Gastrophetes, ca. 400 B.C.

Oxybeles, ca. 375

Onager, ca. A.D. 350

Oxybeles, ca. 340 B.C.

Oxybeles designed by  Zopyrus of Tarentum, ca. 250 B.C.

The Ballista, ca. 50 B.C.

Scorpio, ca. 50 B.C.

Cheiroballista, ca. A.D. 100

Gastrophetes, plan

Mountain Gastrophetes, Plan by Zopyrus of Tarentum

Mountain Gastrophetes, Plan by Biton of Greece

Oxybeles, Plan by Charon

Oxybeles, Plan by Isidorus of Abydus

Ballista, Plan of parts 1

Ballista, Plan of parts 2

Cheiroballista, Plan of Heron of Alexandria

Euthytone

Lithobolos

Roman Catapult, Plan of Vitruvius of Rome

Ballista, Plan of Vitruvius of Rome