1812-14: Puffing Billy, 0-4-0. First with twin cylinders, which were vertical and located outside the boiler. Drove wheel via pivoted beams (liek a beam engine). Had double-flanged wheels.
1812: Salamanca. First commercially successful steam locomotive. Was rack-and-pinion drive, and single-flanged running wheels. [3]
1814: Blücher, 0-4-0. First to use unaided single-flanged wheels for traction.
1825: Locomotion No 1, 0-4-0. Hauled the first train on the Stockton and Darlington Railway.
^Robert Kirkby, Richard Shelton; et al. (October 1990). Engineering in History. New York: Dover Publications Inc. pp. pp 274 - 275. ISBN0-486-26412-2. {{cite book}}: |pages= has extra text (help); Explicit use of et al. in: |last= (help)CS1 maint: date and year (link)
^Hamilton Ellis (1968). The Pictorial Encyclopedia of Railways. The Hamlyn Publishing Group. p. 20.