This work is the extended version of a paper presented at the conference HMM2021, about the history of mechanical engineering. First, the initial cultural and industrial steps in the robotic field in Japan are introduced, to display the beginning of this interlaced path, before WW2; then, in the context of the aftermaths of the war, some famous anime heroes are presented as ancestors of the coming mecha anime series. The rising research in the field of robotics and more generally the (...) developments of contemporary Japanese automation industry are then drawn, as a technological substrate for mecha conception. In particular, Masahiro Mori studies are taken into consideration to identify an actual robot design pattern to apply to the following comparative description and examination of the different mecha; finally, thanks to this analysis, the common breeding ground whence robotics and mecha (and their reciprocal influences) arise, is outlined. (shrink)

The first European settlements in the new world faced technical issues with the help of the XVI century scientific advances. Besides briefly exposing the scientific and technological situation, this paper explores, with the help of reverse engineering, two singular mechanical wits representative of the technological advances introduced in America to overcome different problems. Firstly, a pump, based on an alternative movement system through crankshafts and pistons used against the continuous flooding suffered in the Ciudad de México valley. Although flooding remained (...) a problem (it was solved in the XX century), hydraulic pumps were essential for continuous soil drainage. Secondly, a port crane for handling cannons, military devices, and construction materials during the Lima fortification in the XVII century. For both cases, reverse engineering, through engineering methods, Computer-Aided Design CAD programs, and additive manufacturing, provides virtual and/or tangible mockups that help to analyze and improve our knowledge about the dimensions, materials, and functions of used (and currently lost) mechanical systems during the American colonization. (shrink)

The removal of water from mines was one of the key issues that former miners had to deal with. Roman colonists brought new technology to the Iberian Peninsula that addressed this problem. However, they did not invent this technology because it had already been applied to the growth of other endeavours in the Hellenistic society throughout the Eastern Mediterranean. In the mine, the Archimedes screw, waterwheels, bucket pulleys, and Ctesibius pumps were the primary drainage systems. In this essay, the primary (...) characteristics, and modes of operation of machines are examined. Without leaving out the most significant finds made in the southwest of the Iberian Peninsula, one of the regions with the longest history of mining exploitation. To serve as a foundation for future research in this field, this work compares the primary mining mechanisms in ancient Huelva on a qualitative and quantitative level by the implementation of a TOPSIS methodology, a multi-criteria decision analysis method. (shrink)

The contribution describes some aspects related to the representation of special curves; recalling mechanisms created specifically for the design of these curves, which have particular characteristics. Through the construction of a simple apparatus, consisting of two pendulums—which oscillate at the same time- it is possible to graphically reproduce Lissajous’ experiments on the commuting vibrations of the diapasons. This equipment was first built by Samuel Charles Tisley (London 1829-Unknown), under the name of harmonographer. The contribution aslo illustrates the essential characteristics of (...) the harmonograph—born as a means of analysing vibrations—but which, by its principle belongs to mechanics, for its applications to acoustic science and geometry for the ability to draw “harmonious” curves. (shrink)

This paper presents a detailed analysis of a previous work that described the dynamic behavior of an antique stamp mill. The stamp mill application was for breaking ore stones as part of silver production. The dynamic analysis was established from a modern description of the kinematic chain. Since there is no technical data or archeological reports, the model was reconstructed using the dimensions described in original documents and assuming the operation conditions from different technical references. The model was validated using (...) the typical production rates from the pre-industrial revolution period (XVI to XVIII centuries). The results show a proper method for reconstructing the engineering data of antique mechanisms and provide the basis for reproducing these types of mechanisms with modern engineering concepts. The data can be extrapolated to other similar mills that were developed based on this functional principle. (shrink)

Abstract“The Book of Secrets in the Results of Ideas”, usually called “The Book of Secrets” is a codex containing drawings and descriptions of thirty-one artifacts attributed to the engineer Alī Ibn Khalaf al-Murādī, who lived in Andalusia in southern Spain at the beginning of the 11th century. This manuscript is one of the first written testimonies that describe medieval mechanisms with complex precision. The aim of this work is to reconstruct and study from a historical and technological point of view (...) two of the ancient artifacts contained in the “Book of Secrets”, the “Fortress Demolisher” and the “Magic Well”. The “Fortress Demolisher” is a war machine designed to demolish the upper part of the walls or towers and consists of a battering ram mounted on a platform that can be raised several meters above the ground using a scissor mechanism. The “Magic Well” is a mechanism with several pulleys whose purpose is to raise water several meters from the bottom of a well by collecting a small portion of rope. To reconstruct the two artifacts, a digital model and a detailed study of the geometry and operation of the mechanisms, were first carried out. 3D printing, using the Fused Deposition Modelling technology, made the physical reproduction. The digitization and physical reproduction by 3D printing of the mechanisms represent an update of the traditional ways of transmitting knowledge. The use of these new technologies makes the knowledge more accessible, understandable and attractive. (shrink)

Computing formulae and solving equations are essential elements of scientific analysis. While today digital tools are almost always applied, analog computing is a rich part of the larger history of science and technology. Graphical methods are an integral element of computing history and still find some use today. This paper presents the history of nomograms, a historically-relevant tool for solving mathematical problems in various branches of science and engineering; in particular, we consider their role in mechanical engineering, especially for education, (...) and discuss their mathematical properties. Each nomogram is a graphical description of a specific mathematical equation, designed such that the solution can be found through a simple geometric construction that can be performed with a straightedge. By design, using nomograms requires little skills and can be done even in adverse environments; a solution of sufficient accuracy for most purposes can then be found in a very short time. Another important advantage of nomograms is that they offer clear insight on the relationships between the variables, an insight which can be lost by looking at a complex equation. First introduced in the late $$19^{\textrm{th}}$$ century, nomograms were used by engineers and scientists due to their speed with respect to manual calculations, before being superseded by computers. While now mostly obsolete in practice, nomograms can still prove useful in workshops and teaching classes: we thus also discuss their educational applications and present a few original examples. (shrink)

In the city of Elche, every year, on the 14th and 15th of August, a sacred musical play about the death, the Assumption and the Coronation of the Virgin Mary is held. This event, known as the “Misterio de Elche”, is unique in the world. Since the middle of the 15th century it has been performed in the Basilica of Santa Maria and in the streets of the ancient city of Elche, located in the Valencian Community. In this work, classified (...) as a UNESCO World Heritage Site, the interior of the temple is transformed into 2 main stages, the scaffold, located in the lower part, and the aerial stage, located in the dome at a height of 27 m. The structure and the traction mechanisms located on the aerial stage allow the aerial devices that take part in the play, “El Araceli”, “La Mangrana” and “La Santísima Trinidad”, to be raised and lowered. It should be noted that between 2 and 5 singing actors are embarked on these devices. This article describes the main characteristics of the aerial stage structure, the 3 apparatus and the mechanical systems used. In addition, the age and modifications of “El Araceli” are analysed, as well as the results of a non-destructive test carried out on this device. (shrink)

In this article, the manuscript of Codex Madrid I, Leonardo da Vinci's workshop drawings collection, is reviewed and the main mechanisms that appear in the aforesaid codex are analysed. It begins with a short reference to Leonardo da Vinci works and, subsequently, Leonardo's manuscripts and Codex Madrid I, in particular, are placed in their historical context. After analysing the historical scope of Codex Madrid I, a compilation of the 100 main drawings of the manuscript is made, composing nine Mechanisms Drawings (...) Boxes. Each Mechanisms Drawings Box is a collage made up of 10 to 14 drawings of mechanical elements that appear in Codex Madrid I, with a brief description of each drawing. This compilation illustrates the wide range of mechanical elements and simple mechanisms of Codex Madrid I, forming, as a whole, a complete treatise on mechanisms, understanding mechanisms as basic elements of machines. (shrink)

Pulleys and cranes are used for hoisting loads with or without providing a significant gain in force. Both of these devices have provided convenience to humans since ancient times. Pulleys are considered to be one of the five mechanical powers of the ancient world. Their history is very much linked with the early history of cranes. The cranes originated from the pulley systems. In this paper, the early history of the application of these well-preserved ancient mechanical instruments is examined together. (...) This paper mainly focuses on the various interesting applications of pulleys and cranes in ancient and medieval times. Yet theoretical developments in the timeline mentioned above are also included in this paper. (shrink)

The evolution of belt conveyors, as an important type of continuous conveying machinery, is examined here in a historical perspective. For this purpose, the selected period is from the ancient time, i.e. occurrence of conveying equipment, and up to the end of the nineteenth century. The basic postulation of a modern machine, including conveyors, is often interlinked to that of its ancestor, which may be simple and primitive. Ancient machines and principles of their work were the basis for later improvements (...) which also brought the inventions in engineering. For instance, Archimedes lifted water to high altitude with a screw, which was regarded as the ancestor of today’s screw conveyor and essentially his design has not changed since then. Bucket elevators also have their predecessors dating back to ancient times. In the concrete case of belt conveyors, a first trace can be found in the beginning of the seventeenth century, even classified as primitive example. During the Industrial Revolutions, various machines, such conveyors, appeared. The first modern-like belt conveyors are dedicated to the late eighteenth century due to the invention of Oliver Evans in USA and to the nineteenth century, by Lyster in England, Lopatine in Russia and Thomas Robins in USA. The technical solutions developed by the end of the nineteenth century were forerunners of the today’s belt conveyors, while the key operational principles have not changed. (shrink)