Evolution of Clock Escapement Mechanisms

The paper presents and explains the evolution of details design of the clock escapement mechanisms through the ages. As particularly significant, the following mechanisms are emphasized: the crown wheel (verge & foliot), anchor recoil, deadbeat and detached escapements, and their variations - gravity and chronometer escapements, as well as the English and Swiss lever watch escapements. All important geometrical, kinematical and dynamical properties and the influence of these properties on the clock accuracy are explained.