Romans borrowed Greek crossbows and utilized it in their campaigns to some degree. After the fall of Roman Empire, then came the Dark Ages, there is not much evidence related to medieval crossbows. Of course, they were by medieval soldiers, because we have extensive evidence of the fight with a crossbow during the battle of Hastings.
Crossbow soldier had many advantages in comparison with the longbow archer. It was one of the reasons why European armies used crossbows extensively to sixteen century.
It was very easy to train someone with a crossbow within a week or so, but it took years of practice and for the archers on the inclusion of a master long bow.
The late-medieval version of the crossbow arbalest named a fully pushed the long arc of struggle. Arbalest were much larger than original crossbows and had greater strength and power. These weapons can easily pass through most of the knights armor. Arbalest sometimes inhumane or unfair weapons, since an inexperienced crossbowman could kill a knight with a lifetime of training.
In 1139 Pope Innocent II even put a ban on arbalest, but medieval crossbowmen still existed, and continued to kill knights. Mercenary troops of crossbowmen were in high demand these days because of their skills - they shoot two bolts per minute easily. And the commander of the crossbowmen corps was one of the highest and most privileged person in an army.
Later development of a crossbow to use in the cavalry. But times of gunpowder weapons already begun. Musketeers replaced crossbowmen and proved to be deadly against cavalry of heavily armored knights. Muskets could neutralize even the most heavily armored cavalry troops. The widespread use of an end to the domination of a crossbow and completely changed the face of war.
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