THE MACHINES OF LEONARDO DA VINCI AND FRANZ REULEAUX HISTORY OF MECHANISM AND MACHINE SCIENCE Vo l u m e 2 Series Editor G.M.L. CECCARELLI Aims and Scope of the Series This book series aims to establish a well defined forum for Monographs and Pro- ceedings on the History of Mechanism and Machine Science (MMS). The series publishes works that give an overview of the historical developments, from the earli- est times up to and including the recent past, of MMS in all its technical aspects. This technical approach is an essential characteristic of the series. By discussing technical details and formulations and even reformulating those in terms of modern formalisms the possibility is created not only to track the historical technical devel- opments but also to use past experiences in technical teaching and research today. In order to do so, the emphasis must be on technical aspects rather than a purely histor- ical focus, although the latter has its place too. Furthermore, the series will consider the republication of out-of-print older works with English translation and comments. The book series is intended to collect technical views on historical developments of the broad field of MMS in a unique frame that can be seen in its totality as an En- cyclopaedia of the History of MMS but with the additional purpose of archiving and teaching the History of MMS. Therefore the book series is intended not only for re- searchers of the History of Engineering but also for professionals and students who are interested in obtaining a clear perspective of the past for their future technical works. The books will be written in general by engineers but not only for engineers. Prospective authors and editors can contact the Series Editor, Professor M. Ceccarelli, about future publications within the series at: LARM: Laboratory of Robotics and Mechatronics DiMSAT – University of Cassino Via Di Biasio 43, 03043 Cassino (Fr) Italy E-mail: [email protected] For a list of related mechanics titles, see final pages. The Machines of Leonardo da Vinci and Franz Reuleaux Kinematics of Machines from the Renaissance to the 20th Century By FRANCIS C. MOON Mechanical and Aerospace Engineering, Cornell University, Ithaca, New York, USA A C.I.P. Catalogue record for this book is available from the Library of Congress. ISBN 978-1-4020-5598-0 (HB) ISBN 978-1-4020-5599-7 (e-book) Published by Springer, P.O. Box 17, 3300 AA Dordrecht, The Netherlands. www.springer.com Cover figures: Self portrait of Leonardo da Vinci, Royal Library Turin; Leonardo’s ratchet drawing from Codex Madrid, National Library Madrid; Portrait of Franz Reuleaux and ratchet mechanism drawing from Kinematics of Machinery, Franz Reuleaux (1876) Every effort has been made to contact the copyright holders of the figures which have been reproduced from other sources. Anyone who has not been properly credited is requested to contact the publishers, so that due acknowledgements may be made in subsequent editions. Printed on acid-free paper All Rights Reserved © 2007 Springer No part of this work may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, microfilming, recording or otherwise, without written permission from the Publisher, with the exception of any material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. To Lee, my helpmate in this six-year project; she is the only one I know who can read Reuleaux’s handwriting. Contents Preface by the Series Editor, Professor M. Ceccarelli ............. xi Preface ...................................................... xiii Acknowledgements ........................................... xvii Notes ....................................................... xxi List of Figures ...............................................xxiii List of Tables ...............................................xxxiii PART I I Leonardo da Vinci and Franz Reuleaux: Machine Engineers .. 3 I.1 Introduction . ....................................... 3 I.2 Modern Applications of Kinematics: Leonardo in Your Toothbrush........................................... 15 I.3 Deconstructing the Machine: Constructive Elements of Design 27 I.4 Leonardo,‘IngenieurOrdinaire’......................... 37 I.5 FranzReuleaux:Engineer-Scientist...................... 47 I.6 Influence of Leonardo da Vinci on 19th C. Machine Theorists 59 I.7 KinematicsofMachines:TheGeometryofMotion......... 66 I.8 Visual and Topological Thinking: Reuleaux’s Language of Invention............................................ 76 I.9 Summary............................................ 96 viii Contents PART II II Evolution of Design of Machines ........................... 99 II.1 Introduction . ....................................... 99 II.2 VisualKinematicPerceptionofMechanisms .............. 102 II.3 AncientGreekandRomanMachines..................... 107 II.4 MachinesintheBible.................................. 116 II.5 Roger Bacon on Marvelous Machines in the 13th Century . 118 II.6 MachinesoftheMiddleAges........................... 121 II.7 Scientific and Technical Milieu in the Renaissance Machine Age................................................. 125 II.8 Francesco di Giorgio Martini: The Leonardo of Siena ....... 135 II.9 Theatre of Machines Books: Imitation or Invention? ........ 146 II.10Mathematics,MechanicsandDesignofMachines.......... 160 II.11ArtandtheMachineEngineer........................... 175 II.12 Concepts of Design and Invention by Leonardo and Reuleaux 188 II.13ModelsastheNew‘TheatreofMachines’................. 199 II.14 James Watt and the Steam Engine: Pathways of Machine Evolution............................................ 212 II.15MachineEngineersandInventorsinthe19thCentury....... 223 II.16 Berlin and the Machine Age of the 19th Century ........... 228 II.17 Lost Knowledge from the Age of Machines: Mathematical KinematicsandRotaryEngines ......................... 239 II.18 Prime Mover Machines: Thermodynamics, Kinematics and Materials............................................ 248 II.19 Flying Machines of Leonardo and Lilienthal . ........... 255 II.20KinematicsofAnimalandHumanMotion ................ 262 II.21 Leonardo in a Robot: Automata, Clocks and Controlled Machines............................................ 276 II.22LeonardoandReuleaux:ASummary..................... 289 Color Plates 293 PART III III Comparison of the Kinematic Mechanisms of Leonardo and Reuleaux ................................................ 303 The Machines of Leonardo Da Vinci and Franz Reuleaux ix PART IV IV References, Bibliography & Appendices ..................... 351 CitedReferences.......................................... 351 Books on the Life of Leonardo da Vinci and as Machine Engineer . 364 Books on the History of Machines in the Industrial Age .......... 365 Books on the History of the Renaissance in Europe . ........... 366 Books and Articles on Franz Reuleaux and the Kinematic Theory ofMachines.......................................... 366 Books and Articles on Kinematics of Human and Animal Motion . 368 History of Machines-related Books for a Teaching, Design Studio 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 Appendix III: Student Exercises in the History of Machines ...... 394 Author Index ................................................ 401 Subject Index ................................................ 407 About the Author ............................................ 417 Preface by the Series Editor, Professor M. Ceccarelli This book is part of a book series on the History of Mechanism and Machine Science (HMMS). This series is novel in its concept of treating historical developments with a technical approach to illustrate the evolution of matters of Mechanical Engi- neering that are related specifically to mechanism and machine science. 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 past by giving credit to past efforts and solutions but mainly to learn from the past approaches and procedures that can still be of current interest and use both for teaching and research. 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, the books of the series can be characterized by this emphasis on technical information, although historical development will not be overlooked. Furthermore, the series will offer the possibility of publishing translations of works not originally written in English, and of reprinting works of histori- cal interest that have gone out of print but are currently of interest again. I believe that the works published in this series will be of interest to a wide 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 the background of their research. xii Preface by the Series Editor I would like to take this opportunity