This model can be found in the 20-sim demo directory.
You can open this model and simulate it yourself using the free 20-sim demo/viewer!

Cam Manipulator

Description

This demo shows a cam driven manipulator.

The manipulator has been modeled in high detail, including motor control and backlash in the cams.

The 3D Animation that comes with the cam manipulator model. 

A 3D animation of the manipulator is shown. As the model shows, the cam followers are being pushed by springs. If the stiffness of these springs is too low for the given speed, the cam followers will loose contact and the mechanism will start to bounce.