THEMACHINESOFLEONARDODAVINCIANDFRANZREULEAUX HISTORYOFMECHANISMANDMACHINESCIENCE Volume2 SeriesEditor G.M.L.CECCARELLI AimsandScopeoftheSeries This book series aims to establish a well defined forum for Monographsand Pro- ceedings on the History of Mechanism and Machine Science (MMS). The series publishesworksthatgiveanoverviewofthehistoricaldevelopments,fromtheearli- esttimesuptoandincludingtherecentpast,ofMMSinallitstechnicalaspects. This technical approach is an essential characteristic of the series. By discussing technicaldetailsandformulationsandevenreformulatingthoseintermsofmodern formalismsthepossibilityiscreatednotonlytotrackthehistoricaltechnicaldevel- opmentsbutalsotousepastexperiencesintechnicalteachingandresearchtoday.In ordertodoso,theemphasismustbeontechnicalaspectsratherthanapurelyhistor- icalfocus,althoughthelatterhasitsplacetoo. Furthermore, the series will consider the republication of out-of-printolder works withEnglishtranslationandcomments. Thebookseriesisintendedtocollecttechnicalviewsonhistoricaldevelopmentsof the broadfield of MMSin a uniqueframethatcan beseen in its totalityas an En- cyclopaediaoftheHistoryofMMSbutwiththeadditionalpurposeofarchivingand teachingtheHistoryofMMS.Thereforethebookseriesisintendednotonlyforre- searchersoftheHistoryofEngineeringbutalsoforprofessionalsandstudentswho are interested in obtaining a clear perspective of the past for their future technical works.Thebookswillbewritteningeneralbyengineersbutnotonlyforengineers. ProspectiveauthorsandeditorscancontacttheSeriesEditor,ProfessorM.Ceccarelli, aboutfuturepublicationswithintheseriesat: LARM:LaboratoryofRoboticsandMechatronics DiMSAT–UniversityofCassino ViaDiBiasio43,03043Cassino(Fr) Italy E-mail:[email protected] Foralistofrelatedmechanicstitles,seefinalpages. The Machines of Leonardo da Vinci and Franz Reuleaux Kinematics of Machines from the Renaissance to the 20th Century By FRANCIS C. MOON MechanicalandAerospaceEngineering, CornellUniversity, Ithaca,NewYork,USA AC.I.P.CataloguerecordforthisbookisavailablefromtheLibraryofCongress. ISBN978-1-4020-5598-0(HB) ISBN978-1-4020-5599-7(e-book) PublishedbySpringer, P.O.Box17,3300AADordrecht,TheNetherlands. www.springer.com Cover figures:Selfportrait of Leonardo daVinci,Royal LibraryTurin;Leonardo’s ratchet drawingfromCodexMadrid,NationalLibraryMadrid;PortraitofFranzReuleauxandratchet mechanismdrawingfromKinematicsofMachinery,FranzReuleaux(1876) Everyefforthasbeenmadetocontact thecopyright holdersofthefigureswhichhavebeen reproduced fromother sources. Anyone whohas not been properly credited isrequested to contactthepublishers,sothatdueacknowledgementsmaybemadeinsubsequenteditions. Printedonacid-freepaper AllRightsReserved ©2007Springer Nopartofthisworkmaybereproduced,storedinaretrievalsystem,ortransmitted inanyformorbyanymeans,electronic,mechanical,photocopying,microfilming,recording orotherwise,withoutwrittenpermissionfromthePublisher,withtheexception ofanymaterialsuppliedspecificallyforthepurposeofbeingentered andexecutedonacomputersystem,forexclusiveusebythepurchaserofthework. ToLee,myhelpmateinthissix-yearproject;sheistheonly oneIknowwhocanreadReuleaux’s handwriting. Contents PrefacebytheSeriesEditor,Professor M.Ceccarelli ............. xi Preface...................................................... xiii Acknowledgements ........................................... xvii Notes ....................................................... xxi ListofFigures ...............................................xxiii ListofTables ...............................................xxxiii PARTI I LeonardodaVinciandFranzReuleaux:MachineEngineers .. 3 I.1 Introduction. ......................................... 3 I.2 Modern Applications of Kinematics: Leonardo in Your Toothbrush........................................... 15 I.3 Deconstructing theMachine:Constructive ElementsofDesign 27 I.4 Leonardo, ‘Ingenieur Ordinaire’ ......................... 37 I.5 FranzReuleaux:Engineer-Scientist ...................... 47 I.6 InfluenceofLeonardodaVincion19thC.MachineTheorists 59 I.7 KinematicsofMachines: TheGeometryofMotion ......... 66 I.8 Visualand Topological Thinking: Reuleaux’s Language of Invention ............................................ 76 I.9 Summary ............................................ 96 viii Contents PARTII II EvolutionofDesignofMachines ........................... 99 II.1 Introduction. ......................................... 99 II.2 VisualKinematicPerception ofMechanisms .............. 102 II.3 AncientGreekandRomanMachines ..................... 107 II.4 MachinesintheBible.................................. 116 II.5 RogerBacononMarvelous Machinesinthe13thCentury ... 118 II.6 MachinesoftheMiddleAges ........................... 121 II.7 ScientificandTechnical MilieuintheRenaissance Machine Age................................................. 125 II.8 FrancescodiGiorgioMartini:TheLeonardoofSiena ....... 135 II.9 TheatreofMachinesBooks:ImitationorInvention? ........ 146 II.10Mathematics, Mechanics andDesignofMachines .......... 160 II.11ArtandtheMachineEngineer........................... 175 II.12ConceptsofDesignandInvention byLeonardoandReuleaux 188 II.13ModelsastheNew‘TheatreofMachines’................. 199 II.14James Watt and the Steam Engine: Pathways of Machine Evolution ............................................ 212 II.15MachineEngineersandInventors inthe19thCentury ....... 223 II.16BerlinandtheMachineAgeofthe19thCentury ........... 228 II.17LostKnowledge from theAgeofMachines: Mathematical KinematicsandRotaryEngines ......................... 239 II.18PrimeMoverMachines: Thermodynamics, Kinematics and Materials ............................................ 248 II.19FlyingMachinesofLeonardoandLilienthal............... 255 II.20KinematicsofAnimalandHumanMotion ................ 262 II.21Leonardo in a Robot: Automata, Clocks and Controlled Machines ............................................ 276 II.22LeonardoandReuleaux:ASummary..................... 289 Color Plates 293 PARTIII III Comparison oftheKinematicMechanismsofLeonardoand Reuleaux ................................................ 303 TheMachinesofLeonardoDaVinciandFranzReuleaux ix PARTIV IV References, Bibliography&Appendices..................... 351 CitedReferences .......................................... 351 BooksontheLifeofLeonardodaVinciandasMachineEngineer . 364 BooksontheHistoryofMachines intheIndustrial Age.......... 365 BooksontheHistoryoftheRenaissance inEurope ............. 366 BooksandArticlesonFranzReuleaux andtheKinematicTheory ofMachines.......................................... 366 BooksandArticlesonKinematicsofHumanandAnimalMotion . 368 HistoryofMachines-related BooksforaTeaching, DesignStudio Library .............................................. 369 Appendix I: A Summary of ‘Theatre of Machines’ Books 15th–18th Centuries ................................... 372 Appendix II: On-Line Books and Papers at Cornell University LibraryonTheHistoryofMachinesandMechanisms....... 391 AppendixIII:StudentExercisesintheHistoryofMachines ...... 394 AuthorIndex ................................................ 401 SubjectIndex ................................................ 407 AbouttheAuthor ............................................ 417 Preface by the Series Editor, Professor M. Ceccarelli ThisbookispartofabookseriesontheHistoryofMechanism andMachine Science(HMMS). Thisseriesisnovelinitsconceptoftreatinghistorical developmentswith atechnicalapproachtoillustratetheevolutionofmattersofMechanicalEngi- neeringthatarerelatedspecificallytomechanismandmachinescience.Thus, books in the series will describe historical developments by mainly looking at technical details with the aim to give interpretations and insights of past achievements. The attention to technical details is used not only to track the pastbygivingcredittopasteffortsandsolutionsbutmainlytolearnfromthe past approaches and procedures that can still be of current interest and use bothforteaching andresearch. The intended re-interpretation and re-formulation of past studies on ma- chines and mechanisms requires technical expertise more than a merely his- torical perspective, therefore, thebooks oftheseries canbecharacterized by thisemphasis ontechnical information, although historical development will notbeoverlooked. Furthermore,theserieswillofferthepossibilityofpublishingtranslations ofworksnotoriginally writteninEnglish,andofreprinting worksofhistori- calinterestthathavegoneoutofprintbutarecurrently ofinterestagain. Ibelievethattheworkspublishedinthisserieswillbeofinteresttoawide range of readers from professionals to students, and from historians to tech- nical researchers. They will all obtain both satisfaction from and motivation for their work by becoming aware of the historical framework which forms thebackground oftheirresearch.