• 한국자동차공학회논문집
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• 제10권5호
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• pp.199-205
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• 2002

The scale of repair parts market reached 0.1 billion won. Above all, it is remarkable that the automotive insurance business world is paying f3r 40 ~5o% of the whole repair cost. The repair parts consist of a genuine parts, non-genuine parts, recycling used parts. It is the recent trend that recycled parts are more popular than the genuine parts f3r repairing crashed cars due to the cost. Performance of recycled continuous velocity(CV) joints and power steering(PS) gear box as replacement parts was tested and analysed in this study. To examine the durability of the recycled parts, the replaced CV joints and PS gear box after repair were tested and analysed periodically. The results were showed that basic performance of the recycled parts was normal. However the ball cage of CV joints was more frequently damaged than genuine parts. We concluded that a test standard and amendment of related laws for recycled parts is required to get a safe and durable parts.

• 한국정밀공학회지
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• 제17권1호
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• pp.110-119
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• 2000

This paper presents simple and effective nonlinear friction compensation methods. When the direction of position command reverses, the integrator output of the PID controller does not change the sign of its output instantaneously, due to friction at zero velocity, i.e. stiction resulting tracking errors, that results in continuous push even though the command direction has been changed. To overcome this problem, we attempt to reverse the sign of the integrator output as the sign of velocity changes. The effectiveness of this approach is demonstrated by experiments on a 3-PRPS (Prismatic-Revolute-Prismatic-Shperical joints) in-parallel 6-D.O.F manipulator. The control strategy has been analyzed for stability. Also discussed are disturbance observer and velocity observer approaches for friction compensation.