95fb0be2-fca3-46cf-abf1-e53f9f9dcef8 430 4 5 false false 0 decimal

&[DATE] &[TIME] - &[FILENAME]

follower type (1=translating roller; 2=oscillating roller) type 1 :

cam speed (signed value: 1=CCW; -1=CW) n.cam 1 - (15 * min 1 -^* :

ω.cam 2 π * n.cam * : 1.5708 Hz * -

ω.cam ω.cam 1 Hz / (* :

cam-follower eccentricity (positive if opposite to cam rotation) ε.foll 0 mm * :

ε.foll ε.foll 1 mm / (* : 0

R.foll 5 mm * :

v.foll 2 mm deg / * :

v.foll v.foll deg mm / (* : 2

M_MOTION motion law index motion law type 1 constant acceleration 2 modified trapezoidal acceleration 3 simple harmonic acceleration 4 modified sinusoidal acceleration 5 cycloidal displacement 6 3-4-5 polynomial 7 4-5-6-7 polynomial 8 B-spline 92 mat :

M_INPUT segment angle @ segment end [deg] displacement @ segment end [mm] motion law index 00001901421801432700443600464 mat :

M_INPUT 2 M_INPUT rows 2 3 submatrix

θ IN row a.0 b.0 c.0 s.SCCA θ IN row 1 - (2 el ≥ (θ IN row 2 el < (& motion segment generation using SCCA family of curves res 0 : α θ IN row 1 - (2 el - : β IN row 2 el IN row 1 - (2 el - : δ IN row 3 el IN row 1 - (3 el - : x.0 α β / : k.0 IN row 1 - (3 el δ sign IN row 1 - (3 el * - 2 / : C.a 4 π 2^* π 2^8 - (a.0 2^c.0 2^- (* 2 π * π 2 - (* a.0 * - π 2^+ / eval : δ 0 ≠ x.0 0 ≥ (x.0 a.0 2 / < (& res k.0 δ C.a * a.0 π / x.0 * a.0 π / (2^π a.0 / x.0 * sin * - (* + eval : x.0 a.0 2 / ≥ (x.0 1 c.0 - 2 / < (& res k.0 δ C.a * x.0 2^2 / a.0 1 π / 12 / - (* x.0 * + a.0 2^18 / 1 π 2^/ - (* + (* + eval : x.0 1 c.0 - 2 / ≥ (x.0 1 c.0 + 2 / < (& res k.0 δ C.a * a.0 π / b.0 2 / + (x.0 * c.0 π / (2^+ a.0 2^18 / 1 π 2^/ - (* + 1 c.0 - (2^8 / - c.0 π / (2^π c.0 / x.0 1 c.0 - 2 / - (* cos * - (* + eval : x.0 1 c.0 + 2 / ≥ (x.0 1 a.0 2 / - < (& res k.0 δ C.a * x.0 2^2 / - a.0 π / 1 + a.0 2 / - (x.0 * + 2 c.0 2^* a.0 2^- (1 π 2^/ 18 / - (* + 14 / - (* + eval : res k.0 δ C.a * a.0 π / x.0 * 2 c.0 2^a.0 2^- (* π 2^/ + 1 a.0 - (2^c.0 2^- 4 / + a.0 π / (2^π a.0 / x.0 1 - (* sin * - (* + eval : if if if if 11 line res IN row 1 - (3 el : if res 101 line 0 if 11 line :

θ IN row s.const_acc θ IN row 010 s.SCCA :

θ IN row s.mod_trap θ IN row 0.25 0.5 0.25 s.SCCA :

θ IN row s.harm θ IN row 001 s.SCCA :

θ IN row s.mod_sine θ IN row 0.25 0 0.75 s.SCCA :

θ IN row s.cyclo_displ θ IN row 0.5 0 0.5 s.SCCA :

θ IN row s.345 θ IN row 1 - (2 el ≥ (θ IN row 2 el < (& motion segment generation using 3-4-5 polynomial res 0 : α θ IN row 1 - (2 el - : β IN row 2 el IN row 1 - (2 el - : δ IN row 3 el IN row 1 - (3 el - : x.0 α β / : k.0 IN row 1 - (3 el δ sign IN row 1 - (3 el * - 2 / : δ 0 ≠ res k.0 δ 10 x.0 3^* 15 x.0 4^* - 6 x.0 5^* + (* + eval : res IN row 1 - (3 el : if res 91 line 0 if 11 line :

θ IN row s.4567 θ IN row 1 - (2 el ≥ (θ IN row 2 el < (& motion segment generation using 4-5-6-7 polynomial res 0 : α θ IN row 1 - (2 el - : β IN row 2 el IN row 1 - (2 el - : δ IN row 3 el IN row 1 - (3 el - : x.0 α β / : k.0 IN row 1 - (3 el δ sign IN row 1 - (3 el * - 2 / : δ 0 ≠ res k.0 δ 35 x.0 4^* 84 x.0 5^* - 70 x.0 6^* + 20 x.0 7^* - (* + eval : res IN row 1 - (3 el : if res 91 line 0 if 11 line :

θ s.in θ 0 ≥ (θ 360 < (& res2 0 : row 2 : diff 1 : diff 0 > row row 1 + : diff θ M_INPUT row 2 el - : 21 line while M_INPUT row 4 el 1 ≡ res2 θ M_INPUT row s.const_acc : M_INPUT row 4 el 2 ≡ res2 θ M_INPUT row s.mod_trap : M_INPUT row 4 el 3 ≡ res2 θ M_INPUT row s.harm : M_INPUT row 4 el 4 ≡ res2 θ M_INPUT row s.mod_sine : M_INPUT row 4 el 5 ≡ res2 θ M_INPUT row s.cyclo_displ : M_INPUT row 4 el 6 ≡ res2 θ M_INPUT row s.345 : M_INPUT row 4 el 7 ≡ res2 θ M_INPUT row s.4567 : 0 if if if if if if if res2 61 line 0 if 11 line :

θ v.in 1st derivative approximation with finite difference coefficients h.x 0.1 : 12 / θ h.x - s.in * - 12 / θ h.x + s.in * + h.x / eval 31 line :

θ a.in 2nd derivative approximation with finite difference coefficients h.x 0.1 : θ h.x - s.in 2 θ s.in * - θ h.x + s.in + h.x 2^/ eval 31 line :

θ j.in 3rd derivative approximation with finite difference coefficients h.x 0.1 : 12 / θ 2 h.x * - s.in * - θ h.x - s.in + θ h.x + s.in - 12 / θ 2 h.x * + s.in * + h.x 3^/ eval 31 line :

θ s.in θ v.in θ a.in θ j.in

R.p 100 mm * :

R.p R.p 1 mm / (* :

OFFSET TRANSLATING ROLLER FOLLOWER

d.cam R.p 2^ε.foll 2^- sqrt :

θ R.cam d.cam θ s.in + (2^ε.foll 2^+ sqrt :

θ γ.cam ε.foll d.cam θ s.in + / atan :

1 γ.cam 0

θ λ.cam θ γ.cam θ + :

θ x.f θ R.cam θ λ.cam cos * :

θ y.f 1 - (ω.cam sign * θ R.cam * θ λ.cam sin * :

MX 3601 matrix :

MY 3601 matrix :

index 13602 range MX index 1 el index x.f : MY index 1 el index y.f : 21 line for

M_OUTPUT MX MY augment :

M_OUTPUT 54.0302 84.1471 41.6147 - 90.9299 98.9997 - 14.1121 65.365 - 75.681 - 28.3668 95.8943 - 96.0202 27.9425 - 75.3941 65.7021 14.5511 - 98.9434 91.1228 - 41.2163 83.9192 - 54.4099 - 0.4427 100.0178 - 84.4055 53.6701 - 90.7715 42.0291 13.6786 99.0964 76.0015 - 65.0568 95.8147 - 28.805 - 27.5327 - 96.1968 - 66.0768 75.1501 - 98.9477 14.9994 40.8443 91.3753 54.8274 - 83.7488 100.1072 - 0.8861 - 53.349 - 84.7264 - 232 mat