Origins of The Word Dravidian
The English word Dravidian was first employed by Robert Caldwell in his book of comparative Dravidian grammar based on the usage of the Sanskrit word drāviḍa in the work Tantravārttika by Kumārila Bhaṭṭa (Zvelebil 1990 p.xx). Caldwell used 'Dravidian' as a generic name for the family of languages spoken in Southern India to distinguish them from Indo-Aryan, the branch of Indo-European spoken in the Indian subcontinent. Before Caldwell, the word drāviḍa was traditionally used to designate the Tamil language and people, and vaguely the people of South India. In his own words, Caldwell says,
"The word I have chosen is ‘Dravidian’, from Drāviḍa, the adjectival form of Dravida. This term, it is true, has sometimes been used, and is still sometimes used, in almost as restricted a sense as that of Tamil itself, so that though on the whole it is the best term I can find, I admit it is not perfectly free from ambiguity. It is a term which has already been used more or less distinctively by Sanskrit philologists, as a generic appellation for the South Indian people and their languages, and it is the only single term they ever seem to have used in this manner. I have, therefore, no doubt of the propriety of adopting it."
As for the origin of the Sanskrit word drāviḍa itself there have been various theories proposed. Basically the theories are about the direction of derivation between tamiẓ and drāviḍa.
There is no definite philological and linguistic basis for asserting unilaterally that the name Dravida also forms the origin of the word Tamil (Dravida -> Dramila -> Tamizha or Tamil). Kamil Zvelebil cites the forms such as dramila (in Daṇḍin's Sanskrit work Avanisundarīkathā) damiḷa (found in Ceylonese chronicle Mahavamsa) and then goes on to say (ibid. page xxi), "The forms damiḷa/damila almost certainly provide a connection of dr(a/ā)viḍa " and "... tamiḷ < tamiẓ ...whereby the further development might have been *tamiẓ > *damiḷ > damiḷa- / damila- and further, with the intrusive, 'hypercorrect' (or perhaps analogical) -r-, into dr(a/ā)viḍa. The -m-/-v- alternation is a common enough phenomenon in Dravidian phonology" (Zvelebil 1990 p.xxi) Zvelebil in his earlier treatise (Zvelebil 1975: p53) states, "It is obvious that the Sanskrit dr(a/ā)viḍa, Pali damila, damiḷo and Prakrit d(a/ā)viḍa are all etymologically connected with tamiẓ" and further remarks "The r in tamiẓ > dr(a/ā)viḍa is a hypercorrect insertion, cf. an analogical case of DED 1033 Ta. kamuku, Tu. kangu "areca nut": Skt. kramu(ka)."
Further, another Dravidian linguist Bhadriraju Krishnamurti in his book Dravidian Languages (Krishnamurti 2003: p. 2, footnote 2) states,
"Joseph (1989: IJDL 18.2:134-42) gives extensive references to the use of the term draviḍa, dramila first as the name of a people, then of a country. Sinhala BCE inscriptions cite dameḍa-, damela- denoting Tamil merchants. Early Buddhist and Jaina sources used damiḷa- to refer to a people of south India (presumably Tamil); damilaraṭṭha- was a southern non-Aryan country; dramiḷa-, dramiḍa, and draviḍa- were used as variants to designate a country in the south (Bṛhatsamhita-, Kādambarī, Daśakumāracarita-, fourth to seventh centuries CE) (1989: 134–138). It appears that damiḷa- was older than draviḍa- which could be its Sanskritization."
Based on what Krishnamurti states referring to a scholarly paper published in the International Journal of Dravidian Linguistics, the Sanskrit word draviḍa itself is later than damiḷa since the dates for the forms with -r- are centuries later than the dates for the forms without -r- (damiḷa, dameḍa-, damela- etc.).
The Monier-Williams Sanskrit Dictionary lists for the Sanskrit word draviḍa a meaning of "collective Name for 5 peoples, viz. the Āndhras, Karṇāṭakas, Gurjaras, Tailaṅgas, and Mahārāṣṭras".
Read more about this topic: Dravidian Languages
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