 0 0 0 0 284 74 0 0 0 0
244 34 0 0 0 0 285 75 0 0 0 0
245 35 0 0 0 0 286 76 0 0 0 0
246 36 0 0 0 0 287 77 0 0 0 0
247 37 0 0 0 0 288 78 0 0 0 0
248 38 0 0 0 0 289 79 0 0 0 0
249 39 0 0 0 0 290 80 0 0 0 0
250 40 0 0 0 0 291 81 0 0 0 0
251 41 0 0 0 0 292 82 0 0 0 0
252 42 0 0 0 0 293 83 0 0 0 0
253 43 0 0 0 0 294 84 0 0 0 0
254 44 0 0 0 0 295 85 0 0 0 0
255 45 0 0 0 0 296 86 0 0 0 0
256 46 0 0 0 0 297 87 0 0 0 0
257 47 0 0 0 0 298 88 0 0 0 0
258 48 0 0 0 0 299 89 0 0 0 0
259 49 0 0 0 0 300 90 0 0 0 0
260 50 0 0 0 0 301 91 0 0 0 0
261 51 0 0 0 0 302 92 0 0 0 0
262 52 0 0 0 0 303 93 0 0 0 0
263 53 0 0 0 0 304 94 0 0 0 0
264 54 0 0 0 0 305 95 0 0 0 0
265 55 0 0 0 0 306 96 0 0 0 0
266 56 0 0 0 0 307 97 0 0 0 0
267 57 0 0 0 0 308 98 0 0 0 0
268 58 0 0 0 0 309 99 0 0 0 0
269 59 0 0 0 0 310 100 0 0 0 0
270 60 0 0 0 0 311 101 0 0 0 0
271 61 0 0 0 0 312 102 0 0 0 0
272 62 0 0 0 0 313 103 0 0 0 0
273 63 0 0 0 0 314 104 0 0 0 0
274 64 0 0 0 0 315 105 0 0 0 0
275 65 0 0 0 0 316 106 0 0 0 0
276 66 0 0 0 0 317 107 0 0 0 0
277 67 0 0 0 0 318 108 0 0 0 0
278 68 0 0 0 0 319 109 0 0 0 0
279 69 0 0 0 0 320 110 0 0 0 0
321 111 0 0 0 0
322 112 0 0 0 0
323 113 0 0 0 0
324 114 0 0 0 0
325 115 0 0 0 0
326 116 0 0 0 0
327 117 0 0 0 0
328 118 0 0 0 0
329 119 0 0 0 0
330 120 0 0 0 0
331 121 0 0 0 0
332 122 0 0 0 0
333 123 0 0 0 0
334 124 0 0 0 0
335 125 0 0 0 0
336 126 0 0 0 0
337 127 0 0 0 0
338 128 0 0 0 0
339 129 0 0 0 0
340 130 0 0 0 0
341 131 0 0 0 0
342 132 0 0 0 0
343 133 0 0 0 0
344 134 0 0 0 0
345 135 0 0 0 0
346 136 0 0 0 0
347 137 0 0 0 0
348 138 0 0 0 0
349 139 0 0 0 0
350 140 0 0 0 0
351 141 0 0 0 0
352 142 0 0 0 0
353 143 0 0 0 0
354 144 0 0 0 0
355 145 0 0 0 0
356 146 0 0 0 0
357 147 0 0 0 0
358 148 0 0 0 0
359 149 0 0 0 0
360 150 0 0 0 0