A STUDY ON THE USE AND DESIGN OF MECHANISMS IN ART AND ARCHITECTURE A Thesis Submitted to the Graduate School of Engineering and Sciences of İzmir Institute of Technology in Partial Fulfillment of the Requirements for the Degree of MASTER OF SCIENCE in Architecture by Mesude Oraj MARAL July 2020 İZMİR ACKNOWLEDGEMENTS First, I would like to thank my supervisor Koray Korkmaz for his never-ending patience, support, tireless knowledge that he passed onto me during this process. His positive attitude in leadership and always providing a new perspective and teaching me design in this new field were invaluable. I also appreciate my amigos Ceren Kepenek & Erin Gürdal for their courage and support, as well as their editorial contribution to better articulate my thoughts and correct language errors by reading this thesis carefully over and over again from the very beginning. I am grateful for my dear professor Gökhan Kiper at Izmir Institue of Technology, for sharing his knowledge in mechanism science and corrections throughout the entire thesis. Also, a member of the jury N. Aslı Kaya Üçok, thank you very much for your participation. I would like to thank Bora Sezer, his support of my studies when I worked at Sezer Proje, at the same time, my dear friends Serdar Yemişci, Melis Sevinçli, Pınar Kutluay, Özgün İloğlu and Gülşah Özer for their sincere support. It is thanks to the people who have done practical and theoretical work on the design of the movement for thousands of years and have ensured that it is carried out with great care that we can still examine today. I have studied all this information with great interest, curiosity and devotion. In this process and always offering love and support are my dear Gürsan, Aktan, and Maral families, especially my husband Öykü, my daughter Okyanus, my mother Ayşe and my father Serhat. Words cannot express how much I thank them. I dedicate this study to our daughter Okyanus Papatya. ABSTRACT A STUDY ON THE USE AND DESIGN OF MECHANISMS IN ART AND ARCHITECTURE This study consists of research on developmental processes, fundamentals, kinematic properties, and design methods of art and architectural examples that involve mechanisms and a proposal of a novel method of designing polygonal deployable surfaces. The effect of motion studies on art and architecture is analyzed from the first technical studies of motion and portable examples of architecture. The pre-industrial automata, acoustic designs, musical instruments, water-lifting devices, and aqueducts were designed by artists and architects as well; windmills that are the first rotating structures, clocks, clock towers, construction machines and early examples of movable bridges are examined. The kinematic properties and fundamentals of mechanisms are analyzed. The kinematic structural analyses of contemporary art and architectural products are conducted by drawing kinematic diagrams, demonstrating link and joint types and numbers; and mobility calculations. The primary units and assembly methods of them are examined. Strengthening the bond among the fields of kinetic architecture, art and mechanism science is intended. The present study is the first source in which examples from the related fields and corresponding kinematic science are explicitly transmitted for artists and architects. Finally, a novel design method for polygonal deployable surfaces that is adaptable to climatic, functional, visual and/or social needs is developed. The method starts with the kinematic design of the triangular primary unit, which is topologically Bennett's plano-spherical mechanism. The planar position provides covering surfaces, while the spherical linkage generates a 3D dynamic form during movement. The design is adapted to polygons and multiplied in Archimedean tilings. A single actuator can drive all designs. The modularity provides designs versatility and flexibility. iv ÖZET MİMARLIKTA VE SANATTA MEKANİZMALARIN KULLANIMI VE TASARIMI ÜZERİNE BİR ÇALIŞMA Bu tezde mimari ve sanat alanlarından mekanizma içeren örneklerin gelişim süreçleri, temel prensipleri, kinematik özellikleri ve tasarım yöntemleri incelenmiş; sonrasında tek serbestlik dereceli, çokgenlerden oluşan hareketli yüzeylerin tasarımları için bir yöntem önerisi geliştirilmiştir. Hareket çalışmalarının mimariyi ve sanatı şekillendirme biçimi, hareketin teknik olarak ilk incelendiği dönemlerden ve mimarinin ilk portatif örneklerinden başlanarak ele alınmıştır. Endüstri öncesi dönemde sanatçılar ve mimarlar tarafından da tasarlanan otomatlar, akustik tasarımlar ve müzik aletleri, suyu yukarıya taşıyan araçlar ve su kemerleri, dönme kabiliyetine sahip ilk yapılardan rüzgâr çarkları, saatler ve saat kuleleri, inşaat makineleri ve hareketli köprülerin ilk örnekleri araştırılmıştır. Mekanizmaların kinematik özellikleri, temel kavramlarıyla birlikte incelenmiştir. Sanat ve mimarlık alanlarından güncel örneklerin kinematik yapısal analizleri ise kinematik diyagramları çizilerek, uzuv ve mafsal tipleriyle sayıları gösterilerek, serbestlik dereceleri hesaplanarak ortaya konmuştur. Tasarımların temel birimleri ve birleşme özellikleri incelenmiştir. Kinetik mimari, sanat ve mekanizma bilimleri arasındaki köprüleri güçlendirmesi amaçlanmıştır. Mimarlar ve sanatçılar için oluşturulan, bu alanlardaki örnekler ve özellikler incelenip temel kinematik bilgisinin süzülerek toplandığı ilk kaynaktır. Son olarak iklimsel, işlevsel, görsel ve/veya sosyal ihtiyaçlara adapte olabilecek, düzgün çokgenlerden oluşan, açılıp kapanabilen yüzeyler için yeni bir tasarım yöntemi önerilmiştir. Bu yöntem üçgensel temel birimin kinematik tasarımıyla başlar. Bu birim topolojik olarak Bennett’in düzlemsel ve küresel bağlantı biçimini kullanır. Düzlemsel form, düz yüzeyleri kapatmaya uygundur; ayrıca kullanılan küresel bileşen, hareket sırasında 3B dinamik bir form oluşmasını sağlar. Ardından tasarım, çokgenlere adapte edilerek düzenli ve yarı düzenli teselasyonlarda çoğaltılır. Oluşan tasarımların hepsi tek bir motorla kontrol edilebilir. Modüler olması ise tasarımlara çok yönlülük ve esneklik sağlar. v TABLE OF CONTENTS LIST OF FIGURES ......................................................................................................... ix LIST OF TABLES ....................................................................................................... xviii CHAPTER 1. INTRODUCTION ..................................................................................... 1 1.1. Kinetic Art and Architecture ................................................................... 3 1.2. Aim and Scope of Thesis ...................................................................... 12 1.3. Outline of Thesis ................................................................................... 13 CHAPTER 2. EARLY USE OF MECHANISMS IN ART AND ARCHITECTURE .. 14 2.1. The Historical Basis of Motion Studies ................................................ 14 2.2. First Examples ...................................................................................... 23 2.2.1. Portable Dwellings of Nomads and Retractable Architecture ........ 24 2.2.2. Automata and Musical Instruments ................................................ 30 2.2.3. Water Rising Devices, Waterwheels and Windmills ...................... 34 2.2.4. Clocks and Clock Towers ............................................................... 38 2.2.5. Construction Devices ...................................................................... 42 2.2.6. Movable Bridges ............................................................................. 46 CHAPTER 3. KINEMATICS OF MECHANISIMS ..................................................... 51 3.1. Kinematics ............................................................................................ 51 3.2. Mechanism Design ................................................................................ 52 3.3. Motion ................................................................................................... 56 3.4. Links ..................................................................................................... 60 3.5. Joints (Kinematic Pairs) ........................................................................ 63 3.5.1. Lower Pairs ..................................................................................... 63 3.5.1.1. Revolute Pair .......................................................................... 65 3.5.1.2. Prismatic Pair ......................................................................... 66 3.5.1.3. Screw (Hellical) Pair .............................................................. 67 3.5.1.4. Cylindirical Pair ..................................................................... 69 vi 3.5.1.5. Spherical (Globular) Pair ....................................................... 70 3.5.1.6. The Flat (Planar) Pair ............................................................. 71 3.5.2. Higher Pairs .................................................................................... 71 3.6. Kinematic Chains and Kinematic Inversions ........................................ 73 3.7. Kinematic Diagram ............................................................................... 79 3.8. Mobility (DoF) ...................................................................................... 83 3.9. Types of Mechanisms ........................................................................... 87 3.9.1. Mechanism Types with respect to the Pair Variable ...................... 89 3.9.1.1. Linkages