In this paper, a unified approach is presented for the analytical design of cams used in various angular-motion compensators. These mechanisms can be classified as cam-modulated linkages. For a predetermined phase control between the two coupled shafts of the compensator, using this method one can find the exact equation of the cam profile, its principal curvature at the point of contact, expressions for the pressure angle and the transmission angles, and the condition for maximum pressure angle as well as the cutter wheel positions for generating the cam profile on an appropriate machine tool. The equations developed can be used effectively for analyzing the mechanical error due to tolerances on different dimensions of this cam-modulated linkage. The analysis of three-dimensional cam-type angular-motion compensators is also included.

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