Reconstruction Synthesis of the Calendrical Subsystem of Antikythera Mechanism

Hong-Sen Yan
1
e-mail: hsyan@mail.ncku.edu.tw

Jian-Liang Lin
e-mail: n1896132@mail.ncku.edu.tw Department of Mechanical Engineering, National Cheng Kung University, 1 University Road, Tainan 70101, Taiwan

The damaged excavation of the Antikythera mechanism presents the oldest astronomical analog computer in ancient Greece. Its interior mechanism is a complicated gear train with many subsystems in which some are unclear, such as the calendrical subsystem. This work focuses on the reconstruction synthesis of the calendrical subsystem and provides a systematic approach to generate all feasible designs. Based on the studies of historical literatures and existing designs, the required design constraints are concluded. Then, according to the concepts of generalization and specialization of mechanisms, two feasible designs and 14 results of teeth counting, including the existing one by Freeth et al. (2002, The Antikythera Mechanism: 1. Challenging the Classic Research, Mediterranean Archaeology & Archaeometry, 2, pp. 2135; 2002, The Antikythera Mechanism: 2. Is It Posidonius Orrery?, Mediterranean Archaeology & Archaeometry, 2, pp. 4558; 2006, Decoding the Ancient Greek Astronomical Calculator Known as the Antikythera Mechanism, Nature (London), 444, pp. 587591; 2008, Calendars With Olympiad Display and Eclipse Prediction on the Antikythera Mechanism, Nature (London), 454, pp. 614617; 2009, Decoding an Ancient Computer, Sci. Am., 301(6), pp. 7683), which are in consistent with the science theories and techniques of the subjects time period, are synthesized. DOI: 10.1115/1.4003185 Keywords: Antikythera mechanism, reconstruction design, calendrical subsystem, synthesis of mechanism, ancient machines

Introduction

The destroyed fragments of the Antikythera mechanism, the oldest known Greek astronomical machine, were accidentally discovered at the site of an antique shipwreck in 1900. In the last hundred years, with the help of image technology, some reconstruction designs have gradually resolved the secret of the Antikythera mechanism. It is conrmed that the Antikythera mechanism is a geared mechanism with several functions: It displays the motions of heavenly bodies, calculates between different calendar systems, and records astronomical phenomena. From 1902, scholars, such as Stais, Svoronos, and Rediadis, began to study the Antikythera mechanism. They understood the deep signicance of the mechanism but were unable to present a coherent explanation. Afterward, Rehm and Theophanidis also successively studied this mechanism. Around 1905, Rehm was the rst man to dene that the Antikythera mechanism was an astronomical calculator. Because of the limitation of technology at that time, the previous reconstructions were incorrect in many ways. In 1974, de Solla Price produced the rst complete reconstruction design Fig. 1 1,2 . However, he misunderstood several fragment images and designed a differential gear train to display the lunar motion. In 2000, based on de Solla Prices work, Edmunds and Morgan provided the gear trains with a pin-in-slot device to express the motions of Venus and Mars Fig. 2 3 . From 2002 to 2007, Wright presented a new reconstruction design in a series of studies, including the gear trains to display the functions of back dials and a gear train with a pin-in-slot device to express the lunar motion 414 Fig. 3 . From 2006 to 2008, the Antikythera research project by Freeth et al. decoded numerous inscriptions on
1 Corresponding author. Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received May 18, 2010; nal manuscript received November 4, 2010; published online January 24, 2011. Assoc. Editor: Ashitava Ghosal.

the exterior and explained the transmission of interior gear trains. Furthermore, he discovered the existence of a dial to display the Olympiad cycle 1519 . In 2008, Koetsier presented the historical development of reconstructing the Antikythera mechanism through the analysis of each previous design and Greek astronomy 20 . Based on the reconstruction design by Freeth et al. shown in Fig. 4, the Antikythera mechanism can be divided into the following ve subsystems: the date subsystem, the calendrical subsystem, the lunar subsystem, the eclipse prediction subsystem, and the lost subsystem. While previous studies have conrmed the mechanisms of the date subsystem, the lunar subsystem and the eclipse prediction subsystem, there is still much debate on the unclear calendrical subsystem and the lost components of the interior mechanisms. This study presents an approach for the reconstruction synthesis of the mechanism contained in the unclear calendrical subsystem of the Antikythera mechanism. Through this approach, all feasible designs of the calendrical mechanism that agree with the science and technology standards of the subjects time period can be systematically synthesized.

Historical Background

Figure 5 shows the excavated Antikythera mechanism 1518 . Its deterioration underwater is the primary reason for the difculty of the reconstruction. In order to accurately reconstruct the Antikythera mechanism, the rst work is to understand and dene the problems, including the origins and applications. This can be accomplished through the study of the existing literatures and historical background. From the decoding of inscriptions, the Antikythera mechanism is thought to be an ancient machine that existed between 150 B.C. and 100 B.C. Due to the lack of historical records, people knew nothing about the Antikythera mechanism before its discovery in the year of 1900. Therefore, only direct evidences from the surviving fragments can be used to support the understanding of this FEBRUARY 2011, Vol. 133 / 021004-1

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Fig. 1 Reconstruction design by de Solla Price

device. Since 1902, countless scholars have involved the reconstruction work. Through the image technology, the photos of fragments provide help to recombine this device. It is conrmed that the interior of the Antikythera mechanism is composed of gears and links, and the exterior is covered with dials and inscriptions. Through the decoding of inscriptions, the use and functions of the device become clear. Based on the applications of astronomical theories and the time origins of the device, some argued that the architect of the Antikythera mechanism might be Posidonius of Rhodes. Others contend that the creator might be Hipparchus. These viewpoints were overturned until 2008. Through decoding the month names of the calendar in this mechanism, Freeth et al. strongly conrmed that the mechanisms calendar is identical to the Corinthian calendar coming from the calendar of Tauromenion in Sicily. It also explained that the Antikythera mechanism should be from Corinthian colonies, and a certain workshop adopted from Archimedes seemed to be likely the origin 18 . It is believed that the technology of the Antikythera mechanism was spread by both cultural communications and wars. Ancient machines were copied by ancient cultures in other countries. Therefore, ancient machines with similar functions can provide additional study references in addition to the surviving objects and historical archives. The Islamic calendrical sundial designed by Al-Biruni dating from 1000 A.D. is such an example; it functions as a modeling cyclic astronomical phenomenon Fig. 6 20,21 . This geared instrument consisting of eight gears is driven by hands. It displays the phases of the moon and its age in days, as well as the movements of the moon and sun around the zodiac in three separated axes. Interestingly, in Europe, technological artifacts of similar complexity did not reappear until the 14th century, when mechanical astronomical clocks appeared.

Due to a similar application of this device, it is suggested that the technology of the Antikythera mechanism may continue to be active and have inuenced the Islamic tradition. Since the calendrical subsystem of the Antikythera mechanism is unclear, the mechanism of Islamic calendrical sundial may supply the knowledge to reconstruct the unclear interior mechanism.

Existing Reconstruction Designs

The Antikythera mechanism, approximately 315 190 100 mm3 in size, is a bronze geared mechanism Fig. 7 . Its

Fig. 2 Reconstruction design of the Venus display by Edmunds and Morgan

Fig. 3 Reconstruction design by Wright

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Fig. 6 Islamic sun dial 20

equal to that of 235 synodic months. Two subsidiary dials show, respectively, the Olympiad period, 4 years in one turn, and the Callippic period with four times the Metonic period. The lower part of the back plate that serves to predict the eclipse of the moon contains one large spiral dial and one subsidiary dial. The large spiral dial displays the Saro period, i.e., a period of 18 years. The subsidiary dial depicts the Exeligmos period that is three times the Saro period, i.e., a period of 54 years. In summary, the exterior functions of the Antikythera mechanism display the motions of the heavenly bodies and record important astronomical events and cultural activities.
Fig. 4 Reconstruction design by Freeth et al.

exterior shows the dials that cover a large number of inscriptions. Its interior consists of gear trains that drive the display of pointers on those dials. 3.1 Decoding of Exterior Dials. The front plate of the Antikythera mechanism contains two concentric dials Fig. 7 a . The inner dial shows the Egyptian calendar while the outer dial shows the Zodiac. The pointers can display, respectively, the date, the motions of the sun, the moon, and ve planets on the front dials. The Antikythera mechanism also displays the moon phase in a month. The back plate includes two parts Fig. 7 b . The upper part is designed to express the calculations between different calendar systems and the records of celebrations in ancient Greece. The upper part of the back plate includes one large spiral dial and two subsidiary dials. The large spiral dial displays the Metonic period, an approximate common multiple of the synodic month and the tropical year. The Greek astronomer Meton observed that the period of 19 tropical years, approximately 6940 days, is almost

3.2 Mechanism Analysis. The calendrical subsystem on the upper back dials of the Antikythera mechanism displays the cyclic records both of astronomical phenomena and festivities. As the parts of the calendrical mechanism are unclear or lost, the interior mechanism remains unknown until the decoding of the exterior dials. In 2003, Wright provided the corresponding gear trains for the Meton period and the Callippic period 414 . In 2007, Freeth et al. further collected previous designs and revealed the existence of a dial displaying the Olympiad period 1518 . Based on the existing design by Freeth et al. Fig. 8 a , it can be concluded that the topological characteristics of the calendrical subsystem are as follows. 1. It has six members including a ground link member 1, KF , an input link member 2, KI , a Meton cycle link member 3, K M , an Olympiad cycle link member 4, KO , a Callippic cycle link member 5, KC , and a transmission link member 6, KT . 2. It has nine joints including ve revolute pairs joints a, b, c, d, and e; JR and four gear pairs joints f, g, h, and i; JG . 3. It is a simple gear train formed exclusively by external gears. 4. It has one degree of freedom.

Fig. 5 Surviving fragments of the Antikythera mechanism 1518

Fig. 7 A reconstruction model of the Antikythera mechanism 19

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53/ 19

N2/N4 = 1/4 N2/N4 = 57/212

When a gear pair is incident to the input link link 2 and the Callippic period link link 5 , the following expression is true for its gear ratio: 53/ 19 3 N2/N5 = 1/76 N2/N5 = 3/212

When a gear pair is incident to the Meton period link link 3 and the Olympiad period link link 4 , the following expression is true for its gear ratio:
Fig. 8 Mechanism of the calendrical subsystem by Freeth et al.

5/19

N3/N4 = 1/4 N3/N4 = 19/20

When a gear pair is incident to the Meton period link link 3 and the Callippic period link link 5 , the following expression is true for its gear ratio: 5/19 N3/N5 = 1/76 N3/N5 = 1/20

Based on mobility analysis, the following expression is true for a planar calendrical mechanism with one degree of freedom, NL members, NJR revolute pairs, and NJG gear pairs: 2NJR + NJG 3NL + 4 = 0 1

Finally, when a gear pair is incident to the Olympiad period link link 4 and the Callippic period link link 5 , the following expression is true for its gear ratio: 1/4 N4/N5 = 1/76 N4/N5 = 1/19

It is obvious that the following expression is true for a gear train with NJ joints: NJR + NJG NJ = 0 2

Since every gear in a gear train must at least have a revolute joint, the following expression is true: NJR NL + 1 = 0 3

By solving Eqs. 1 3 in terms of the number of links, the following relations for the numbers of joints are concluded: NJ = 2NL 3 NJR = NL 1 NJG = NL 2 4 5 6

Different gear ratios result in a difference in teeth number and gear size between two gears in mesh. It is suggested that the Callippic period link should not be adjacent to the input link, the Meton period link, or the Olympiad period link, to avoid generating a too big gear. Therefore, there must be a link adjacent to the Callippic period link. In conclusion, the topological structure of the calendrical subsystem should be a planar mechanism with one degree of freedom, six links, and nine joints that include ve revolute pairs and four gear pairs.

Design Constraints

It is conrmed that the calendrical subsystem includes three dials to display different periods. In the reconstruction design of the mechanism, the number of gear pairs is three at least in order to achieve the transformations of rotation rates. Based on Eq. 5 , the number of links in the calendrical subsystem of the Antikythera mechanism should be at least ve. Therefore, two simple designs are concluded. For the mechanism of a calendrical subsystem with one degree of freedom and ve members, seven joints consisting of four revolute pairs and three gear pairs are necessary. For the mechanism of a calendrical subsystem with one degree of freedom and six members, nine joints consisting of ve revolute pairs and four gear pairs are necessary. Based on the decoding of the inscriptions on the exterior dials, the rotation rates and directions of links have been conrmed 17,18 . The Meton period link rotates clockwise at 5/19 rotations per year. The Olympiad period link rotates counterclockwise at 1/4 rotations per year. The meanings of the inscriptions on the Callippic period dial are still unknown. The only conrmed fact is that the Callippic period link must rotate at 1/76 rotations per year without dening its rotation direction. Based on the conrmed existing design, the input link rotates counterclockwise at 53/ 19 3 rotations per year. When a gear pair is incident to the input link member 2 and the Meton period link member 3 , it is obvious that the following expression is true for its gear ratio: 53/ 19 3 N2/N3 = 5/19 N2/N3 = 15/53

From the decoding of the inscriptions on external dials 17,18 , it can be concluded that each dial of the calendrical subsystem has its designated rotation rate. The gear ratios contribute to analyze the possibility for gear pairs incident to any two links. According to the studies of existing designs and the analysis of the mechanism mentioned above, design constraints of the calendrical subsystem are concluded as follows: 1. It must generate the designated astronomical periods in order to demonstrate the Meton period, the Olympiad period, and the Callippic period on the exterior dials. 2. It must at least include the ground link, the input link, the Meton period link, the Olympiad period link, the Callippic period link and the transmission link. a. b. Ground link member 1, KF There must be a ground link as the frame. A ground link must be a multiple link in order to serve as the input and three conrmed functions displayed on the exterior dials. Input link member 2, KI There must be a link as the input link for the power transmission. The input link must rotate counterclockwise at 53/ 19 3 rotations per year. The input link must include a gear with 15 teeth. This is known by distinguishing the image of the surviving mechanism. Previous analysis shows that the gear ratio for the input link to the Olympiad period link is 57/212. This gear ratio conicts with the existing evidence that the Olympiad period link must have a gear with 60 teeth. This means

a. b. c. d.

When a gear pair is incident to the input link member 2 and the Olympiad period link member 4 , the following expression is true for its gear ratio:

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e.

that the teeth number of the input link is not an integer. Therefore, the input link link 2 must not be adjacent to the Olympiad period link link 4 . Based on previous analysis of gear pairs, the input link link 2 must not be adjacent to the Callippic period link link 5 with a gear pair, in order not to generate a large gear ratio. Meton period link member 3, K M There must be a link as the Meton period link. The Meton period link rotates clockwise at 5/19 rotations per year. The Meton period link is adjacent to the ground link with a revolute pair. The Meton period link link 3 must not be adjacent to the Callippic period link link 5 with a gear pair, in order not to generate a too large gear ratio. Olympiad period link member 4, KO There must be a link as the Olympiad period link. The Olympiad period link rotates counterclockwise at 1/4 rotations per year. The Olympiad period link is adjacent to the ground link with a revolute pair. The Olympiad period link must have one gear with 60 teeth. This is understood by distinguishing the image of the surviving mechanism. The Olympiad period link link 4 must not be adjacent to the Callippic period link link 5 with a gear pair, in order not to generate a too large gear ratio. Callippic period link member 5, KC There must be a link as the Callippic period link. The Callippic period link rotates at 1/76 rotations per year. The Callippic period link is adjacent to the ground link with a revolute pair. Transmission link member 6, KT There must be a link as the transmission link in order to generate appropriate teeth numbers. The transmission link is adjacent to the ground link with a revolute pair. The transmission link must be at least a ternary link in order to avoid generating a redundant structure. When the transmission is adjacent to the input link and the Callippic period link simultaneously, the following expression is true for its gear ratio: 53/ 19 3 N2/N5 N5/N6 = 1/76 N2/N5 N5/N6 = 3/212 where N5 is the gear of the Callippic period link adjacent to the input link, and N5 is the gear of the Callippic period link adjacent to the transmission link.
Fig. 9 Procedure of reconstruction synthesis

a. b. c. d.

a. b. c. d. e.

scribed above, this work follows a design procedure consisting of four steps: design specications, generalized kinematic chains, specialized chains, and reconstruction designs, as shown in Fig. 9 2225 . 5.1.1 Step 1: Design Specications. Design specications are the observed rules in the process of reconstruction design. They describe the statement of a product and should be dened at the beginning of the design process. After studying available literatures and historical records, the numbers of members and joints in the existing design of the calendrical mechanism can be recognized. Once the characteristics of topological structure are identied, the specications, including the numbers and types of members and joints, can be dened. For the calendrical subsystem of the Antikythera mechanism, the design specications that satisfy these conrmed functions are concluded as follows. 1. It is a planar six-bar mechanism with nine joints and one degree of freedom. 2. The members are gears and links. 3. The joints consist of ve revolute joints and four external gear joints. 5.1.2 Step 2: Generalized Kinematic Chains. The second step in the methodology is to obtain the atlas of generalized kinematic chains. This is based on the concepts of generalization and number synthesis. The purpose of generalization is to transform a mechanism involving various types of members and joints into a generalized kinematic chain with only generalized links and generalized joints. A generalized joint is a joint in general; it can be a revolute pair, a prismatic pair, a spherical pair, a helical pair, or others. A generalized link is a link with generalized joints; it can be a binary link, a ternary link, a quaternary link, etc. For any existing design of the calendrical mechanism, the corresponding original generalized kinematic chain can be obtained through the process of generalization. Based on the algorithm of number synthesis, all possible generalized kinematic chains with the same numbers of members and joints as the original generalized kinematic chain can be obtained. Figure 8 b shows the generalized kinematic chain with six links and nine joints of the existing design by Freeth et al. The ground link link 1 is generalized into a quinary link, the input link link 2 is generalized into a binary link, the Meton period link link 3 is generalized into a quaternary link, the Olympiad period link link 4 is generalized into a binary link, the Callippic period link link 5 is generalized into a binary link, and the transmission link link 6 is generalized into a ternary link. Based on the algorithm of number synthesis 24 , the atlas of generalized kinematic chains with six links and nine joints can be generated.
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a. b. c. a. b. c. d.

This large gear ratio results in unsuitable gear sizes. Therefore, the transmission link link 6 must not be adjacent to the input link link 2 and the Callippic period link link 5 simultaneously.

Reconstruction Synthesis

Through the mobility analysis mentioned above, it can be concluded that the mechanism of the calendrical subsystem includes the ground link, the input link, the Meton period link, the Olympiad period link, the Callippic period link, and the transmission link. In order to synthesize all feasible topological structures of the calendrical mechanism subject to the design constraints deJournal of Mechanical Design

Fig. 10 Qualied generalized kinematic chains with six links and nine joints for specialization

According to the concluded design constraints of the ground link, each link of the calendrical subsystem must be adjacent to the ground link with a revolute pair. Therefore, only three generalized kinematic chains with six links and nine joints are feasible, as shown in Fig. 10. 5.1.3 Step 3: Feasible Specialized Chains. Specialization is the process of assigning specic types of members and joints in the available atlas of generalized kinematic chains subject to the concluded design constraints. After specialization, a generalized kinematic chain is called a specialized chain. A specialized chain subject to design constraints is called a feasible specialized chain. Therefore, through the process of specialization, the atlas of feasible specialized chains is generated. For the three feasible generalized chains shown in Fig. 10, all feasible specialized chains subject to the concluded design constraints can be obtained through the following steps. 5.1.3.1 Ground link (link 1). Since there must be a multiple link with ve revolute pairs as the frame, the ground link can be identied as follows. 1. For the generalized kinematic chain shown in Fig. 10 a assignment of the ground link generates one result 11 a . 2. For the generalized kinematic chain shown in Fig. 10 b assignment of the ground link generates one result 11 b . 3. For the generalized kinematic chain shown in Fig. 10 c assignment of the ground link generates no result 11 c . , the Fig. , the Fig. , the Fig.

Fig. 12 Specialized chains with identied ground link and Callippic period link

Therefore, nine specialized chains with identied ground link and Callippic period link are available, as shown in Fig. 12. 5.1.3.3 Olympiad period link (link 4). Since there must be a link as the Olympiad period link to display the Olympiad period, the Olympiad period link can be identied for each result, as shown in Fig. 12. Therefore, after the assignment of the Olympiad period link subject to the required design constraints, 14 specialized chains with identied ground link, Callippic period link and Olympiad period link, are available, as shown in Figs. 13 a 13 n . 5.1.3.4 Input link (link 2). Since there must be an input link that at least includes a gear pair and a revolute pair, the input link can be identied for each result, as shown in Fig. 13. Therefore, after the assignment of the input link subject to the required design constraints, ten specialized chains with identied ground link, Callippic period link, Olympiad period link, and input link, are available, as shown in Figs. 14 a 14 j . 5.1.3.5 Meton period link (link 3). Since there must be a link as the Meton period link to generate the conrmed gear ratio, i.e., the Meton period, the Meton period link can be identied for each result, as shown in Fig. 14. Therefore, after the assignment of the Meton period link subject to the required design constraints, eight specialized chains with identied ground link, Callippic period link, Olympiad period link, input link, and Meton period link, are available, as shown in Figs. 15 a 15 h . 5.1.3.6 Transmission link (link 6). Finally, since there must be a transmission link at least incident to a gear pair and a revolute pair, the transmission link can be identied for each result, as shown in Fig. 15. Therefore, after the assignment of the transmission link subject to the required design constraints, three specialized chains with identied ground link, Callippic period link, Olympiad period link, input link, Meton period link, and transmission link, are available, as shown in Fig. 16. Because the Olympiad period link in Fig. 16 b would rotate clockwise, it did not satisfy the constraints of rotation directions of links mentioned

Therefore, three specialized chains with identied ground link are available, as shown in Fig. 11. 5.1.3.2 Callippic period link (link 5). Since there must be a link as the Callippic period link, the Callippic link can be identied as follows. 1. For the generalized kinematic chain shown in Fig. 11 a , the assignment of the Callippic period link generates three results Figs. 12 a 12 c . 2. For the generalized kinematic chain shown in Fig. 11 b , the assignment of the Callippic period link generates four results Figs. 12 d 12 g . 3. For the generalized kinematic chain shown in Fig. 11 c , the assignment of the Callippic period link generates two results Figs. 12 h and 12 i .

Fig. 11 Specialized chains with identied ground link

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Fig. 15 Specialized chains with identied ground link, Callippic period link, Olympiad period link, input link, and Meton period link

Known situations include the conrmed gear ratios as well as two gears, respectively, with 60 teeth and 15 teeth. However, these do not adequately generate an accurate teeth count for each unclear gear in the feasible reconstruction designs. For calculating the teeth number for each feasible design, this work, referring to the direct evidences and the existing design by Freeth et al., hypothesizes the following constraints for sizing the gears:
Fig. 13 Specialized chains with identied ground link, Callippic period link, and Olympiad period link

1. The gear ratio of a gear pair should be at most ve. 2. The speculative teeth numbers should appear in the existing discovery by Freeth et al. and their minimum teeth number is ten and the maximum is hundred. To express clearly, this work presents the following representation for a gear:
gear Ngear pair between two adjacent links on the assigned link

above. Therefore, only Figs. 16 a and 16 c are the feasible reconstruction designs. According to present study, the inscriptions on the Callippic dial was not decoded completely, and the existence of the Callippic dial was speculated 18 . The rotation direction of the Callippic period link is unconrmed. Therefore, through this design procedure, each possible origin design of the calendrical subsystem could be discussed. Figure 16 c is the existing design, and the Callippic dial displays rotate clockwise. Figure 16 a is a possible alternative origin design of the calendrical subsystem; the Callippic dial displays counterclockwise. 5.1.4 Step 4: Reconstruction Designs. After identifying all feasible topological structures of the calendrical subsystem, the teeth counting for each feasible design is an important issue.

where the superscript denotes the gear pair between two adjacent links and the subscript denotes the gear on the assigned link. According to the known gear ratios, the direct evidences, and the size constraint, the teeth numbers of two feasible reconstruction designs could be analyzed as follows. 5.1.4.1 Feasible reconstruction design, Fig. 16(a). Based on the relationship between the input link and the Meton period link and the direct evidence, the following expression is true: 53 19 3 N23 2 N23 3 = 5 N23,N23 = 15,53 2 3 19

Based on the relationship between the Meton period link and the Olympiad period link and the direct evidence, the following expression is true: 5 19 N34 3 N34 4 = N34 19 1 3 34 = N34,N34 = 57,60 3 4 4 20 N4

Based on the relationship between the Olympiad period link and the Callippic period link, the following expression is true:

Fig. 14 Specialized chains with identied ground link, Callippic period link, Olympiad period link, and input link

Fig. 16 Atlas of feasible specialized chains

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Fig. 17 Atlas of reconstruction designs

1 4

N46 4 N46 6

N56 6 N56 5

1 76

Through the size constraint mentioned above, the possible results are generated as follows: N46,N46,N56,N56 = 12,60,57,15 , 4 6 5 6 = 15,57,60,12 N46,N46,N56,N56 = 12,48,57,12 , 4 6 5 6 = 12,57,48,12 N46,N46,N56,N56 = 15,60,57,12 , 4 6 5 6 = 12,57,60,12 N46,N46,N56,N56 = 24,96,57,12 , 4 6 5 6 = 12,57,96,24 Therefore, eight possible results of teeth number are generated. In these results, all teeth numbers could be found from the existing discovery by Freeth et al. 5.1.4.2 Feasible reconstruction design, Fig. 16(c). Through the same analysis procedure mentioned above, the possible result is as follows: N23,N23 = 15,53 , 2 3 N34,N34 = 57,60 3 4 Based on the relationship between the Meton period link and the Callippic period link, the following expression is true: 5 19 N36 3 N36 6 N56 6 N56 5 = 1 76 N46,N46,N56,N56 4 6 5 6 N46,N46,N56,N56 4 6 5 6 N46,N46,N56,N56 4 6 5 6 N46,N46,N56,N56 4 6 5 6

existing information by Freeth et al. The evaluation of the feasible teeth number mentioned above is related to the constraints on sizes. Once a new discovery from the surviving evidence is appeared, a conrmation of teeth number or more possible results can be provided. Moreover, according to the geometric constraints identied by the computer tomography CT images taken for the Antikythera mechanism, each design in the atlas of feasible specialized chains is further particularized into its corresponding schematic diagram, as shown in Fig. 17.

Conclusions

The lack of historical records and the destruction of surviving unearthed artifact make any attempt difcult to create a reconstruction design for the calendrical subsystem of the Antikythera mechanism. Through mobility analysis of the mechanism, this work analyzes the required minimum numbers of links. Based on dial functions and the geometrical constraints of surviving fragments, the mechanism of the calendrical subsystem is a planar mechanism with one degree of freedom, six links, and nine joints including ve revolute pairs and four gear pairs. Furthermore, this work presents a procedure to systematically reconstruct all feasible designs of the calendrical subsystem. Based on the study of historical archives and existing designs, required design constraints are concluded. Finally, according to the concepts of the generalization and specialization of mechanisms subject to the concluded design constraints, two feasible reconstruction designs and 14 corresponding results of teeth analysis, including the existing design by Freeth et al., are generated. As a result, one of the reconstruction designs should be the original mechanism of the calendrical subsystem.

References
1 de Solla Price, D. J., 1959, An Ancient Greek Computer, Sci. Am., 200, pp. 6067. 2 de Solla Price, D. J., 1974, Gears From the Greeks: The Antikythera MechanismA Calendar Computer From ca. 80 BC, Science History, New York. 3 Edmunds, M., and Morgan, P., 2000, The Antikythera Mechanism: Still a Mystery of Greek Astronomy?, Astron. Geophys., 41, pp. 6.106.17. 4 Wright, M. T., and Bromley, A. G., 2001, Towards a New Reconstruction of the Antikythera Mechanism, Proceedings of the Conference on Extraordinary Machines and Structures in Antiquity, Patras. 5 Wright, M. T., 2002, A Planetarium Display for the Antikythera Mechanism, Horological Journal, 144 5 , pp. 169173. 6 Wright, M. T., 2002, In the Steps of the Master Mechanic, Proceedings of the Conference on Ancient Greece and the Modern World, University of Patras, pp. 8697. 7 Wright, M. T., 2003, Epicyclic Gearing and the Antikythera Mechanism, Part 1, Antiquarian Horology, 27, pp. 270279. 8 Wright, M. T., 2004, The Scholar, the Mechanic and the Antikythera Mechanism, Bulletin of the Scientic Instrument Society, 80, pp. 411.

Then, through the size constraint mentioned above, the possible results are generated as follows: N36,N36,N56,N56 = 12,48,60,12 , 3 6 5 6 = 15,60,60,12 N36,N36,N56,N56 = 24,96,60,12 , 3 6 5 6 = 12,60,48,12 N36,N36,N56,N56 = 12,60,60,15 , 3 6 5 6 = 12,60,96,24 Therefore, for this existing design, six feasible results including the original teeth combination are generated. In these results, all teeth numbers could be found from the
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N36,N36,N56,N56 3 6 5 6

N36,N36,N56,N56 3 6 5 6

Transactions of the ASME

9 Wright, M. T., 2005, The Antikythera Mechanism: A New Gearing Scheme, Bulletin of the Scientic Instrument Society, 85, pp. 27. 10 Wright, M. T., 2005, Epicyclic Gearing and the Antikythera Mechanism, Part 2, Antiquarian Horology, 29, pp. 5163. 11 Wright, M. T., 2005, Counting Months and Years: The Upper Back Dial of the Antikythera Mechanism, Bulletin of the Scientic Instrument Society, 87, pp. 813. 12 Wright, M. T., 2006, The Antikythera Mechanism and the Early History of the Moon Phase Display, Antiquarian Horology, 29 3 , pp. 319329. 13 Wright, M. T., 2006, Understanding the Antikythera Mechanism, Proceedings of the Conference on Ancient Greek Technology, Athens, pp. 4960. 14 Wright, M. T., 2007, The Antikythera Mechanism Reconsidered, Interdiscip. Sci. Rev., 32 1 , pp. 2743. 15 Freeth, T., 2002, The Antikythera Mechanism: 1. Challenging the Classic Research, Mediterranean Archaeology & Archaeometry, 2, pp. 2135. 16 Freeth, T., 2002, The Antikythera Mechanism: 2. Is It Posidonius Orrery?, Mediterranean Archaeology & Archaeometry, 2, pp. 4558. 17 Freeth, T., Bitsakis, Y., Moussas, X., Seiradakis, J. H., Tselikas, A., Mangou, H., Zafeiropoulou, M., Hadland, R., Bate, D., Ramsey, A., Allen, M., Crawley, A., Hockley, P., Malzbender, T., Gelb, D., Ambrisco, W., and Edmunds, M. G., 2006, Decoding the Ancient Greek Astronomical Calculator Known as the

Antikythera Mechanism, Nature London , 444, pp. 587591. 18 Freeth, T., Jones, A., Steele, J. M., and Bitsakis, Y., 2008, Calendars With Olympiad Display and Eclipse Prediction on the Antikythera Mechanism, Nature London , 454, pp. 614617. 19 Freeth, T., 2009, Decoding an Ancient Computer, Sci. Am., 301 6 , pp. 7683. 20 Koetsier, T., 2008, Phase in the Unraveling of the Secrets of the Gear System of the Antikythera Mechanism, International Symposium on History of Machines and Mechanisms: Proceedings of HMM 2008, Springer, The Netherlands, pp. 269294. 21 Field, J. V., and Wright, M. T., 1985, Gears From the Byzantines: A Portable Sundial With Calendrical Gearing, Ann. Sci., 42, pp. 87138. 22 Yan, H. S., 1992, A Methodology for Creative Mechanism Design, Mech. Mach. Theory, 27 3 , pp. 235242. 23 Yan, H. S., 1998, Creative Design of Mechanical Devices, Springer-Verlag, Singapore. 24 Yan, H. S., and Hsiao, K. H., 2007, Reconstruction Design of the Lost Seismoscope of Ancient China, Mech. Mach. Theory, 42 12 , pp. 16011617. 25 Yan, H. S., 2007, Reconstruction Designs of Lost Ancient Chinese Machinery, Springer, The Netherlands.

Journal of Mechanical Design

FEBRUARY 2011, Vol. 133 / 021004-9