As a great inspiration, we want to mention the works of Leonardo da Vinci during the XV and XVI centuries. In several of Leonardo's codices, we can find studies of human anatomy, which are undoubtedly works of great interest for those who work with robotics. Also, we find animal anatomy studies, among which we can see some bird studies in which there was the mechanical analysis of a wing. We can appreciate the draw is a chain of rigid solids with three joints. It is an image that directly evokes the constitution of an industrial robotic manipulator. Additionally, the extensive studies on the structure of mechanisms make Leonardo a remarkable historical reference for robotics research.