Structural Synthesis of the Ancient Chinese Zhuge Repeating Crossbow

  • Kuo-Hung Hsiao
  • Hong-Sen Yan
Conference paper
Part of the History of Mechanism and Machine Science book series (HMMS, volume 15)


This work synthesizes the structure of the Zhuge repeating crossbow, invented around 220 AD and depicted confusedly in ancient Chinese literature. Based on the analysis of the mechanism, the structural characteristics and design constraints of this device with uncertain members and joints are concluded. Then, according to the concepts of generalization and specialization subject to the concluded design constraints, eight feasible structures of mechanism that meet the technological standards of the subject’s time period are systematically reconstructed.


Generalize Chain Trigger Mechanism Revolute Joint Pairing Element Feasible Design 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer Netherlands 2012

Authors and Affiliations

  • Kuo-Hung Hsiao
    • 1
  • Hong-Sen Yan
    • 2
  1. 1.Collections and Research DivisionNational Science and Technology MuseumKaohsiungTaiwan
  2. 2.Department of Mechanical EngineeringNational Cheng Kung UniversityTainanTaiwan

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