Page 167 - Robot Builders Source Book - Gordon McComb

4.4 Dynamic Accuracy 155

FIGURE 4.50 Records of a) speed and b) acceleration of the cam in the mechanism shown
in Figure 4.49. Here, T = intervals of common drive-cam motion; T 2, T 4 = intervals of
independent drive-cam motion.

Here we use the simplest model for the inertial behavior of bodies possessing
moments of inertia, respectively J c and/ rf. The equations for the first mode of opera-

Here,

The initial conditions for t= 0 are <j) di = <p ci, § di = co di, and <j) ci = a> ci, where / = 0,2,4,..., 2n
for n = 0,1,2, the number of time intervals (here the collision intervals are considered).
For the second mode of motion we have the following equations:

FIGURE 4.51 Models of two modes of move-
ment of the parts of a one-revolution mecha-
nism: a) The rotating masses function as
one system; b) The rotating masses move
independently.
TEAM LRN