Instruct: Given a question, retrieve relevant passages that answer the question.
Query: Who developed the first escapement mechanism for watches and clocks?
The lever escapement, invented by Thomas Mudge in 1750, has been used in the vast majority of watches since the 19th century. Its advantages are (1) it is a "detached" escapement; unlike the cylinder or duplex escapements the balance wheel is only in contact with the lever during the short impulse period when it swings through its centre position and swings freely the rest of its cycle, increasing accuracy, and (2) it is a self-starting escapement, so if the watch is shaken so that the balance wheel stops, it will automatically start again. The original form was the rack lever escapement, in which the lever and the balance wheel were always in contact via a gear rack on the lever. Later, it was realized that all the teeth from the gears could be removed except one, and this created the detached lever escapement. British watchmakers used the English detached lever, in which the lever was at right angles to the balance wheel. Later Swiss and American manufacturers used the inline lever, in which the lever is inline between the balance wheel and the escape wheel; this is the form used in modern watches. In 1867 Georges Frederic Roskopf invented an inexpensive, less accurate form called the Roskopf or pin-pallet escapement, which was used in cheap "dollar watches" in the early 20th century and is still used in cheap alarm clocks and kitchen timers.
It is believed that sometime in the late 13th century the verge escapement mechanism was applied to tower clocks, creating the first mechanical clock. In spite of the fact that these clocks were celebrated objects of civic pride which were written about at the time, it may never be known when the new escapement was first used. This is because it has proven difficult to distinguish from the meager written documentation which of these early tower clocks were mechanical, and which were water clocks; the same Latin word, "horologe", was used for both. None of the original mechanisms have survived unaltered. Sources differ on which was the first clock 'known' to be mechanical, depending on which manuscript evidence they regard as conclusive. One candidate is the Dunstable Priory clock in Bedfordshire, England built in 1283, because accounts say it was installed above the rood screen, where it would be difficult to replenish the water needed for a water clock. Another is the clock built at the Palace of the Visconti, Milan, Italy, in 1335. However, there is agreement that mechanical clocks existed by the late 13th century.
- A travelling clock signed "Oudin à Sedan", made circa 1790, with Arnold's pivoted detent escapement and quarter repeat, whose case is similar to that of the clock Breguet delivered to Napoleon Bonaparte in 1798.
- A "souscription" watch signed "Charles Oudin, Elève de Breguet, Palais Royal No. 65", with special escapement, made circa 1800; Charles Oudin developed a special mechanism for Breguet's souscription watches 
- A self-winding watch with "balançoire", whose cuvette is engraved "Inventée et exécutée par Ch. Oudin Elève de Breguet" (Invented and made by Ch. Oudin, student of Breguet), made for the 1806 Exhibition of the Products of French Industry (today in the Patek Philippe Museum in Geneva)
- A self-winding watch, a pendant-wound watch [15], and a watch with moon phases and synodic months, which received medals at the 1806 Exhibition of the Products of French Industry
- A watch with equation of time,which won a medal at the 1819 Exhibition of the Products of French Industry 
- A "souscription" watch [16] with equation of time, made circa 1820
- A small marine chronometer with special escapement, made circa 1830
- A watch with quarter repeat, grande and petite sonnerie and thermometer, made circa 1850
- A travelling clock with grande and petite sonnerie, moon phases, alarm, and special escapement, made in 1869
- An eight-day going watch with grande and petite sonnerie in passing and pendant winding, made for the Count de Chambord circa 1870
The grasshopper escapement is a low-friction escapement for pendulum clocks invented by British clockmaker John Harrison around 1722. An escapement, part of every mechanical clock, is the mechanism that gives the clock's pendulum periodic pushes to keep it swinging, and each swing releases the clock's gears to move forward by a fixed amount, thus moving the hands forward at a steady rate. The grasshopper escapement was used in a few regulator clocks built during Harrison's time, and a few others over the years, but has never seen wide use. The term "grasshopper" in this connection, apparently from the kicking action of the pallets, first appears in the "Horological Journal" in the late 19th century.
A mechanical watch is a watch that uses a clockwork mechanism to measure the passage of time, as opposed to quartz watches which function electronically via a small battery. A mechanical watch is driven by a mainspring which must be hand-wound periodically. Its force is transmitted through a series of gears to power the balance wheel, a weighted wheel which oscillates back and forth at a constant rate. A device called an escapement releases the watch's wheels to move forward a small amount with each swing of the balance wheel, moving the watch's hands forward at a constant rate. This makes the 'ticking' sound characteristic of all mechanical watches. Mechanical watches evolved in Europe in the 17th century from spring powered clocks, which appeared in the 15th century.
An escapement is a device in mechanical watches and clocks that transfers energy to the timekeeping element (the "impulse action") and allows the number of its oscillations to be counted (the "locking action"). The impulse action transfers energy to the clock's timekeeping element (usually a pendulum or balance wheel) to replace the energy lost to friction during its cycle and keep the timekeeper oscillating. The escapement is driven by force from a coiled spring or a suspended weight, transmitted through the timepiece's gear train. Each swing of the pendulum or balance wheel releases a tooth of the escapement's escape wheel gear, allowing the clock's gear train to advance or "escape" by a fixed amount. This regular periodic advancement moves the clock's hands forward at a steady rate. At the same time the tooth gives the timekeeping element a push, before another tooth catches on the escapement's pallet, returning the escapement to its "locked" state. The sudden stopping of the escapement's tooth is what generates the characteristic "ticking" sound heard in operating mechanical clocks and watches.
The first water clocks to employ complex segmental and epicyclic gearing was invented earlier by the Arab engineer Ibn Khalaf al-Muradi in Islamic Iberia c. 1000. His water clocks were driven by water wheels, as was also the case for several Chinese water clocks in the 11th century. Comparable water clocks were built in Damascus and Fez. The latter (Dar al-Magana) remains until today and its mechanism has been reconstructed. The first European clock to employ these complex gears was the astronomical clock created by Giovanni de Dondi in c. 1365. Like the Chinese, Arab engineers at the time also developed an escapement mechanism which they employed in some of their water clocks. The escapement mechanism was in the form of a constant-head system, while heavy floats were used as weights.
A mechanical movement uses an escapement mechanism to control and limit the unwinding and winding parts of a spring, converting what would otherwise be a simple unwinding into a controlled and periodic energy release. A mechanical movement also uses a balance wheel together with the balance spring (also known as a hairspring) to control the motion of the gear system of the watch in a manner analogous to the pendulum of a pendulum clock. The tourbillon, an optional part for mechanical movements, is a rotating frame for the escapement, which is used to cancel out or reduce the effects of gravitational bias to the timekeeping. Due to the complexity of designing a tourbillon, they are very expensive, and only found in prestigious watches.
For the first two hundred years or so of the mechanical clock's existence, the verge, with foliot or balance wheel, was the only escapement used in mechanical clocks. In the sixteenth century alternative escapements started to appear, but the verge remained the most used escapement for 350 years until mid-17th century advances in mechanics, resulted in the adoption of the pendulum, and later the anchor escapement.
Since clocks were valuable, after the invention of the pendulum many verge clocks were rebuilt to use this more accurate timekeeping technology, so very few of the early "verge and foliot" clocks have survived unaltered to the present day.
The importance of the escapement in the history of technology is that it was the key invention that made the all-mechanical clock possible.[1][2] The invention of the first all-mechanical escapement, the verge escapement, in 13th-century Europe initiated a change in timekeeping methods from continuous processes, such as the flow of water in water clocks, to repetitive oscillatory processes, such as the swing of pendulums, which could yield more accuracy.[2] Oscillating timekeepers are used in every modern clock.
Reportedly the largest clock in the world, the clock in the new atrium was created by the oldest enterprise in Russia, the Petrodvorets watch factory. Six months were necessary for the development and installation of the clock by a group of engineers from the watch factory "Raketa". The clock's mechanism weighs 4.5 tons and consists of 5000 pieces in steel, aluminum, titanium and gold-plated metal. The mechanism has a height of 13 meters and a width of 7 meters. It consists of 21 large gears and a 13 meters pendulum. The pendulum surface acts as aspheric mirror, creating an optical effect. The main mechanism of the clock is on the fifth floor. It is the largest clock mechanism in the world and it is among the five largest mechanical clocks in the world such as Big Ben, the carillon of the Moscow's Kremlin, the clock on the "Clock Tower" in Prague or of the clock of the city of Ganzhou.
In horology, the anchor escapement is a type of escapement used in pendulum clocks. The escapement is a mechanism in a mechanical clock that maintains the swing of the pendulum by giving it a small push each swing, and allows the clock's wheels to advance a fixed amount with each swing, moving the clock's hands forward. The anchor escapement was so named because one of its principal parts is shaped vaguely like a ship's anchor.
In 1675, Huygens and Robert Hooke invented the spiral balance spring, or the hairspring, designed to control the oscillating speed of the balance wheel. This crucial advance finally made accurate pocket watches possible. The great English clockmaker, Thomas Tompion, was one of the first to use this mechanism successfully in his pocket watches, and he adopted the minute hand which, after a variety of designs were trialled, eventually stabilised into the modern-day configuration. The rack and snail striking mechanism for striking clocks, was introduced during the 17th century and had distinct advantages over the 'countwheel' (or 'locking plate') mechanism. During the 20th century there was a common misconception that Edward Barlow invented "rack and snail" striking. In fact, his invention was connected with a repeating mechanism employing the rack and snail. The repeating clock, that chimes the number of hours (or even minutes) was invented by either Quare or Barlow in 1676. George Graham invented the deadbeat escapement for clocks in 1720.
An escapement is a mechanism for imparting power to a clock or watch mechanism, with timing controlled by a pendulum or other resonant device.
Although some sources claim that French architect Villard de Honnecourt invented the first escapement around 1237 due to a drawing in his notebooks of a rope linkage to turn a statue of an angel to follow the sun,[11] the consensus is that this was not an escapement.[12][13][14][15][16][17] The first mechanical escapement, the verge escapement, was used in a bell ringing apparatus called an alarum for several centuries before it was adapted to clocks.[18] In 14th-century Europe it appeared as the timekeeper in the first mechanical clocks, which were large tower clocks.[19] Its origin and first use is unknown because it is difficult to distinguish which of these early tower clocks were mechanical, and which were water clocks.[20] However, indirect evidence, such as a sudden increase in cost and construction of clocks, points to the late 13th century as the most likely date for the development of the modern clock escapement.[19] Astronomer Robertus Anglicus wrote in 1271 that clockmakers were trying to invent an escapement, but hadn't been successful yet.[21] On the other hand, most sources agree that mechanical escapement clocks existed by 1300.[22][23][19]
A Roskopf, pin-lever, or pin-pallet escapement is an inexpensive, less accurate version of the lever escapement, used in mechanical alarm clocks, kitchen timers, mantel clocks and, until the 1970s, cheap watches now known as pin lever watches. It was patented by German watchmaker Georges Frederic Roskopf in 1867, suggested to Roskopf by Jules Grossmann. 
Although the invention of the crystal oscillator and the quartz clock in the 1920s shifted technological research in timekeeping to electronic methods, major advances in the design of mechanical escapement are still happening. Coaxial escapement, invented by English watchmaker George Daniels around 1974 and patented in 1980 has rather dramatically increased the accuracy and durability of mechanical watches. Yoshikazu Akahane with teams of engineers at Seiko Epson developed the spring drive movement around 1977, and obtained not less than 230 patents between 1982 and the present.
The verge escapement dates from 13th-century Europe, where its invention led to the development of the first all-mechanical clocks. Starting in the 13th century, large tower clocks were built in European town squares, cathedrals, and monasteries. They kept time by using the verge escapement to drive the foliot, a primitive type of balance wheel, causing it to oscillate back and forth. The foliot was a horizontal bar with weights near the ends, and the rate of the clock could be adjusted by moving the weights in or out on the bar.
In Europe, between 1280 and 1320, there is an increase in the number of references to clocks and horologes in church records, and this probably indicates that a new type of clock mechanism had been devised. Existing clock mechanisms that used water power were being adapted to take their driving power from falling weights. This power was controlled by some form of oscillating mechanism, probably derived from existing bell-ringing or alarm devices. This controlled release of power—the escapement—marks the beginning of the true mechanical clock, which differed from the previously mentioned cogwheel clocks. Verge escapement mechanism derived in the surge of true mechanical clocks, which didn't need any kind of fluid power, like water or mercury, to work.
Many were developed, mostly for entertainment purposes, ranging from tea-serving to arrow-shooting mechanisms. These ingenious mechanical toys were to become prototypes for the engines of the industrial revolution. They were powered by spring mechanisms similar to those of clocks.
Mechanical clocks were introduced into Japan by Jesuit missionaries or Dutch merchants in the sixteenth century. These clocks were of the lantern clock design, typically made of brass or iron, and used the relatively primitive verge and foliot escapement. These led to the development of an original Japanese clock, called Wadokei.
The lever escapement was invented by British clockmaker Thomas Mudge around 1755, and improved by Abraham-Louis Breguet (1787), Peter Litherland (1791), Edward Massey (1800), and its modern ("table roller") form was developed by George Savage in the early 1800s. Since about 1900 virtually every mechanical watch, alarm clock and other portable timepiece has used the lever escapement.
The advantages of the lever are, first, that it is a "detached" escapement, it allows the balance wheel to swing completely free of the escapement during most of its oscillation, except when giving it a short impulse, improving timekeeping accuracy. Second, due to "locking" and "draw" its action is very precise. Third, it is self-starting, so if the watch is jarred in use so the balance wheel stops, it will start again. A cheaper and less accurate version of the lever escapement, called the pin pallet escapement, invented by Georges Frederic Roskopf in 1867, is used in clocks and timers.
Of the clocks in the Grand Vizier's treasury Taqī al-Dīn examined three different types. Those three were weight driven, spring driven, and clocks with lever escapement. In his writing, he spoke of these three types of watches but he also made comments on pocket watches and astronomical ones. As Chief Astronomer Taqī al-Dīn created a mechanical astronomical clock. This clock was made in order for him to be able to take more precise measurements from his observations done at the Constantinople observatory. As stated above the creation of this clock was thought to be one of the most important astronomical discoveries of the sixteenth century. According to his writing in his book "In the nabk tree of the extremity of thoughts" Taqī al-Dīn constructed a mechanical clock with three dials which show the hours, minutes, and seconds, with each minute consisting of five seconds. After this clock it is not known whether Taqī al-Dīn's work in mechanical clocks was ever continued since much of the clock making after that time in the Ottoman Empire was taken over by Europeans.
The lever escapement, invented by British clockmaker Thomas Mudge in 1755, is a type of escapement that is used in almost all mechanical watches, as well as small mechanical non-pendulum clocks, alarm clocks, and kitchen timers. 
There is a "Learning Center" introducing some of the basic technologies of the mechanical timekeeper, such as the pendulum, and a large and varied exhibit on many types of clock escapement. There is an excellent sample of American-made tall case clocks (popularly known as "grandfather clocks"), a comprehensive exhibit on American watches, and a small but excellent area dedicated to automatic machinery used in watch manufacturing. Other highlights include an exhibit of the pioneering automated machinery developed by the American Waltham Watch Company, allowing for the first time to mass-produce watches using interchangeable parts, a large selection of American pocket watches (including Railroad watches), and the "Engel Clock", a complicated "monument" clock built by Stephen Decatur Engel of Hazleton, Pennsylvania.
The first geared clock was invented in the 11th century by the Arab engineer Ibn Khalaf al-Muradi in Islamic Iberia; it was a water clock that employed a complex gear train mechanism, including both segmental and epicyclic gearing,[4][83] capable of transmitting high torque. The clock was unrivalled in its use of sophisticated complex gearing, until the mechanical clocks of the mid-14th century.[83] Al-Muradi's clock also employed the use of mercury in its hydraulic linkages,[84][85] which could function mechanical automata.[85] Al-Muradi's work was known to scholars working under Alfonso X of Castile,[86] hence the mechanism may have played a role in the development of the European mechanical clocks.[83] Other monumental water clocks constructed by medieval Muslim engineers also employed complex gear trains and arrays of automata.[87] Like the earlier Greeks and Chinese, Arab engineers at the time also developed a liquid-driven escapement mechanism which they employed in some of their water clocks. Heavy floats were used as weights and a constant-head system was used as an escapement mechanism,[4] which was present in the hydraulic controls they used to make heavy floats descend at a slow and steady rate.[87]