**9. References**


an earlier development stage, at least when it comes to practical applications. Its importance is, however, appreciated, in view of introducing predictive maintenance. As a turbine model suitable for theoretical determination of quantitative diagnostic relations still remains to be developed, much of the work in this field employs empirical data. It seems justified to say that reliable forecasting of technical condition development is currently the major challenge

The author wishes to express his deep gratitude to Prof. Czesław Cempel and Prof. Stanisław Radkowski for numerous discussions and inspiration that have been invaluable throughout his professional career in the field of technical diagnostics. The memory of late Prof. Zenon Orłowski, who had been author's teacher and friend until his untimely death, is

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Bently, D.E. and Hatch, C.T. (2002). *Fundamentals of Rotating Machinery Diagnostics*, Bently

Cempel, C. (1991). *Vibroacoustic Condition Monitoring*, Ellis Horwood, ISBN 0-13-931718-X,

Cempel, C., Natke, H.G. and Yao J.T.P. (2000). Symptom reliability and hazard for systems

Cempel, C. (2003). Multidimensional Condition Monitoring of Mechanical Systems in Ope-

Crocker, J. (2003). Prognostics in Aero-Engines, *Proceedings of the 16th International Congress* 

Gałka, T. (1999). Application of energy processor model for diagnostic symptom limit value

Gałka, T. (2001). Influence of Turbine Load on Vibration Patterns and Symptom Limit Value

Gałka, T. (2008a). Correlation-Based Symptoms in Rotating Machines Diagnostics,

Gałka, T. (2008b). Statistical Vibration-Based Symptoms in Rotating Machinery Diagnostics.

80-254-2276-2, Praha, Czech Republic, June 11-13, 2008

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Pressurized Bearings Press, ISBN 0-9714081-0-6, Minden, USA

*Dynamic Behaviour Including Modelling and Diagnosis*. Springer, ISBN 978-3-642-

condition monitoring, *Mechanical Systems and Signal Processing*, vol.14, No.3 (2000)

ration. *Mechanical Systems and Signal Processing*, vol.17, No.6 (2003) pp. 1291-1303,

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determination in steam turbines. *Mechanical Systems and Signal Processing*, vol.13,

Determination Procedures, *Proceedings of the 14th International Conference COMADEM 2001,* pp. 967-976, ISBN 0 08 0440363, Manchester, UK, September 4-6,

*Proceedings of the 21st International Congress COMADEM 2008*, pp. 213-226, ISBN 978-

that faces specialists in this field throughout the world.

01484-0, Berlin-Heidelberg, Germany

No.5 (1999) pp.757-764, ISSN 0888-3270

**8. Acknowledgments** 

gratefully acknowledged.

New York, USA

ISSN 0888-3270

2003

2001

pp. 495-505, ISSN 0888-3270

**9. References** 


**1. Introduction** 

mechanical compliance.

**2. Influence factors of compliance** 

without a specific application.

**15** 

*Germany* 

**On the Mechanical Compliance** 

In the safe physical human-machine interaction the compliance of technical systems is an elementary requirement (Zinn et al., 2004; Bicchi & Tonietti, 2004). The physical compliance of technical systems can be provided either by control functions implementation and/or intrinsic by structural configuration and material properties optimization (Beder & Suzumori, 1996; Wang et al., 1998). The latter is advantageous because of higher reliability as well as general simplicity of the design and production technologies (Beder & Suzumori, 1996; Ham et al., 2009). In the following we focus on mechanical systems with intrinsic

In general the deformability of structures is primarly characterised by their stiffness. Stiffness is the measure of the ability of a structure to resist deformation due to the action of external forces (IFToMM Terminology, 2010). Compliant mechanisms are mechanisms, whose functionality is based on its deformability. The mobility of these mechanisms results from their mostly elastic or plastic deformability (The definition is based on (Bögelsack, 1995; Howell, 2001; Christen & Pfefferkorn, 1998)). For the description of these mechanisms it is advisable to use the compliance instead of the stiffness. The compliance is the reciprocal of stiffness and is defined as the measure of the ability of a structure to exhibit a deformation due to the action of external forces (IFToMM Terminology, 2010). The goal of each engineer is by the design of mechanisms the setting of compliance depending upon the purpose of its application. It should be considered, that the compliance is dependent on a variety of parameters. The optimal design of these mechanisms can be realized only with

precise knowledge of the influence parameters and possible types of compliance.

First, the factors will be considered that determine the compliance of mechanisms generally,

The compliance of a mechanism is determined with respect to a displacement of a specific selected reference point or area of the mechanism as a result of an external force. That approach is necessary because the deformation of a mechanism is usually associated with varying displacements for differing areas of a mechanism. Accordingly, the compliance of a

**of Technical Systems** 

Lena Zentner and Valter Böhm *Ilmenau University of Technology,* 

