id	sid	eid	entity	type
ajst-30187	1	1	academic journal of science and technology issn	ORG
ajst-30187	1	2	2771-3032	CARDINAL
ajst-30187	2	1	14	DATE
ajst-30187	2	2	3	CARDINAL
ajst-30187	2	3	117	CARDINAL
ajst-30187	2	4	jun shao	PERSON
ajst-30187	2	5	kangyou dou	PERSON
ajst-30187	2	6	xiang zhang	PERSON
ajst-30187	2	7	yang	PERSON
ajst-30187	2	8	xudong zhang	PERSON
ajst-30187	2	9	pengfei zhang	PERSON
ajst-30187	2	10	xi’an shiyou university	ORG
ajst-30187	2	11	xi’an 710065	DATE
ajst-30187	2	12	china	GPE
ajst-30187	9	1	1	CARDINAL
ajst-30187	9	2	1	CARDINAL
ajst-30187	10	1	2	CARDINAL
ajst-30187	12	1	3	CARDINAL
ajst-30187	14	1	4	CARDINAL
ajst-30187	15	1	7	CARDINAL
ajst-30187	18	1	2	CARDINAL
ajst-30187	18	2	2.1	CARDINAL
ajst-30187	19	1	2.1.1	CARDINAL
ajst-30187	22	1	1	CARDINAL
ajst-30187	28	1	118	CARDINAL
ajst-30187	28	2	1	CARDINAL
ajst-30187	28	3	6300mm	QUANTITY
ajst-30187	28	4	200kg	QUANTITY
ajst-30187	28	5	mm	PERSON
ajst-30187	28	6	15kw	ORDINAL
ajst-30187	28	7	4	CARDINAL
ajst-30187	28	8	10mpa	CARDINAL
ajst-30187	28	9	3500mm	QUANTITY
ajst-30187	28	10	3500mm	QUANTITY
ajst-30187	28	11	4000mm	QUANTITY
ajst-30187	28	12	9500	CARDINAL
ajst-30187	28	13	2	CARDINAL
ajst-30187	28	14	3large	CARDINAL
ajst-30187	28	15	4	CARDINAL
ajst-30187	28	16	5	CARDINAL
ajst-30187	28	17	6small	CARDINAL
ajst-30187	28	18	7	CARDINAL
ajst-30187	28	19	8	CARDINAL
ajst-30187	28	20	9	CARDINAL
ajst-30187	28	21	1	CARDINAL
ajst-30187	28	22	2.1.2	CARDINAL
ajst-30187	28	23	two	CARDINAL
ajst-30187	28	24	1	CARDINAL
ajst-30187	36	1	two	CARDINAL
ajst-30187	37	1	2	CARDINAL
ajst-30187	41	1	119	CARDINAL
ajst-30187	43	1	q355b	PRODUCT
ajst-30187	44	1	2.2	CARDINAL
ajst-30187	44	2	2.2.1	CARDINAL
ajst-30187	45	1	three	CARDINAL
ajst-30187	46	1	3500mm	QUANTITY
ajst-30187	46	2	375mm	QUANTITY
ajst-30187	46	3	3500mm	QUANTITY
ajst-30187	47	1	2	CARDINAL
ajst-30187	47	2	1	CARDINAL
ajst-30187	48	1	about 9.5	CARDINAL
ajst-30187	48	2	about 130kg	QUANTITY
ajst-30187	49	1	2	CARDINAL
ajst-30187	50	1	3	CARDINAL
ajst-30187	50	2	four degrees	QUANTITY
ajst-30187	52	1	four degrees	QUANTITY
ajst-30187	53	1	4	CARDINAL
ajst-30187	55	1	2.2.2	CARDINAL
ajst-30187	58	1	q335	DATE
ajst-30187	59	1	2	CARDINAL
ajst-30187	59	2	3	CARDINAL
ajst-30187	59	3	2	CARDINAL
ajst-30187	59	4	479.5mm	QUANTITY
ajst-30187	59	5	63153439mm3 2.2.3	CARDINAL
ajst-30187	60	1	two	CARDINAL
ajst-30187	62	1	4	CARDINAL
ajst-30187	62	2	120	CARDINAL
ajst-30187	62	3	1	CARDINAL
ajst-30187	62	4	5	CARDINAL
ajst-30187	63	1	794mm	QUANTITY
ajst-30187	63	2	2475mm	PERSON
ajst-30187	63	3	1681mm＜l3＜3267mm	QUANTITY
ajst-30187	64	1	1930mm~3930mm	QUANTITY
ajst-30187	64	2	1930mm＜l3＜3267mm	QUANTITY
ajst-30187	65	1	2	CARDINAL
ajst-30187	65	2	6	CARDINAL
ajst-30187	66	1	1461mm	QUANTITY
ajst-30187	66	2	2237 mm	QUANTITY
ajst-30187	66	3	776 mm＜l6＜3698 mm	QUANTITY
ajst-30187	67	1	1930mm~3930mm	QUANTITY
ajst-30187	67	2	1930mm＜l3＜3698mm	QUANTITY
ajst-30187	68	1	2.2.4	CARDINAL
ajst-30187	68	2	two	CARDINAL
ajst-30187	69	1	three	CARDINAL
ajst-30187	70	1	7	CARDINAL
ajst-30187	70	2	three	CARDINAL
ajst-30187	70	3	8	CARDINAL
ajst-30187	71	1	9	CARDINAL
ajst-30187	72	1	62~89 mm	PERSON
ajst-30187	74	1	89mm	QUANTITY
ajst-30187	74	2	72mm	QUANTITY
ajst-30187	75	1	10mm	QUANTITY
ajst-30187	75	2	62mm	QUANTITY
ajst-30187	76	1	two	CARDINAL
ajst-30187	77	1	two	CARDINAL
ajst-30187	77	2	one-half	CARDINAL
ajst-30187	77	3	newton	ORG
ajst-30187	77	4	third	ORDINAL
ajst-30187	77	5	121	CARDINAL
ajst-30187	77	6	2	CARDINAL
ajst-30187	77	7	3 2 mg n	QUANTITY
ajst-30187	77	8	1	CARDINAL
ajst-30187	77	9	fig.8	PRODUCT
ajst-30187	77	10	2 1 3cosn n	QUANTITY
ajst-30187	78	1	2	CARDINAL
ajst-30187	78	2	8	CARDINAL
ajst-30187	79	1	1 185f n	QUANTITY
ajst-30187	79	2	1 3 276.5	CARDINAL
ajst-30187	80	1	4	CARDINAL
ajst-30187	80	2	1 2 1048 k	QUANTITY
ajst-30187	81	1	5	CARDINAL
ajst-30187	81	2	3	CARDINAL
ajst-30187	81	3	3.1	CARDINAL
ajst-30187	81	4	second	ORDINAL
ajst-30187	81	5	1	CARDINAL
ajst-30187	81	6	2	CARDINAL
ajst-30187	81	7	3	CARDINAL
ajst-30187	81	8	4	CARDINAL
ajst-30187	81	9	5	CARDINAL
ajst-30187	81	10	6	CARDINAL
ajst-30187	82	1	3.2	CARDINAL
ajst-30187	82	2	fig.10	CARDINAL
ajst-30187	83	1	1	CARDINAL
ajst-30187	83	2	2	CARDINAL
ajst-30187	83	3	3	CARDINAL
ajst-30187	83	4	4	CARDINAL
ajst-30187	83	5	5	CARDINAL
ajst-30187	83	6	6	CARDINAL
ajst-30187	83	7	9	CARDINAL
ajst-30187	83	8	11	CARDINAL
ajst-30187	83	9	12	CARDINAL
ajst-30187	83	10	13	CARDINAL
ajst-30187	83	11	two	CARDINAL
ajst-30187	83	12	14	CARDINAL
ajst-30187	83	13	15big	CARDINAL
ajst-30187	83	14	16	CARDINAL
ajst-30187	83	15	17	CARDINAL
ajst-30187	83	16	two	CARDINAL
ajst-30187	83	17	18	CARDINAL
ajst-30187	83	18	19	CARDINAL
ajst-30187	83	19	20	CARDINAL
ajst-30187	83	20	21	CARDINAL
ajst-30187	83	21	two	CARDINAL
ajst-30187	83	22	22small	CARDINAL
ajst-30187	83	23	23	CARDINAL
ajst-30187	83	24	24	CARDINAL
ajst-30187	83	25	two	CARDINAL
ajst-30187	83	26	26	CARDINAL
ajst-30187	83	27	10	CARDINAL
ajst-30187	85	1	two	CARDINAL
ajst-30187	87	1	only two	CARDINAL
ajst-30187	88	1	9	CARDINAL
ajst-30187	88	2	14	DATE
ajst-30187	88	3	18	CARDINAL
ajst-30187	88	4	22	CARDINAL
ajst-30187	88	5	26	CARDINAL
ajst-30187	88	6	122	CARDINAL
ajst-30187	88	7	4	CARDINAL
ajst-30187	88	8	1	CARDINAL
ajst-30187	89	1	14	CARDINAL
ajst-30187	89	2	two	CARDINAL
ajst-30187	90	1	13	CARDINAL
ajst-30187	90	2	18	CARDINAL
ajst-30187	90	3	two	CARDINAL
ajst-30187	90	4	17	CARDINAL
ajst-30187	91	1	22	CARDINAL
ajst-30187	91	2	90°	QUANTITY
ajst-30187	91	3	1768mm	PERSON
ajst-30187	91	4	21	CARDINAL
ajst-30187	92	1	26	CARDINAL
ajst-30187	92	2	two	CARDINAL
ajst-30187	92	3	25	CARDINAL
ajst-30187	94	1	4	CARDINAL
ajst-30187	94	2	kinematics	ORG
ajst-30187	94	3	4.1	CARDINAL
ajst-30187	95	1	4.1.1	CARDINAL
ajst-30187	96	1	four-degree-of-freedom	QUANTITY
ajst-30187	96	2	four	CARDINAL
ajst-30187	97	1	fig.11	ORDINAL
ajst-30187	98	1	11	CARDINAL
ajst-30187	100	1	cos cos cos cos sin cos cos cos	ORG
ajst-30187	102	1	  	PERSON
ajst-30187	102	2		PERSON
ajst-30187	102	3		PERSON
ajst-30187	102	4	6	CARDINAL
ajst-30187	102	5	x=0mm	PERSON
ajst-30187	102	6	mm	PERSON
ajst-30187	102	7	z=7000mm	PERSON
ajst-30187	102	8	12	CARDINAL
ajst-30187	103	1	4.1.2	CARDINAL
ajst-30187	103	2	1 2 3 2 1 2 2 2 2 2 1 2 3 1 2 ' 4	TIME
ajst-30187	103	3	2	CARDINAL
ajst-30187	103	4	sin arctan cos	ORG
ajst-30187	103	5	2	CARDINAL
ajst-30187	103	6	y x	PERSON
ajst-30187	103	7		PERSON
ajst-30187	103	8		NORP
ajst-30187	104	1		GPE
ajst-30187	104	2		PERSON
ajst-30187	104	3	 	PERSON
ajst-30187	104	4		GPE
ajst-30187	105	1	7	CARDINAL
ajst-30187	105	2	x=0mm	PERSON
ajst-30187	105	3	mm	PERSON
ajst-30187	105	4	z=7000mm	PERSON
ajst-30187	105	5	1 0	QUANTITY
ajst-30187	107	1		PERSON
ajst-30187	107	2	2 0	QUANTITY
ajst-30187	108	1		PERSON
ajst-30187	108	2	3 0	QUANTITY
ajst-30187	109	1		PERSON
ajst-30187	109	2	4 0	QUANTITY
ajst-30187	111	1		PERSON
ajst-30187	112	1	mm	PERSON
ajst-30187	112	2	z=6990mm	PERSON
ajst-30187	112	3	1 45	CARDINAL
ajst-30187	113	1		PERSON
ajst-30187	113	2	2 79.9	CARDINAL
ajst-30187	113	3	3	CARDINAL
ajst-30187	113	4	 ,	GPE
ajst-30187	113	5	 .	PERSON
ajst-30187	114	1	13	CARDINAL
ajst-30187	115	1	4.2	CARDINAL
ajst-30187	116	1	123	CARDINAL
ajst-30187	116	2	joseph-louis lagrange	PERSON
ajst-30187	116	3	newton-euler	ORG
ajst-30187	117	1	joseph-louis lagrange	ORG
ajst-30187	117	2	1 11	CARDINAL
ajst-30187	117	3	22	CARDINAL
ajst-30187	117	4	23	CARDINAL
ajst-30187	117	5	242	CARDINAL
ajst-30187	117	6	343 3 3 3	TIME
ajst-30187	117	7	41	CARDINAL
ajst-30187	117	8	444	CARDINAL
ajst-30187	117	9		DATE
ajst-30187	117	10		PERSON
ajst-30187	117	11		ORG
ajst-30187	117	12		PERSON
ajst-30187	117	13		ORG
ajst-30187	117	14		ORG
ajst-30187	117	15		DATE
ajst-30187	117	16	    	ORG
ajst-30187	117	17	the josephlouis lagrange	ORG
ajst-30187	118	1	14	CARDINAL
ajst-30187	119	1	5	CARDINAL
ajst-30187	120	1	1	CARDINAL
ajst-30187	121	1	2	CARDINAL
ajst-30187	121	2	3	CARDINAL
ajst-30187	121	3	4	CARDINAL
ajst-30187	122	1	liu xingbang	PERSON
ajst-30187	122	2	zhang hengcheng	PERSON
ajst-30187	122	3	wang shikui	PERSON
ajst-30187	124	1	china	GPE
ajst-30187	124	2	2023	CARDINAL
ajst-30187	124	3	43(6	CARDINAL
ajst-30187	124	4	71-73	DATE
ajst-30187	125	1	2	CARDINAL
ajst-30187	125	2	tian yan	PERSON
ajst-30187	125	3	zhu jianxiang	PERSON
ajst-30187	127	1	china	GPE
ajst-30187	127	2	2021(11	CARDINAL
ajst-30187	127	3	39	CARDINAL
ajst-30187	128	1	3	CARDINAL
ajst-30187	130	1	2020(9	CARDINAL
ajst-30187	130	2	127	CARDINAL
ajst-30187	131	1	4	CARDINAL
ajst-30187	131	2	meng linlin	PERSON
ajst-30187	132	1	2019	DATE
ajst-30187	132	2	4-5	DATE
ajst-30187	133	1	5	CARDINAL
ajst-30187	133	2	guan feng	PERSON
ajst-30187	135	1	2020(6	CARDINAL
ajst-30187	135	2	40-42	CARDINAL
ajst-30187	136	1	6	CARDINAL
ajst-30187	138	1	72-75	DATE
ajst-30187	139	1	li wei	PERSON
ajst-30187	139	2	sun lianhui	PERSON
ajst-30187	139	3	chen hui	PERSON
ajst-30187	140	1	2021	CARDINAL
ajst-30187	140	2	49(3	DATE
ajst-30187	140	3	125	CARDINAL
ajst-30187	141	1	8	CARDINAL
ajst-30187	143	1	2018	DATE
ajst-30187	143	2	53-57	DATE
ajst-30187	144	1	9	CARDINAL
ajst-30187	144	2	chang yulian	PERSON
ajst-30187	144	3	wei jing	PERSON
ajst-30187	144	4	gao sheng	PERSON
ajst-30187	144	5	2011	DATE
ajst-30187	144	6	1216	DATE