1. Cinematically possible systems
In the following, mechanical actions can be either forces or moments, depending on the mechanism under consideration.
There are several types of mechanism that allow a gain in speed G V < 1 and therefore a gain in force G F > 1. They can be classified into three categories.
1.1 Cam
They can be used to perform any given function. There are many different types. A cam mechanism can typically be modeled as shown in figure 1 .
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Cinematically possible systems
Choice of mechanism
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