Su Song’s Escapement Regulator

Part of the History Of Mechanism And Machine Science book series (HMMS, volume 3)

This chapter systematically generates all feasible designs of Su Song’s escapement regulator that meet the scientific and technological standards of the subject’s time period [1-4]. Historical records of Su Song’s clock tower and the escapement regulator are addressed first. Then, the topological structure of an available design is analyzed, and the design constraints are concluded. The process of reconstruction design of Su Song’s escapement regulators is also illustrated. Finally, feasible escapement regulators of Su Song’s clock tower and modern mechanical clocks are compared.


Revolute Joint Song Dynasty Gear Train Mechanical Clock Driving Wheel 
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