Taipei City

s
Taipei City
Tainan City
Creative Machine Design E&R Lab, National Cheng Kung University, TAIWAN
ASME 2011 International Design Engineering Technical
Conferences (IDETC) and Computers and Information in
R S h f h L
Conferences (IDETC) and Computers and Information in
Engineering Conference (CIE)
Reconstruction Synthesis of the Lost
Subsystem for the Planetary Motions Subsystem for the Planetary Motions
of Antikythera Mechanism
Authors: Hong-Sen Yan & Jian-Liang Lin
Speaker: Jian-Liang Lin
Department of Mechanical Engineering
National Cheng Kung University
Creative Machine Design E&R Lab, National Cheng Kung University, TAIWAN
Tainan, Taiwan
Out l i ne
Introduction
Overall Contribution
Historical Background Historical Background
Kinematic Analysis
i i S Feasible Topological Structures
Process of Reconstruction Synthesis
Conclusions
Creative Machine Design E&R Lab, National Cheng Kung University, TAIWAN
I nt r oduc t i on
Display the motions of heavenly bodies
Do the calculations of different calendars Do the calculations of different calendars
Predict the time of eclipses
Creative Machine Design E&R Lab, National Cheng Kung University, TAIWAN
Syst emat i c Appr oac h of
R t t i S t h i Rec onst r uc t i on Synt hesi s
a
Historical Archives
Design specifications
Topological characteristics Number synthesis
a
Generalized Kinematic Chains
Topological characteristics Number synthesis
Specialized Chains
Design constraints Specialization
Reconstruction Designs
Ancient science and technology
a
Creative Machine Design E&R Lab, National Cheng Kung University, TAIWAN
a
Over al l Cont r i but i on Over al l Cont r i but i on
Two examples of the lost planetary motions subsystem
are derived respectively with one and three design are derived respectively with one and three design
concepts.
The inner displays the pointer of date
The inner displays the pointer of date
4 1
3 5
The outer displays the pointer of the planet
p y p
1
3
The outer displays the pointer of the planet
4
4 1
2
1
i b
2
4
b1
gear a1
axis b
axis b
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6
Hi st or i c al Bac k gr ound g
Venus
indicator
fixed wheel
80teeth 80 teeth
D 65t th
L: 50 teeth
fixed wheel fixing
D: ~65 teeth
rotates once per Earth year
Creative Machine Design E&R Lab, National Cheng Kung University, TAIWAN
Existing reconstruction designs from 2000 to date
Hi st or i c al Bac k gr ound g
The feasible astronomical theory
Apollonius developed the epicycles model to Apollonius developed the epicycles model to
account for the motions of five planets. And he
successfully produced the retrograde motion of successfully produced the retrograde motion of
planets.
Planet
Epicycle
Earth
Deferent
Earth
Creative Machine Design E&R Lab, National Cheng Kung University, TAIWAN
Deferent
Ki nemat i c Anal ysi s
Apollonius epicycles model
The planet rotates on an epicycle whose center p p y
rotates on the deferent with the same direction.
d de
e e e = +
( )
cos
e
d
r
u u
| |

|
( )
( )
cos
1
e de
d
d e
e
r
r
u u
e e e
u u
|
|
= +
|
( )
1 cos
e
e de
d
r
u u
|
+
|
\ .
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9
Anomaly Function
Feasi bl e Topol ogi c al St r uc t ur es
Q2 Th b f li k d j i ??
Q1: Input Identification of Lost Subsystem??
Q2: The numbers of links and joints.??
Q3: The position of pin-in-slot joint..??
Creative Machine Design E&R Lab, National Cheng Kung University, TAIWAN
Q1: I nput I dent i f i c at i on p
Three feasible input conditions of lost planetary motions
Creative Machine Design E&R Lab, National Cheng Kung University, TAIWAN
Three feasible input conditions of lost planetary motions
subsystem were supposed.
Q2: Number s of Li nk s and J oi nt s Q
The lost planetary subsystem with N
L
members, N
JR
revolute
pairs, N
JA
cam pairs and N
JG
gear pairs has one degree of pairs, N
JA
cam pairs and N
JG
gear pairs has one degree of
freedom.
Based on the mobility analysis
2 3 4 0.........(1)
JR JG JA L
N N N N + + + =
Based on the mobility analysis
For a gear train with N joints
0.........(2)
JR JG JA J
N N N N + + =
For a gear train with N
J
joints
Each link in a geared
kinematic chain must
have one revolute pair
1 0.........(3)
JR L
N N + =
have one revolute pair
Creative Machine Design E&R Lab, National Cheng Kung University, TAIWAN
Q2: Number s of Li nk s and J oi nt s
By solving above equations, the relations between
th j i t d li k ld b d i d the joints and links could be derived as:
1 N =
All Joint number
2 3
J L
N N =
1
JG
N =
Four-bar mechanism
Revolute Joint number
1
JR L
N N =
with five joints
Revolute Joint number
G i
3
JG L
N N =
2
JG
N =
Five bar mechanism
Gear Joint number
1
JA
N =
Five-bar mechanism
with seven joints
Pin-in-slot Joint number
Creative Machine Design E&R Lab, National Cheng Kung University, TAIWAN
JA
Q3: Posi t i ons of Pi n-i n-sl ot J oi nt
For a planetary gear train with n planet gears and one
pin-in-slot joint: pin in slot joint:
The pin-in-slot joint is incident to the
l d h li k
therateof epicycle
s e
T e
planet gear and the output link.
N is even;
the rate of epicycle
the rate of deferent
s e
pn d
T
e
e
= =
Feasible
The pin-in-slot joint is incident to two
planet gears.
Feasible
( 1)
( 1)
the rate of deferent
th t f i l
k k
n
s p p o
d
TT T T
TT
e

= =
Creative Machine Design E&R Lab, National Cheng Kung University, TAIWAN
the rate of epicycle
k
s p e
TT e
Desi gn Spec i f i c at i ons of Eac h Type
Type 1 Type 2
1. It is a planetary gear train.
2. It is a four-bar mechanism
with five joints and one
1. It is a planetary gear train.
2. It is a five-bar mechanism
with seven joints and one with five joints and one
degree of freedom.
3. The joints include three
with seven joints and one
degree of freedom.
3. The joints include four
revolute joints, one
external gear joint.
4. The types of mechanical
revolute joints, two
external gear joints and
one pin-in-slot joint. 4. The types of mechanical
components are gears and
links.
one pin in slot joint.
4. The types of mechanical
components are gears and
li k links.
Creative Machine Design E&R Lab, National Cheng Kung University, TAIWAN
Spec i al i zat i on Pr oc ess of Type 1 p yp
It must have at least a ground link (member 1, K
F
), an input
link (member 2, K
I
), an output link (member 3, K
O
), and a
G d li k
( ,
I
), p ( ,
O
),
transmission link (member 4, K
T1
).
STEP 1
1 1
3
step 1 step 2
Ground link
Input link
STEP 1
STEP 2
4
step 4
step 3
Output link
STEP 3
STEP 4
1
2 3
1
2
3
p
Transmission link
Pin-in-slot joint
STEP 4
STEP 5
2 3
4
J
A
2 3
4
J
A
J
G
J
R
step 6
j
Revolute joints &
Gear joints
STEP 6
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16
1 1
J
R
J
R
(a)
Gear joints
Feasi bl e Desi gn Conc ept of Type 1 Feasi bl e Desi gn Conc ept of Type 1
One feasible design concept for the inferior and One feasible design concept for the inferior and
superior planets
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17
Spec i al i zat i on Pr oc ess of Type 2
step 1 step 1 step 1 step 1 step 1
Ground link
1
1
3
1
1
1
step 2 step 2 step 2 step 2
Not Feasible
step 2
Input link
1
3
1
3
1
3
1
3
step 3 step 3 step 3 step 3
Output link
1
2
3
1
3 2
1
3
2
1
3
2
1
3 2
step 4 step 4 step 4 step 4 step 4
Not Feasible Not Feasible Not Feasible
Transmission link
1
2
4
5
3 3
J A
1
3 2
4 5
J A
step 5 step 5 step 5 step 5
Pin-in-slot joint
1
2
4
5
J A
1
2
4
5
J A
3
J J
1
3 2
4 5
J A
J
1
3 2
4 5
J A
J
step 6 step 6 step 6 step 6
Not Feasible
j
Revolute joints &
G j i t
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18
1
2
4
5
J A
J R
J R
J R
J R J G
J G
1
3 2
4 5
J A
J R
J R J R
J R J G
J G
1
3 2
4 5
J A
J R
J R J R
J R J G
J G
(a) (b) (c)
Not Feasible
Gear joints
Feasi bl e Desi gn Conc ept s of Type 2 g p yp
The outer displays the pointer of the planet
The inner displays the pointer of date
4 1
3 5
4 1
2
s1
s2
b1
Creative Machine Design E&R Lab, National Cheng Kung University, TAIWAN
19
axis b
Conc l usi ons
This work synthesizes all feasible reconstruction
designs of the planetary subsystem through a designs of the planetary subsystem through a
systematic design procedure.
a
Historical Archives
a
Design specifications
Topological characteristics Number synthesis
a
Generalized Kinematic Chains
Design constraints Specialization
Specialized Chains
Ancient science and technology
a
Creative Machine Design E&R Lab, National Cheng Kung University, TAIWAN
Reconstruction Designs
a
Conc l usi ons
The kinematic analysis of epicycles model and
the discussions of feasible topological structures the discussions of feasible topological structures
were presented.
Lost subsystem Lost subsystem
Input link
Input link
s1
s2
a1
b1
b2
a1
b2
b1
Supposed
compound
gear
(a) Condition 1 (b) Condition 2
Lost subsystem
Input link
a1
b2
b1
(c) Condition 3
Creative Machine Design E&R Lab, National Cheng Kung University, TAIWAN
Cont r i but i on Cont r i but i on
Two examples of the lost planetary motions subsystem
are derived respectively with one and three design are derived respectively with one and three design
concepts.
The inner displays the pointer of date
The inner displays the pointer of date
4 1
3 5
The outer displays the pointer of the planet
p y p
1
3
The outer displays the pointer of the planet
4
4 1
2
1
i b
2
4
b1
gear a1
axis b
axis b
Creative Machine Design E&R Lab, National Cheng Kung University, TAIWAN
22
Ac k now l edgement g
The authors are grateful to the National
Science Council (TAIWAN ROC) under Science Council (TAIWAN, ROC) under
Grant NSC 99-2221-E-006-253 for the
fi i l t f thi k financial support of this work.
Creative Machine Design E&R Lab, National Cheng Kung University, TAIWAN
Creative Machine Design E&R Lab, National Cheng Kung University, TAIWAN