id	sid	tid	token	lemma	pos
ajst-1532	1	1	academic	academic	ADJ
ajst-1532	1	2	journal	journal	NOUN
ajst-1532	1	3	of	of	ADP
ajst-1532	1	4	science	science	NOUN
ajst-1532	1	5	and	and	CCONJ
ajst-1532	1	6	technology	technology	NOUN
ajst-1532	1	7	issn	issn	NOUN
ajst-1532	1	8	:	:	PUNCT
ajst-1532	1	9	2771	2771	NUM
ajst-1532	1	10	-	-	SYM
ajst-1532	1	11	3032	3032	NUM
ajst-1532	1	12	|	|	NOUN
ajst-1532	1	13	vol	vol	NOUN
ajst-1532	1	14	.	.	PROPN
ajst-1532	2	1	2	2	NUM
ajst-1532	2	2	,	,	PUNCT
ajst-1532	2	3	no	no	INTJ
ajst-1532	2	4	.	.	NOUN
ajst-1532	2	5	3	3	NUM
ajst-1532	2	6	,	,	PUNCT
ajst-1532	2	7	2022	2022	NUM
ajst-1532	2	8	94	94	NUM
ajst-1532	2	9	workspace	workspace	NOUN
ajst-1532	2	10	analysis	analysis	NOUN
ajst-1532	2	11	for	for	ADP
ajst-1532	2	12	humanoid	humanoid	ADJ
ajst-1532	2	13	wrist	wrist	NOUN
ajst-1532	2	14	mechanism	mechanism	NOUN
ajst-1532	2	15	liang	liang	PROPN
ajst-1532	2	16	zhang1	zhang1	PROPN
ajst-1532	2	17	,	,	PUNCT
ajst-1532	2	18	*	*	PUNCT
ajst-1532	2	19	,	,	PUNCT
ajst-1532	2	20	shuzhen	shuzhen	ADJ
ajst-1532	2	21	li1	li1	NOUN
ajst-1532	2	22	,	,	PUNCT
ajst-1532	2	23	lei	lei	PROPN
ajst-1532	2	24	shi1	shi1	PROPN
ajst-1532	2	25	,	,	PUNCT
ajst-1532	2	26	guofang	guofang	PROPN
ajst-1532	2	27	li1	li1	PROPN
ajst-1532	2	28	,	,	PUNCT
ajst-1532	2	29	jingjing	jingjing	PROPN
ajst-1532	2	30	yu1	yu1	PROPN
ajst-1532	2	31	,	,	PUNCT
ajst-1532	2	32	yan	yan	PROPN
ajst-1532	2	33	shi2	shi2	PROPN
ajst-1532	2	34	1college	1college	PROPN
ajst-1532	2	35	of	of	ADP
ajst-1532	2	36	mechanical	mechanical	ADJ
ajst-1532	2	37	and	and	CCONJ
ajst-1532	2	38	electronic	electronic	ADJ
ajst-1532	2	39	engineering	engineering	NOUN
ajst-1532	2	40	,	,	PUNCT
ajst-1532	2	41	hebei	hebei	PROPN
ajst-1532	2	42	normal	normal	ADJ
ajst-1532	2	43	university	university	NOUN
ajst-1532	2	44	of	of	ADP
ajst-1532	2	45	science	science	NOUN
ajst-1532	2	46	and	and	CCONJ
ajst-1532	2	47	technology	technology	NOUN
ajst-1532	2	48	,	,	PUNCT
ajst-1532	2	49	qinhuangdao	qinhuangdao	PROPN
ajst-1532	2	50	066004	066004	NUM
ajst-1532	2	51	,	,	PUNCT
ajst-1532	2	52	china	china	PROPN
ajst-1532	2	53	2hebei	2hebei	NUM
ajst-1532	2	54	industrial	industrial	ADJ
ajst-1532	2	55	manipulator	manipulator	NOUN
ajst-1532	2	56	control	control	NOUN
ajst-1532	2	57	and	and	CCONJ
ajst-1532	2	58	reliability	reliability	NOUN
ajst-1532	2	59	technology	technology	NOUN
ajst-1532	2	60	innovation	innovation	NOUN
ajst-1532	2	61	center	center	NOUN
ajst-1532	2	62	,	,	PUNCT
ajst-1532	2	63	hebei	hebei	PROPN
ajst-1532	2	64	university	university	PROPN
ajst-1532	2	65	of	of	ADP
ajst-1532	2	66	water	water	NOUN
ajst-1532	2	67	resources	resource	NOUN
ajst-1532	2	68	and	and	CCONJ
ajst-1532	2	69	electric	electric	ADJ
ajst-1532	2	70	engineering	engineering	NOUN
ajst-1532	2	71	,	,	PUNCT
ajst-1532	2	72	cangzhou	cangzhou	PROPN
ajst-1532	2	73	061001	061001	NUM
ajst-1532	2	74	,	,	PUNCT
ajst-1532	2	75	china	china	PROPN
ajst-1532	2	76	abstract	abstract	NOUN
ajst-1532	2	77	:	:	PUNCT
ajst-1532	2	78	based	base	VERB
ajst-1532	2	79	on	on	ADP
ajst-1532	2	80	the	the	DET
ajst-1532	2	81	analysis	analysis	NOUN
ajst-1532	2	82	of	of	ADP
ajst-1532	2	83	human	human	ADJ
ajst-1532	2	84	wrist	wrist	NOUN
ajst-1532	2	85	,	,	PUNCT
ajst-1532	2	86	a	a	DET
ajst-1532	2	87	humanoid	humanoid	ADJ
ajst-1532	2	88	wrist	wrist	NOUN
ajst-1532	2	89	joint	joint	NOUN
ajst-1532	2	90	with	with	ADP
ajst-1532	2	91	5r	5r	NUM
ajst-1532	2	92	parallel	parallel	ADJ
ajst-1532	2	93	mechanism	mechanism	NOUN
ajst-1532	2	94	as	as	SCONJ
ajst-1532	2	95	prototype	prototype	NOUN
ajst-1532	2	96	is	be	AUX
ajst-1532	2	97	proposed	propose	VERB
ajst-1532	2	98	.	.	PUNCT
ajst-1532	3	1	it	it	PRON
ajst-1532	3	2	is	be	AUX
ajst-1532	3	3	an	an	DET
ajst-1532	3	4	orthogonal	orthogonal	ADJ
ajst-1532	3	5	spherical	spherical	ADJ
ajst-1532	3	6	two	two	NUM
ajst-1532	3	7	-	-	PUNCT
ajst-1532	3	8	degree	degree	NOUN
ajst-1532	3	9	-	-	PUNCT
ajst-1532	3	10	of	of	ADP
ajst-1532	3	11	-	-	PUNCT
ajst-1532	3	12	freedom	freedom	NOUN
ajst-1532	3	13	parallel	parallel	ADJ
ajst-1532	3	14	mechanism	mechanism	NOUN
ajst-1532	3	15	,	,	PUNCT
ajst-1532	3	16	which	which	PRON
ajst-1532	3	17	has	have	VERB
ajst-1532	3	18	the	the	DET
ajst-1532	3	19	advantage	advantage	NOUN
ajst-1532	3	20	of	of	ADP
ajst-1532	3	21	easy	easy	ADJ
ajst-1532	3	22	to	to	PART
ajst-1532	3	23	process	process	VERB
ajst-1532	3	24	and	and	CCONJ
ajst-1532	3	25	manufacture	manufacture	NOUN
ajst-1532	3	26	.	.	PUNCT
ajst-1532	4	1	the	the	DET
ajst-1532	4	2	inverse	inverse	NOUN
ajst-1532	4	3	position	position	NOUN
ajst-1532	4	4	solution	solution	NOUN
ajst-1532	4	5	of	of	ADP
ajst-1532	4	6	the	the	DET
ajst-1532	4	7	mechanism	mechanism	NOUN
ajst-1532	4	8	is	be	AUX
ajst-1532	4	9	obtained	obtain	VERB
ajst-1532	4	10	by	by	ADP
ajst-1532	4	11	analytic	analytic	ADJ
ajst-1532	4	12	method	method	NOUN
ajst-1532	4	13	,	,	PUNCT
ajst-1532	4	14	and	and	CCONJ
ajst-1532	4	15	the	the	DET
ajst-1532	4	16	velocity	velocity	NOUN
ajst-1532	4	17	jacobian	jacobian	ADJ
ajst-1532	4	18	matrix	matrix	NOUN
ajst-1532	4	19	is	be	AUX
ajst-1532	4	20	established	establish	VERB
ajst-1532	4	21	,	,	PUNCT
ajst-1532	4	22	and	and	CCONJ
ajst-1532	4	23	the	the	DET
ajst-1532	4	24	working	work	VERB
ajst-1532	4	25	space	space	NOUN
ajst-1532	4	26	of	of	ADP
ajst-1532	4	27	the	the	DET
ajst-1532	4	28	mechanism	mechanism	NOUN
ajst-1532	4	29	is	be	AUX
ajst-1532	4	30	analyzed	analyze	VERB
ajst-1532	4	31	considering	consider	VERB
ajst-1532	4	32	the	the	DET
ajst-1532	4	33	working	work	VERB
ajst-1532	4	34	constraints	constraint	NOUN
ajst-1532	4	35	of	of	ADP
ajst-1532	4	36	the	the	DET
ajst-1532	4	37	mechanism	mechanism	NOUN
ajst-1532	4	38	.	.	PUNCT
ajst-1532	5	1	it	it	PRON
ajst-1532	5	2	provides	provide	VERB
ajst-1532	5	3	a	a	DET
ajst-1532	5	4	theoretical	theoretical	ADJ
ajst-1532	5	5	basis	basis	NOUN
ajst-1532	5	6	for	for	ADP
ajst-1532	5	7	its	its	PRON
ajst-1532	5	8	practicality	practicality	NOUN
ajst-1532	5	9	.	.	PUNCT
ajst-1532	6	1	keywords	keyword	NOUN
ajst-1532	6	2	:	:	PUNCT
ajst-1532	6	3	wrist	wrist	NOUN
ajst-1532	6	4	joint	joint	NOUN
ajst-1532	6	5	,	,	PUNCT
ajst-1532	6	6	parallel	parallel	ADJ
ajst-1532	6	7	mechanism	mechanism	NOUN
ajst-1532	6	8	,	,	PUNCT
ajst-1532	6	9	workspace	workspace	NOUN
ajst-1532	6	10	,	,	PUNCT
ajst-1532	6	11	performance	performance	NOUN
ajst-1532	6	12	analysis	analysis	NOUN
ajst-1532	6	13	.	.	PUNCT
ajst-1532	7	1	1	1	X
ajst-1532	7	2	.	.	X
ajst-1532	7	3	introduction	introduction	NOUN
ajst-1532	7	4	manipulator	manipulator	NOUN
ajst-1532	7	5	is	be	AUX
ajst-1532	7	6	a	a	DET
ajst-1532	7	7	kind	kind	NOUN
ajst-1532	7	8	of	of	ADP
ajst-1532	7	9	mechanical	mechanical	ADJ
ajst-1532	7	10	device	device	NOUN
ajst-1532	7	11	created	create	VERB
ajst-1532	7	12	by	by	ADP
ajst-1532	7	13	imitating	imitate	VERB
ajst-1532	7	14	human	human	ADJ
ajst-1532	7	15	arm	arm	NOUN
ajst-1532	7	16	,	,	PUNCT
ajst-1532	7	17	which	which	PRON
ajst-1532	7	18	can	can	AUX
ajst-1532	7	19	achieve	achieve	VERB
ajst-1532	7	20	the	the	DET
ajst-1532	7	21	purpose	purpose	NOUN
ajst-1532	7	22	of	of	ADP
ajst-1532	7	23	moving	move	VERB
ajst-1532	7	24	the	the	DET
ajst-1532	7	25	claw	claw	NOUN
ajst-1532	7	26	to	to	ADP
ajst-1532	7	27	the	the	DET
ajst-1532	7	28	desired	desire	VERB
ajst-1532	7	29	position	position	NOUN
ajst-1532	7	30	and	and	CCONJ
ajst-1532	7	31	bearing	bear	VERB
ajst-1532	7	32	the	the	DET
ajst-1532	7	33	weight	weight	NOUN
ajst-1532	7	34	of	of	ADP
ajst-1532	7	35	the	the	DET
ajst-1532	7	36	workpiece	workpiece	NOUN
ajst-1532	7	37	and	and	CCONJ
ajst-1532	7	38	the	the	DET
ajst-1532	7	39	arm	arm	NOUN
ajst-1532	7	40	itself	itself	PRON
ajst-1532	7	41	[	[	X
ajst-1532	7	42	1	1	NUM
ajst-1532	7	43	]	]	PUNCT
ajst-1532	7	44	.	.	PUNCT
ajst-1532	8	1	since	since	SCONJ
ajst-1532	8	2	the	the	DET
ajst-1532	8	3	first	first	ADJ
ajst-1532	8	4	robotic	robotic	ADJ
ajst-1532	8	5	arm	arm	NOUN
ajst-1532	8	6	came	come	VERB
ajst-1532	8	7	into	into	ADP
ajst-1532	8	8	being	being	NOUN
ajst-1532	8	9	,	,	PUNCT
ajst-1532	8	10	academia	academia	NOUN
ajst-1532	8	11	and	and	CCONJ
ajst-1532	8	12	engineering	engineering	NOUN
ajst-1532	8	13	circles	circle	NOUN
ajst-1532	8	14	in	in	ADP
ajst-1532	8	15	various	various	ADJ
ajst-1532	8	16	countries	country	NOUN
ajst-1532	8	17	have	have	AUX
ajst-1532	8	18	invested	invest	VERB
ajst-1532	8	19	a	a	DET
ajst-1532	8	20	lot	lot	NOUN
ajst-1532	8	21	of	of	ADP
ajst-1532	8	22	manpower	manpower	NOUN
ajst-1532	8	23	and	and	CCONJ
ajst-1532	8	24	material	material	NOUN
ajst-1532	8	25	resources	resource	NOUN
ajst-1532	8	26	in	in	ADP
ajst-1532	8	27	the	the	DET
ajst-1532	8	28	research	research	NOUN
ajst-1532	8	29	of	of	ADP
ajst-1532	8	30	robotic	robotic	ADJ
ajst-1532	8	31	arm，many	arm，many	NOUN
ajst-1532	8	32	breakthroughs	breakthrough	NOUN
ajst-1532	8	33	have	have	AUX
ajst-1532	8	34	been	be	AUX
ajst-1532	8	35	made，various	made，various	ADJ
ajst-1532	8	36	types	type	NOUN
ajst-1532	8	37	of	of	ADP
ajst-1532	8	38	prototypes	prototype	NOUN
ajst-1532	8	39	have	have	AUX
ajst-1532	8	40	been	be	AUX
ajst-1532	8	41	developed	develop	VERB
ajst-1532	8	42	successively[2	successively[2	NOUN
ajst-1532	8	43	-	-	SYM
ajst-1532	8	44	3	3	NUM
ajst-1532	8	45	]	]	PUNCT
ajst-1532	8	46	.	.	PUNCT
ajst-1532	9	1	because	because	SCONJ
ajst-1532	9	2	of	of	ADP
ajst-1532	9	3	the	the	DET
ajst-1532	9	4	advantages	advantage	NOUN
ajst-1532	9	5	of	of	ADP
ajst-1532	9	6	simple	simple	ADJ
ajst-1532	9	7	structure	structure	NOUN
ajst-1532	9	8	,	,	PUNCT
ajst-1532	9	9	simple	simple	ADJ
ajst-1532	9	10	control	control	NOUN
ajst-1532	9	11	and	and	CCONJ
ajst-1532	9	12	large	large	ADJ
ajst-1532	9	13	workspace	workspace	NOUN
ajst-1532	9	14	,	,	PUNCT
ajst-1532	9	15	the	the	DET
ajst-1532	9	16	humanoid	humanoid	NOUN
ajst-1532	9	17	manipulators	manipulator	NOUN
ajst-1532	9	18	on	on	ADP
ajst-1532	9	19	industrial	industrial	ADJ
ajst-1532	9	20	manipulators	manipulator	NOUN
ajst-1532	9	21	and	and	CCONJ
ajst-1532	9	22	humanoid	humanoid	NOUN
ajst-1532	9	23	robots	robot	NOUN
ajst-1532	9	24	mostly	mostly	ADV
ajst-1532	9	25	adopt	adopt	VERB
ajst-1532	9	26	the	the	DET
ajst-1532	9	27	serial	serial	ADJ
ajst-1532	9	28	mechanism	mechanism	NOUN
ajst-1532	9	29	[	[	X
ajst-1532	9	30	4	4	NUM
ajst-1532	9	31	-	-	SYM
ajst-1532	9	32	8	8	NUM
ajst-1532	9	33	]	]	PUNCT
ajst-1532	9	34	.	.	PUNCT
ajst-1532	10	1	however	however	ADV
ajst-1532	10	2	,	,	PUNCT
ajst-1532	10	3	the	the	DET
ajst-1532	10	4	inherent	inherent	ADJ
ajst-1532	10	5	error	error	NOUN
ajst-1532	10	6	accumulation	accumulation	NOUN
ajst-1532	10	7	effect	effect	NOUN
ajst-1532	10	8	and	and	CCONJ
ajst-1532	10	9	poor	poor	ADJ
ajst-1532	10	10	dynamic	dynamic	ADJ
ajst-1532	10	11	characteristics	characteristic	NOUN
ajst-1532	10	12	of	of	ADP
ajst-1532	10	13	the	the	DET
ajst-1532	10	14	serial	serial	ADJ
ajst-1532	10	15	mechanism	mechanism	NOUN
ajst-1532	10	16	limit	limit	VERB
ajst-1532	10	17	its	its	PRON
ajst-1532	10	18	application	application	NOUN
ajst-1532	10	19	in	in	ADP
ajst-1532	10	20	the	the	DET
ajst-1532	10	21	case	case	NOUN
ajst-1532	10	22	of	of	ADP
ajst-1532	10	23	increasing	increase	VERB
ajst-1532	10	24	performance	performance	NOUN
ajst-1532	10	25	requirements	requirement	NOUN
ajst-1532	10	26	of	of	ADP
ajst-1532	10	27	the	the	DET
ajst-1532	10	28	manipulator	manipulator	NOUN
ajst-1532	10	29	.	.	PUNCT
ajst-1532	11	1	it	it	PRON
ajst-1532	11	2	is	be	AUX
ajst-1532	11	3	of	of	ADP
ajst-1532	11	4	great	great	ADJ
ajst-1532	11	5	practical	practical	ADJ
ajst-1532	11	6	significance	significance	NOUN
ajst-1532	11	7	to	to	PART
ajst-1532	11	8	develop	develop	VERB
ajst-1532	11	9	new	new	ADJ
ajst-1532	11	10	humanoid	humanoid	ADJ
ajst-1532	11	11	joints	joint	NOUN
ajst-1532	11	12	.	.	PUNCT
ajst-1532	12	1	parallel	parallel	ADJ
ajst-1532	12	2	mechanism	mechanism	NOUN
ajst-1532	12	3	has	have	VERB
ajst-1532	12	4	many	many	ADJ
ajst-1532	12	5	advantages	advantage	NOUN
ajst-1532	12	6	,	,	PUNCT
ajst-1532	12	7	such	such	ADJ
ajst-1532	12	8	as	as	ADP
ajst-1532	12	9	high	high	ADJ
ajst-1532	12	10	stiffness	stiffness	NOUN
ajst-1532	12	11	,	,	PUNCT
ajst-1532	12	12	strong	strong	ADJ
ajst-1532	12	13	bearing	bearing	NOUN
ajst-1532	12	14	capacity	capacity	NOUN
ajst-1532	12	15	,	,	PUNCT
ajst-1532	12	16	low	low	ADJ
ajst-1532	12	17	inertia	inertia	NOUN
ajst-1532	12	18	,	,	PUNCT
ajst-1532	12	19	no	no	DET
ajst-1532	12	20	error	error	NOUN
ajst-1532	12	21	accumulation	accumulation	NOUN
ajst-1532	12	22	,	,	PUNCT
ajst-1532	12	23	compact	compact	ADJ
ajst-1532	12	24	structure	structure	NOUN
ajst-1532	12	25	,	,	PUNCT
ajst-1532	12	26	low	low	ADJ
ajst-1532	12	27	dead	dead	ADJ
ajst-1532	12	28	load	load	NOUN
ajst-1532	12	29	ratio	ratio	NOUN
ajst-1532	12	30	and	and	CCONJ
ajst-1532	12	31	so	so	ADV
ajst-1532	12	32	on[9	on[9	PROPN
ajst-1532	12	33	]	]	PUNCT
ajst-1532	12	34	.	.	PUNCT
ajst-1532	13	1	a	a	DET
ajst-1532	13	2	humanoid	humanoid	ADJ
ajst-1532	13	3	wrist	wrist	NOUN
ajst-1532	13	4	joint	joint	NOUN
ajst-1532	13	5	based	base	VERB
ajst-1532	13	6	on	on	ADP
ajst-1532	13	7	orthogonal	orthogonal	ADJ
ajst-1532	13	8	spherical	spherical	ADJ
ajst-1532	13	9	two	two	NUM
ajst-1532	13	10	-	-	PUNCT
ajst-1532	13	11	degree	degree	NOUN
ajst-1532	13	12	-	-	PUNCT
ajst-1532	13	13	of	of	ADP
ajst-1532	13	14	-	-	PUNCT
ajst-1532	13	15	freedom	freedom	NOUN
ajst-1532	13	16	parallel	parallel	ADJ
ajst-1532	13	17	mechanism	mechanism	NOUN
ajst-1532	13	18	is	be	AUX
ajst-1532	13	19	presented	present	VERB
ajst-1532	13	20	in	in	ADP
ajst-1532	13	21	this	this	DET
ajst-1532	13	22	paper，which	paper，which	PRON
ajst-1532	13	23	is	be	AUX
ajst-1532	13	24	a	a	DET
ajst-1532	13	25	kind	kind	NOUN
ajst-1532	13	26	of	of	ADP
ajst-1532	13	27	parallel	parallel	ADJ
ajst-1532	13	28	mechanism	mechanism	NOUN
ajst-1532	13	29	with	with	ADP
ajst-1532	13	30	less	less	ADJ
ajst-1532	13	31	degrees	degree	NOUN
ajst-1532	13	32	of	of	ADP
ajst-1532	13	33	freedom	freedom	NOUN
ajst-1532	13	34	.	.	PUNCT
ajst-1532	14	1	it	it	PRON
ajst-1532	14	2	inherits	inherit	VERB
ajst-1532	14	3	the	the	DET
ajst-1532	14	4	advantages	advantage	NOUN
ajst-1532	14	5	of	of	ADP
ajst-1532	14	6	parallel	parallel	ADJ
ajst-1532	14	7	mechanism	mechanism	NOUN
ajst-1532	14	8	and	and	CCONJ
ajst-1532	14	9	has	have	VERB
ajst-1532	14	10	the	the	DET
ajst-1532	14	11	characteristics	characteristic	NOUN
ajst-1532	14	12	of	of	ADP
ajst-1532	14	13	easy	easy	ADJ
ajst-1532	14	14	manufacture	manufacture	NOUN
ajst-1532	14	15	.	.	PUNCT
ajst-1532	15	1	2	2	X
ajst-1532	15	2	.	.	X
ajst-1532	15	3	mechanism	mechanism	NOUN
ajst-1532	15	4	design	design	NOUN
ajst-1532	15	5	based	base	VERB
ajst-1532	15	6	on	on	ADP
ajst-1532	15	7	analysis	analysis	NOUN
ajst-1532	15	8	of	of	ADP
ajst-1532	15	9	wrist	wrist	NOUN
ajst-1532	15	10	motion	motion	NOUN
ajst-1532	15	11	2.1	2.1	NUM
ajst-1532	15	12	.	.	PUNCT
ajst-1532	16	1	motion	motion	NOUN
ajst-1532	16	2	analysis	analysis	NOUN
ajst-1532	16	3	of	of	ADP
ajst-1532	16	4	wrist	wrist	NOUN
ajst-1532	16	5	fig	fig	NOUN
ajst-1532	16	6	.	.	PUNCT
ajst-1532	17	1	1	1	NUM
ajst-1532	17	2	shows	show	VERB
ajst-1532	17	3	the	the	DET
ajst-1532	17	4	motion	motion	NOUN
ajst-1532	17	5	of	of	ADP
ajst-1532	17	6	the	the	DET
ajst-1532	17	7	human	human	ADJ
ajst-1532	17	8	wrist[10	wrist[10	NOUN
ajst-1532	17	9	]	]	PUNCT
ajst-1532	17	10	,	,	PUNCT
ajst-1532	17	11	which	which	PRON
ajst-1532	17	12	is	be	AUX
ajst-1532	17	13	performed	perform	VERB
ajst-1532	17	14	by	by	ADP
ajst-1532	17	15	the	the	DET
ajst-1532	17	16	driving	drive	VERB
ajst-1532	17	17	muscles	muscle	NOUN
ajst-1532	17	18	distributed	distribute	VERB
ajst-1532	17	19	in	in	ADP
ajst-1532	17	20	the	the	DET
ajst-1532	17	21	upper	upper	ADJ
ajst-1532	17	22	arm	arm	NOUN
ajst-1532	17	23	rather	rather	ADV
ajst-1532	17	24	than	than	ADP
ajst-1532	17	25	in	in	ADP
ajst-1532	17	26	the	the	DET
ajst-1532	17	27	wrist	wrist	NOUN
ajst-1532	17	28	itself	itself	PRON
ajst-1532	17	29	.	.	PUNCT
ajst-1532	18	1	from	from	ADP
ajst-1532	18	2	the	the	DET
ajst-1532	18	3	perspective	perspective	NOUN
ajst-1532	18	4	of	of	ADP
ajst-1532	18	5	mechanism	mechanism	NOUN
ajst-1532	18	6	,	,	PUNCT
ajst-1532	18	7	the	the	DET
ajst-1532	18	8	wrist	wrist	NOUN
ajst-1532	18	9	is	be	AUX
ajst-1532	18	10	a	a	DET
ajst-1532	18	11	two	two	NUM
ajst-1532	18	12	-	-	PUNCT
ajst-1532	18	13	degree	degree	NOUN
ajst-1532	18	14	-	-	PUNCT
ajst-1532	18	15	of	of	ADP
ajst-1532	18	16	-	-	PUNCT
ajst-1532	18	17	freedom	freedom	NOUN
ajst-1532	18	18	mechanism	mechanism	NOUN
ajst-1532	18	19	.	.	PUNCT
ajst-1532	19	1	figure	figure	NOUN
ajst-1532	19	2	1	1	NUM
ajst-1532	19	3	.	.	PUNCT
ajst-1532	19	4	movement	movement	NOUN
ajst-1532	19	5	form	form	NOUN
ajst-1532	19	6	of	of	ADP
ajst-1532	19	7	wrist	wrist	NOUN
ajst-1532	19	8	2.2	2.2	NUM
ajst-1532	19	9	.	.	PUNCT
ajst-1532	20	1	mechanism	mechanism	NOUN
ajst-1532	20	2	design	design	VERB
ajst-1532	20	3	the	the	DET
ajst-1532	20	4	5r	5r	NUM
ajst-1532	20	5	parallel	parallel	ADJ
ajst-1532	20	6	mechanism	mechanism	NOUN
ajst-1532	20	7	has	have	VERB
ajst-1532	20	8	two	two	NUM
ajst-1532	20	9	rotational	rotational	ADJ
ajst-1532	20	10	degrees	degree	NOUN
ajst-1532	20	11	of	of	ADP
ajst-1532	20	12	freedom	freedom	NOUN
ajst-1532	20	13	,	,	PUNCT
ajst-1532	20	14	which	which	PRON
ajst-1532	20	15	can	can	AUX
ajst-1532	20	16	achieve	achieve	VERB
ajst-1532	20	17	motion	motion	NOUN
ajst-1532	20	18	similar	similar	ADJ
ajst-1532	20	19	to	to	ADP
ajst-1532	20	20	wrist，and	wrist，and	PRON
ajst-1532	20	21	its	its	PRON
ajst-1532	20	22	driving	drive	VERB
ajst-1532	20	23	device	device	NOUN
ajst-1532	20	24	can	can	AUX
ajst-1532	20	25	be	be	AUX
ajst-1532	20	26	installed	instal	VERB
ajst-1532	20	27	on	on	ADP
ajst-1532	20	28	the	the	DET
ajst-1532	20	29	fixed	fix	VERB
ajst-1532	20	30	base	base	NOUN
ajst-1532	20	31	,	,	PUNCT
ajst-1532	20	32	so	so	SCONJ
ajst-1532	20	33	that	that	SCONJ
ajst-1532	20	34	the	the	DET
ajst-1532	20	35	superior	superior	ADJ
ajst-1532	20	36	motor	motor	NOUN
ajst-1532	20	37	does	do	AUX
ajst-1532	20	38	not	not	PART
ajst-1532	20	39	become	become	VERB
ajst-1532	20	40	the	the	DET
ajst-1532	20	41	lower	low	ADJ
ajst-1532	20	42	rotation	rotation	NOUN
ajst-1532	20	43	load，and	load，and	ADP
ajst-1532	20	44	the	the	DET
ajst-1532	20	45	inertia	inertia	NOUN
ajst-1532	20	46	of	of	ADP
ajst-1532	20	47	the	the	DET
ajst-1532	20	48	moving	move	VERB
ajst-1532	20	49	parts	part	NOUN
ajst-1532	20	50	can	can	AUX
ajst-1532	20	51	be	be	AUX
ajst-1532	20	52	reduced	reduce	VERB
ajst-1532	20	53	.	.	PUNCT
ajst-1532	21	1	this	this	DET
ajst-1532	21	2	arrangement	arrangement	NOUN
ajst-1532	21	3	makes	make	VERB
ajst-1532	21	4	the	the	DET
ajst-1532	21	5	wrist	wrist	NOUN
ajst-1532	21	6	joint	joint	NOUN
ajst-1532	21	7	have	have	VERB
ajst-1532	21	8	the	the	DET
ajst-1532	21	9	advantages	advantage	NOUN
ajst-1532	21	10	of	of	ADP
ajst-1532	21	11	compact	compact	ADJ
ajst-1532	21	12	structure	structure	NOUN
ajst-1532	21	13	,	,	PUNCT
ajst-1532	21	14	strong	strong	ADJ
ajst-1532	21	15	bearing	bearing	NOUN
ajst-1532	21	16	capacity	capacity	NOUN
ajst-1532	21	17	and	and	CCONJ
ajst-1532	21	18	good	good	ADJ
ajst-1532	21	19	dynamic	dynamic	ADJ
ajst-1532	21	20	characteristics	characteristic	NOUN
ajst-1532	21	21	.	.	PUNCT
ajst-1532	22	1	therefore	therefore	ADV
ajst-1532	22	2	,	,	PUNCT
ajst-1532	22	3	the	the	DET
ajst-1532	22	4	5r	5r	NUM
ajst-1532	22	5	parallel	parallel	ADJ
ajst-1532	22	6	mechanism	mechanism	NOUN
ajst-1532	22	7	is	be	AUX
ajst-1532	22	8	suitable	suitable	ADJ
ajst-1532	22	9	as	as	ADP
ajst-1532	22	10	a	a	DET
ajst-1532	22	11	mechanism	mechanism	NOUN
ajst-1532	22	12	prototype	prototype	NOUN
ajst-1532	22	13	of	of	ADP
ajst-1532	22	14	the	the	DET
ajst-1532	22	15	wrist	wrist	NOUN
ajst-1532	22	16	joint	joint	NOUN
ajst-1532	22	17	of	of	ADP
ajst-1532	22	18	the	the	DET
ajst-1532	22	19	anthropomorphic	anthropomorphic	ADJ
ajst-1532	22	20	arm	arm	NOUN
ajst-1532	22	21	.	.	PUNCT
ajst-1532	23	1	the	the	DET
ajst-1532	23	2	wrist	wrist	NOUN
ajst-1532	23	3	joint	joint	NOUN
ajst-1532	23	4	designed	design	VERB
ajst-1532	23	5	with	with	ADP
ajst-1532	23	6	5r	5r	NUM
ajst-1532	23	7	parallel	parallel	ADJ
ajst-1532	23	8	mechanism	mechanism	NOUN
ajst-1532	23	9	as	as	SCONJ
ajst-1532	23	10	prototype	prototype	NOUN
ajst-1532	23	11	is	be	AUX
ajst-1532	23	12	shown	show	VERB
ajst-1532	23	13	in	in	ADP
ajst-1532	23	14	figure	figure	NOUN
ajst-1532	23	15	2	2	NUM
ajst-1532	23	16	.	.	PUNCT
ajst-1532	24	1	it	it	PRON
ajst-1532	24	2	is	be	AUX
ajst-1532	24	3	an	an	DET
ajst-1532	24	4	orthogonal	orthogonal	ADJ
ajst-1532	24	5	twodegree	twodegree	ADJ
ajst-1532	24	6	-	-	PUNCT
ajst-1532	24	7	of	of	ADP
ajst-1532	24	8	-	-	PUNCT
ajst-1532	24	9	freedom	freedom	NOUN
ajst-1532	24	10	parallel	parallel	ADJ
ajst-1532	24	11	mechanism	mechanism	NOUN
ajst-1532	24	12	,	,	PUNCT
ajst-1532	24	13	which	which	PRON
ajst-1532	24	14	consists	consist	VERB
ajst-1532	24	15	of	of	ADP
ajst-1532	24	16	connecting	connect	VERB
ajst-1532	24	17	rod	rod	NOUN
ajst-1532	24	18	,	,	PUNCT
ajst-1532	24	19	moving	move	VERB
ajst-1532	24	20	platform	platform	NOUN
ajst-1532	24	21	,	,	PUNCT
ajst-1532	24	22	ring	ring	NOUN
ajst-1532	24	23	connecting	connect	VERB
ajst-1532	24	24	rod	rod	NOUN
ajst-1532	24	25	,	,	PUNCT
ajst-1532	24	26	frame	frame	NOUN
ajst-1532	24	27	,	,	PUNCT
ajst-1532	24	28	driving	drive	VERB
ajst-1532	24	29	rod	rod	NOUN
ajst-1532	24	30	and	and	CCONJ
ajst-1532	24	31	driving	drive	VERB
ajst-1532	24	32	connecting	connect	VERB
ajst-1532	24	33	rod	rod	NOUN
ajst-1532	24	34	.	.	PUNCT
ajst-1532	25	1	two	two	NUM
ajst-1532	25	2	rods	rod	NOUN
ajst-1532	25	3	are	be	AUX
ajst-1532	25	4	connected	connect	VERB
ajst-1532	25	5	with	with	ADP
ajst-1532	25	6	the	the	DET
ajst-1532	25	7	revolute	revolute	ADJ
ajst-1532	25	8	pairs	pair	NOUN
ajst-1532	25	9	,	,	PUNCT
ajst-1532	25	10	and	and	CCONJ
ajst-1532	25	11	the	the	DET
ajst-1532	25	12	axes	axis	NOUN
ajst-1532	25	13	of	of	ADP
ajst-1532	25	14	all	all	DET
ajst-1532	25	15	the	the	DET
ajst-1532	25	16	revolute	revolute	ADJ
ajst-1532	25	17	pairs	pair	NOUN
ajst-1532	25	18	intersect	intersect	ADJ
ajst-1532	25	19	at	at	ADP
ajst-1532	25	20	one	one	NUM
ajst-1532	25	21	point	point	NOUN
ajst-1532	25	22	.	.	PUNCT
ajst-1532	26	1	the	the	DET
ajst-1532	26	2	mechanism	mechanism	NOUN
ajst-1532	26	3	can	can	AUX
ajst-1532	26	4	simulate	simulate	VERB
ajst-1532	26	5	the	the	DET
ajst-1532	26	6	flexion	flexion	NOUN
ajst-1532	26	7	and	and	CCONJ
ajst-1532	26	8	extension	extension	NOUN
ajst-1532	26	9	,	,	PUNCT
ajst-1532	26	10	internal	internal	ADJ
ajst-1532	26	11	rotation	rotation	NOUN
ajst-1532	26	12	and	and	CCONJ
ajst-1532	26	13	95	95	NUM
ajst-1532	26	14	external	external	ADJ
ajst-1532	26	15	rotation	rotation	NOUN
ajst-1532	26	16	of	of	ADP
ajst-1532	26	17	human	human	ADJ
ajst-1532	26	18	wrist	wrist	NOUN
ajst-1532	26	19	.	.	PUNCT
ajst-1532	27	1	1connecting	1connecting	NUM
ajst-1532	27	2	rod	rod	NOUN
ajst-1532	27	3	2moving	2moving	NUM
ajst-1532	27	4	platform	platform	NOUN
ajst-1532	27	5	3	3	NUM
ajst-1532	27	6	connecting	connect	VERB
ajst-1532	27	7	frame	frame	NOUN
ajst-1532	27	8	rod	rod	NOUN
ajst-1532	27	9	4ring	4re	VERB
ajst-1532	27	10	connecting	connect	VERB
ajst-1532	27	11	rod5	rod5	PROPN
ajst-1532	27	12	frame	frame	NOUN
ajst-1532	27	13	6driving	6driving	NUM
ajst-1532	27	14	rod	rod	NOUN
ajst-1532	27	15	7	7	NUM
ajst-1532	27	16	driver	driver	NOUN
ajst-1532	27	17	8driving	8drive	VERB
ajst-1532	27	18	connecting	connect	VERB
ajst-1532	27	19	rod	rod	NOUN
ajst-1532	27	20	figure	figure	NOUN
ajst-1532	27	21	2	2	NUM
ajst-1532	27	22	.	.	PUNCT
ajst-1532	27	23	prototype	prototype	NOUN
ajst-1532	27	24	of	of	ADP
ajst-1532	27	25	the	the	DET
ajst-1532	27	26	wrist	wrist	NOUN
ajst-1532	27	27	joint	joint	ADJ
ajst-1532	27	28	3	3	NUM
ajst-1532	27	29	.	.	SYM
ajst-1532	27	30	2	2	NUM
ajst-1532	27	31	kinematic	kinematic	ADJ
ajst-1532	27	32	analysis	analysis	NOUN
ajst-1532	27	33	the	the	DET
ajst-1532	27	34	sketch	sketch	NOUN
ajst-1532	27	35	of	of	ADP
ajst-1532	27	36	wrist	wrist	NOUN
ajst-1532	27	37	mechanism	mechanism	NOUN
ajst-1532	27	38	designed	design	VERB
ajst-1532	27	39	with	with	ADP
ajst-1532	27	40	5r	5r	NUM
ajst-1532	27	41	parallel	parallel	ADJ
ajst-1532	27	42	mechanism	mechanism	NOUN
ajst-1532	27	43	as	as	SCONJ
ajst-1532	27	44	prototype	prototype	NOUN
ajst-1532	27	45	is	be	AUX
ajst-1532	27	46	shown	show	VERB
ajst-1532	27	47	in	in	ADP
ajst-1532	27	48	fig	fig	NOUN
ajst-1532	27	49	.	.	PUNCT
ajst-1532	28	1	3	3	X
ajst-1532	28	2	.	.	X
ajst-1532	28	3	two	two	NUM
ajst-1532	28	4	rods	rod	NOUN
ajst-1532	28	5	are	be	AUX
ajst-1532	28	6	connected	connect	VERB
ajst-1532	28	7	with	with	ADP
ajst-1532	28	8	the	the	DET
ajst-1532	28	9	revolute	revolute	ADJ
ajst-1532	28	10	pair	pair	NOUN
ajst-1532	28	11	,	,	PUNCT
ajst-1532	28	12	and	and	CCONJ
ajst-1532	28	13	the	the	DET
ajst-1532	28	14	axes	axis	NOUN
ajst-1532	28	15	of	of	ADP
ajst-1532	28	16	all	all	DET
ajst-1532	28	17	the	the	DET
ajst-1532	28	18	revolute	revolute	ADJ
ajst-1532	28	19	pairs	pair	NOUN
ajst-1532	28	20	intersect	intersect	ADJ
ajst-1532	28	21	the	the	DET
ajst-1532	28	22	point	point	NOUN
ajst-1532	28	23	ow	ow	INTJ
ajst-1532	28	24	.	.	PUNCT
ajst-1532	29	1	the	the	DET
ajst-1532	29	2	axes	axis	NOUN
ajst-1532	29	3	of	of	ADP
ajst-1532	29	4	1wu	1wu	NOUN
ajst-1532	29	5	and	and	CCONJ
ajst-1532	29	6	1wv	1wv	ADJ
ajst-1532	29	7	,	,	PUNCT
ajst-1532	29	8	3wv	3wv	NOUN
ajst-1532	29	9	and	and	CCONJ
ajst-1532	29	10	3ww	3ww	ADJ
ajst-1532	29	11	,	,	PUNCT
ajst-1532	29	12	3ww	3ww	NOUN
ajst-1532	29	13	and	and	CCONJ
ajst-1532	29	14	3wu	3wu	NOUN
ajst-1532	29	15	are	be	AUX
ajst-1532	29	16	perpendicular	perpendicular	ADJ
ajst-1532	29	17	to	to	ADP
ajst-1532	29	18	each	each	DET
ajst-1532	29	19	other	other	ADJ
ajst-1532	29	20	,	,	PUNCT
ajst-1532	29	21	and	and	CCONJ
ajst-1532	29	22	1wv	1wv	ADJ
ajst-1532	29	23	and	and	CCONJ
ajst-1532	29	24	3wv	3wv	NOUN
ajst-1532	29	25	are	be	AUX
ajst-1532	29	26	perpendicular	perpendicular	ADJ
ajst-1532	29	27	to	to	ADP
ajst-1532	29	28	each	each	DET
ajst-1532	29	29	other	other	ADJ
ajst-1532	29	30	on	on	ADP
ajst-1532	29	31	the	the	DET
ajst-1532	29	32	moving	move	VERB
ajst-1532	29	33	platform	platform	NOUN
ajst-1532	29	34	.	.	PUNCT
ajst-1532	30	1	in	in	ADP
ajst-1532	30	2	this	this	DET
ajst-1532	30	3	way	way	NOUN
ajst-1532	30	4	,	,	PUNCT
ajst-1532	30	5	a	a	DET
ajst-1532	30	6	five	five	NUM
ajst-1532	30	7	-	-	PUNCT
ajst-1532	30	8	bar	bar	NOUN
ajst-1532	30	9	mechanism	mechanism	NOUN
ajst-1532	30	10	with	with	ADP
ajst-1532	30	11	orthogonal	orthogonal	ADJ
ajst-1532	30	12	structure	structure	NOUN
ajst-1532	30	13	is	be	AUX
ajst-1532	30	14	formed	form	VERB
ajst-1532	30	15	.	.	PUNCT
ajst-1532	31	1	the	the	DET
ajst-1532	31	2	input	input	NOUN
ajst-1532	31	3	of	of	ADP
ajst-1532	31	4	the	the	DET
ajst-1532	31	5	mechanism	mechanism	NOUN
ajst-1532	31	6	is	be	AUX
ajst-1532	31	7	the	the	DET
ajst-1532	31	8	rotation	rotation	NOUN
ajst-1532	31	9	angle	angle	NOUN
ajst-1532	31	10	6	6	NOUN
ajst-1532	31	11	around	around	ADP
ajst-1532	31	12	the	the	DET
ajst-1532	31	13	xw	xw	PROPN
ajst-1532	31	14	axis	axis	NOUN
ajst-1532	31	15	and	and	CCONJ
ajst-1532	31	16	the	the	DET
ajst-1532	31	17	rotation	rotation	NOUN
ajst-1532	31	18	angle	angle	NOUN
ajst-1532	31	19	7	7	NOUN
ajst-1532	31	20	around	around	ADP
ajst-1532	31	21	the	the	DET
ajst-1532	31	22	zw	zw	PROPN
ajst-1532	31	23	axis	axis	NOUN
ajst-1532	31	24	.	.	PUNCT
ajst-1532	32	1	1	1	NUM
ajst-1532	32	2	u	u	NOUN
ajst-1532	32	3	driving	drive	VERB
ajst-1532	32	4	rodⅰ	rodⅰ	NOUN
ajst-1532	32	5	2	2	NUM
ajst-1532	32	6	u	u	NOUN
ajst-1532	32	7	connecting	connect	VERB
ajst-1532	32	8	rod	rod	NOUN
ajst-1532	32	9	3	3	NUM
ajst-1532	32	10	ring	ring	NOUN
ajst-1532	32	11	driving	drive	VERB
ajst-1532	32	12	rod	rod	NOUN
ajst-1532	32	13	4	4	NUM
ajst-1532	32	14	moving	move	VERB
ajst-1532	32	15	platform	platform	NOUN
ajst-1532	32	16	5	5	NUM
ajst-1532	32	17	frame	frame	NOUN
ajst-1532	32	18	figure	figure	NOUN
ajst-1532	32	19	3	3	NUM
ajst-1532	32	20	.	.	PUNCT
ajst-1532	32	21	mechanism	mechanism	NOUN
ajst-1532	32	22	of	of	ADP
ajst-1532	32	23	the	the	DET
ajst-1532	32	24	wrist	wrist	NOUN
ajst-1532	32	25	joint	joint	NOUN
ajst-1532	32	26	with	with	ADP
ajst-1532	32	27	ow	ow	INTJ
ajst-1532	32	28	as	as	ADP
ajst-1532	32	29	the	the	DET
ajst-1532	32	30	origin	origin	NOUN
ajst-1532	32	31	of	of	ADP
ajst-1532	32	32	the	the	DET
ajst-1532	32	33	coordinate	coordinate	NOUN
ajst-1532	32	34	system	system	NOUN
ajst-1532	32	35	,	,	PUNCT
ajst-1532	32	36	the	the	DET
ajst-1532	32	37	coordinate	coordinate	NOUN
ajst-1532	32	38	system	system	NOUN
ajst-1532	32	39	is	be	AUX
ajst-1532	32	40	established	establish	VERB
ajst-1532	32	41	,	,	PUNCT
ajst-1532	32	42	as	as	SCONJ
ajst-1532	32	43	shown	show	VERB
ajst-1532	32	44	in	in	ADP
ajst-1532	32	45	figure	figure	NOUN
ajst-1532	32	46	3	3	NUM
ajst-1532	32	47	.	.	PUNCT
ajst-1532	33	1	in	in	ADP
ajst-1532	33	2	the	the	DET
ajst-1532	33	3	fixed	fix	VERB
ajst-1532	33	4	coordinate	coordinate	NOUN
ajst-1532	33	5	system	system	NOUN
ajst-1532	33	6	ow	ow	PROPN
ajst-1532	33	7	-	-	PUNCT
ajst-1532	33	8	xwywzw	xwywzw	PROPN
ajst-1532	33	9	,	,	PUNCT
ajst-1532	33	10	the	the	DET
ajst-1532	33	11	axes	axis	NOUN
ajst-1532	33	12	of	of	ADP
ajst-1532	33	13	xw	xw	PROPN
ajst-1532	33	14	and	and	CCONJ
ajst-1532	33	15	zw	zw	PROPN
ajst-1532	33	16	coincide	coincide	VERB
ajst-1532	33	17	with	with	ADP
ajst-1532	33	18	the	the	DET
ajst-1532	33	19	axes	axis	NOUN
ajst-1532	33	20	of	of	ADP
ajst-1532	33	21	revolute	revolute	ADJ
ajst-1532	33	22	pairs	pair	NOUN
ajst-1532	33	23	1wu	1wu	NOUN
ajst-1532	33	24	and	and	CCONJ
ajst-1532	33	25	3wu	3wu	NOUN
ajst-1532	33	26	respectively	respectively	ADV
ajst-1532	33	27	,	,	PUNCT
ajst-1532	33	28	the	the	DET
ajst-1532	33	29	direction	direction	NOUN
ajst-1532	33	30	of	of	ADP
ajst-1532	33	31	yw	yw	PROPN
ajst-1532	33	32	axis	axis	NOUN
ajst-1532	33	33	is	be	AUX
ajst-1532	33	34	determined	determine	VERB
ajst-1532	33	35	by	by	ADP
ajst-1532	33	36	the	the	DET
ajst-1532	33	37	right	right	ADV
ajst-1532	33	38	-	-	PUNCT
ajst-1532	33	39	handed	handed	ADJ
ajst-1532	33	40	screw	screw	NOUN
ajst-1532	33	41	rule	rule	NOUN
ajst-1532	33	42	.	.	PUNCT
ajst-1532	34	1	in	in	ADP
ajst-1532	34	2	the	the	DET
ajst-1532	34	3	moving	move	VERB
ajst-1532	34	4	coordinate	coordinate	NOUN
ajst-1532	34	5	system	system	NOUN
ajst-1532	34	6	owxwywzw	owxwywzw	NOUN
ajst-1532	34	7	,	,	PUNCT
ajst-1532	34	8	the	the	DET
ajst-1532	34	9	axes	axis	NOUN
ajst-1532	34	10	of	of	ADP
ajst-1532	34	11	xw	xw	PROPN
ajst-1532	34	12	and	and	CCONJ
ajst-1532	34	13	zw	zw	PROPN
ajst-1532	34	14	coincide	coincide	VERB
ajst-1532	34	15	with	with	ADP
ajst-1532	34	16	the	the	DET
ajst-1532	34	17	axes	axis	NOUN
ajst-1532	34	18	of	of	ADP
ajst-1532	34	19	the	the	DET
ajst-1532	34	20	revolute	revolute	ADJ
ajst-1532	34	21	pairs	pair	NOUN
ajst-1532	34	22	3wv	3wv	NOUN
ajst-1532	34	23	and	and	CCONJ
ajst-1532	34	24	1wv	1wv	ADJ
ajst-1532	34	25	respectively	respectively	ADV
ajst-1532	34	26	,	,	PUNCT
ajst-1532	34	27	the	the	DET
ajst-1532	34	28	direction	direction	NOUN
ajst-1532	34	29	of	of	ADP
ajst-1532	34	30	yw	yw	PROPN
ajst-1532	34	31	axis	axis	NOUN
ajst-1532	34	32	is	be	AUX
ajst-1532	34	33	determined	determine	VERB
ajst-1532	34	34	by	by	ADP
ajst-1532	34	35	the	the	DET
ajst-1532	34	36	right	right	ADV
ajst-1532	34	37	-	-	PUNCT
ajst-1532	34	38	handed	handed	ADJ
ajst-1532	34	39	screw	screw	NOUN
ajst-1532	34	40	rule	rule	NOUN
ajst-1532	34	41	.	.	PUNCT
ajst-1532	35	1	the	the	DET
ajst-1532	35	2	directions	direction	NOUN
ajst-1532	35	3	of	of	ADP
ajst-1532	35	4	coordinate	coordinate	NOUN
ajst-1532	35	5	axes	axis	NOUN
ajst-1532	35	6	are	be	AUX
ajst-1532	35	7	shown	show	VERB
ajst-1532	35	8	in	in	ADP
ajst-1532	35	9	figure	figure	NOUN
ajst-1532	35	10	3	3	NUM
ajst-1532	35	11	.	.	PUNCT
ajst-1532	36	1	in	in	ADP
ajst-1532	36	2	the	the	DET
ajst-1532	36	3	initial	initial	ADJ
ajst-1532	36	4	attitude	attitude	NOUN
ajst-1532	36	5	,	,	PUNCT
ajst-1532	36	6	the	the	DET
ajst-1532	36	7	fixed	fix	VERB
ajst-1532	36	8	coordinate	coordinate	NOUN
ajst-1532	36	9	system	system	NOUN
ajst-1532	36	10	coincides	coincide	VERB
ajst-1532	36	11	with	with	ADP
ajst-1532	36	12	the	the	DET
ajst-1532	36	13	moving	move	VERB
ajst-1532	36	14	coordinate	coordinate	NOUN
ajst-1532	36	15	system	system	NOUN
ajst-1532	36	16	.	.	PUNCT
ajst-1532	37	1	the	the	DET
ajst-1532	37	2	size	size	NOUN
ajst-1532	37	3	parameters	parameter	NOUN
ajst-1532	37	4	of	of	ADP
ajst-1532	37	5	the	the	DET
ajst-1532	37	6	mechanism	mechanism	NOUN
ajst-1532	37	7	are	be	AUX
ajst-1532	37	8	defined	define	VERB
ajst-1532	37	9	as	as	ADP
ajst-1532	37	10	1w1w	1w1w	NUM
ajst-1532	37	11	wlo	wlo	PROPN
ajst-1532	37	12	v	v	NOUN
ajst-1532	37	13	,	,	PUNCT
ajst-1532	37	14	53w	53w	NUM
ajst-1532	37	15	wlwo	wlwo	VERB
ajst-1532	37	16	v	v	NOUN
ajst-1532	37	17	,	,	PUNCT
ajst-1532	37	18	33w	33w	NOUN
ajst-1532	37	19	wlwo	wlwo	VERB
ajst-1532	37	20	w	w	PROPN
ajst-1532	37	21	,	,	PUNCT
ajst-1532	37	22	21w	21w	X
ajst-1532	37	23	wlwo	wlwo	VERB
ajst-1532	37	24	u	u	NOUN
ajst-1532	37	25	,	,	PUNCT
ajst-1532	37	26	43w	43w	NUM
ajst-1532	37	27	wlwo	wlwo	VERB
ajst-1532	37	28	u	u	NOUN
ajst-1532	37	29	,	,	PUNCT
ajst-1532	37	30	2	2	NUM
ajst-1532	37	31	4w	4w	NUM
ajst-1532	37	32	wl	wl	NOUN
ajst-1532	37	33	l	l	VERB
ajst-1532	37	34	the	the	DET
ajst-1532	37	35	method	method	NOUN
ajst-1532	37	36	of	of	ADP
ajst-1532	37	37	euler	euler	NOUN
ajst-1532	37	38	angle	angle	NOUN
ajst-1532	37	39	is	be	AUX
ajst-1532	37	40	used	use	VERB
ajst-1532	37	41	to	to	PART
ajst-1532	37	42	describe	describe	VERB
ajst-1532	37	43	the	the	DET
ajst-1532	37	44	transformation	transformation	NOUN
ajst-1532	37	45	matrix	matrix	NOUN
ajst-1532	37	46	between	between	ADP
ajst-1532	37	47	the	the	DET
ajst-1532	37	48	moving	move	VERB
ajst-1532	37	49	coordinate	coordinate	NOUN
ajst-1532	37	50	system	system	NOUN
ajst-1532	37	51	and	and	CCONJ
ajst-1532	37	52	the	the	DET
ajst-1532	37	53	fixed	fix	VERB
ajst-1532	37	54	coordinate	coordinate	NOUN
ajst-1532	37	55	system[11	system[11	PROPN
ajst-1532	37	56	]	]	PUNCT
ajst-1532	37	57	.	.	PUNCT
ajst-1532	38	1	the	the	DET
ajst-1532	38	2	transformation	transformation	NOUN
ajst-1532	38	3	matrix	matrix	NOUN
ajst-1532	38	4	is	be	AUX
ajst-1532	38	5	given	give	VERB
ajst-1532	38	6	as	as	ADP
ajst-1532	38	7			NOUN
ajst-1532	38	8			PROPN
ajst-1532	38	9			NOUN
ajst-1532	38	10			PUNCT
ajst-1532	38	11	cos	cos	PROPN
ajst-1532	38	12	sin	sin	NOUN
ajst-1532	38	13	0	0	NUM
ajst-1532	38	14	,	,	PUNCT
ajst-1532	38	15	,	,	PUNCT
ajst-1532	38	16	cos	cos	PROPN
ajst-1532	38	17	sin	sin	PROPN
ajst-1532	38	18	cos	cos	PROPN
ajst-1532	38	19	cos	cos	PROPN
ajst-1532	38	20	sin	sin	PROPN
ajst-1532	38	21	sin	sin	NOUN
ajst-1532	38	22	sin	sin	NOUN
ajst-1532	38	23	sin	sin	PROPN
ajst-1532	38	24	cos	cos	PROPN
ajst-1532	38	25	cos	cos	PROPN
ajst-1532	38	26	w	w	PROPN
ajst-1532	38	27	w	w	PROPN
ajst-1532	38	28	w	w	PROPN
ajst-1532	38	29	w	w	PROPN
ajst-1532	38	30	w	w	PROPN
ajst-1532	38	31	w	w	PROPN
ajst-1532	38	32	w	w	PROPN
ajst-1532	38	33	w	w	PROPN
ajst-1532	38	34	w	w	PROPN
ajst-1532	38	35	w	w	PROPN
ajst-1532	38	36	w	w	PROPN
ajst-1532	38	37	w	w	PROPN
ajst-1532	38	38	w	w	PROPN
ajst-1532	38	39	w	w	PROPN
ajst-1532	38	40	w	w	PROPN
ajst-1532	38	41	w	w	PROPN
ajst-1532	38	42	w	w	PROPN
ajst-1532	38	43	x	x	PROPN
ajst-1532	38	44	z	z	NOUN
ajst-1532	38	45			NOUN
ajst-1532	38	46			X
ajst-1532	38	47			NUM
ajst-1532	38	48			NUM
ajst-1532	38	49			ADP
ajst-1532	38	50			NOUN
ajst-1532	38	51			ADP
ajst-1532	38	52			NUM
ajst-1532	38	53			NUM
ajst-1532	38	54			NUM
ajst-1532	38	55			NOUN
ajst-1532	38	56			ADP
ajst-1532	38	57			NUM
ajst-1532	38	58			NUM
ajst-1532	38	59			NOUN
ajst-1532	38	60			NOUN
ajst-1532	38	61			X
ajst-1532	39	1			X
ajst-1532	39	2			ADJ
ajst-1532	39	3			PROPN
ajst-1532	39	4			PROPN
ajst-1532	39	5			NOUN
ajst-1532	39	6			PROPN
ajst-1532	39	7			PROPN
ajst-1532	39	8	r	r	NOUN
ajst-1532	39	9	r	r	NOUN
ajst-1532	39	10	r	r	NOUN
ajst-1532	39	11	(	(	PUNCT
ajst-1532	39	12	1	1	NUM
ajst-1532	39	13	)	)	PUNCT
ajst-1532	39	14	where	where	SCONJ
ajst-1532	39	15	w	w	NOUN
ajst-1532	39	16	and	and	CCONJ
ajst-1532	39	17	w	w	NOUN
ajst-1532	39	18	are	be	AUX
ajst-1532	39	19	the	the	DET
ajst-1532	39	20	attitude	attitude	NOUN
ajst-1532	39	21	angles	angle	NOUN
ajst-1532	39	22	of	of	ADP
ajst-1532	39	23	the	the	DET
ajst-1532	39	24	moving	move	VERB
ajst-1532	39	25	platform	platform	NOUN
ajst-1532	39	26	.	.	PUNCT
ajst-1532	40	1	96	96	NUM
ajst-1532	40	2	3.1	3.1	NUM
ajst-1532	40	3	.	.	PUNCT
ajst-1532	40	4	inverse	inverse	NOUN
ajst-1532	40	5	position	position	NOUN
ajst-1532	40	6	solution	solution	NOUN
ajst-1532	40	7	using	use	VERB
ajst-1532	40	8	eq	eq	ADP
ajst-1532	40	9	.	.	PUNCT
ajst-1532	41	1	(	(	PUNCT
ajst-1532	41	2	1	1	NUM
ajst-1532	41	3	)	)	PUNCT
ajst-1532	41	4	,	,	PUNCT
ajst-1532	41	5	the	the	DET
ajst-1532	41	6	direction	direction	NOUN
ajst-1532	41	7	cosine	cosine	NOUN
ajst-1532	41	8	of	of	ADP
ajst-1532	41	9	each	each	DET
ajst-1532	41	10	axis	axis	ADJ
ajst-1532	41	11	wiv	wiv	PROPN
ajst-1532	41	12	relative	relative	ADJ
ajst-1532	41	13	to	to	ADP
ajst-1532	41	14	the	the	DET
ajst-1532	41	15	fixed	fix	VERB
ajst-1532	41	16	coordinate	coordinate	NOUN
ajst-1532	41	17	system	system	NOUN
ajst-1532	41	18	on	on	ADP
ajst-1532	41	19	the	the	DET
ajst-1532	41	20	moving	move	VERB
ajst-1532	41	21	platform	platform	NOUN
ajst-1532	41	22	can	can	AUX
ajst-1532	41	23	be	be	AUX
ajst-1532	41	24	given	give	VERB
ajst-1532	41	25	as	as	ADP
ajst-1532	41	26	w	w	PROPN
ajst-1532	41	27	wiwiv	wiwiv	NOUN
ajst-1532	41	28	r	r	NOUN
ajst-1532	41	29	v	v	NOUN
ajst-1532	41	30	(	(	PUNCT
ajst-1532	41	31	2	2	NUM
ajst-1532	41	32	)	)	PUNCT
ajst-1532	41	33	where	where	SCONJ
ajst-1532	41	34	wiv	wiv	PROPN
ajst-1532	41	35	is	be	AUX
ajst-1532	41	36	the	the	DET
ajst-1532	41	37	coordinate	coordinate	NOUN
ajst-1532	41	38	of	of	ADP
ajst-1532	41	39	the	the	DET
ajst-1532	41	40	revolute	revolute	ADJ
ajst-1532	41	41	pair	pair	NOUN
ajst-1532	41	42	connected	connect	VERB
ajst-1532	41	43	to	to	ADP
ajst-1532	41	44	the	the	DET
ajst-1532	41	45	moving	move	VERB
ajst-1532	41	46	platform	platform	NOUN
ajst-1532	41	47	in	in	ADP
ajst-1532	41	48	the	the	DET
ajst-1532	41	49	moving	move	VERB
ajst-1532	41	50	coordinate	coordinate	NOUN
ajst-1532	41	51	system	system	NOUN
ajst-1532	41	52	.	.	PUNCT
ajst-1532	42	1	according	accord	VERB
ajst-1532	42	2	to	to	ADP
ajst-1532	42	3	the	the	DET
ajst-1532	42	4	orthogonal	orthogonal	ADJ
ajst-1532	42	5	characteristic	characteristic	ADJ
ajst-1532	42	6	and	and	CCONJ
ajst-1532	42	7	rotation	rotation	NOUN
ajst-1532	42	8	relationship	relationship	NOUN
ajst-1532	42	9	of	of	ADP
ajst-1532	42	10	the	the	DET
ajst-1532	42	11	mechanism	mechanism	NOUN
ajst-1532	42	12	,	,	PUNCT
ajst-1532	42	13	the	the	DET
ajst-1532	42	14	vectors	vector	NOUN
ajst-1532	42	15	of	of	ADP
ajst-1532	42	16	the	the	DET
ajst-1532	42	17	axes	axis	NOUN
ajst-1532	42	18	of	of	ADP
ajst-1532	42	19	the	the	DET
ajst-1532	42	20	rotating	rotate	VERB
ajst-1532	42	21	pairs	pair	NOUN
ajst-1532	42	22	connected	connect	VERB
ajst-1532	42	23	to	to	ADP
ajst-1532	42	24	the	the	DET
ajst-1532	42	25	input	input	NOUN
ajst-1532	42	26	axes	axis	NOUN
ajst-1532	42	27	relative	relative	ADJ
ajst-1532	42	28	to	to	ADP
ajst-1532	42	29	the	the	DET
ajst-1532	42	30	fixed	fix	VERB
ajst-1532	42	31	coordinate	coordinate	NOUN
ajst-1532	42	32	system	system	NOUN
ajst-1532	42	33	w	w	PROPN
ajst-1532	42	34	w	w	PROPN
ajst-1532	42	35	w	w	PROPN
ajst-1532	42	36	wo	wo	PROPN
ajst-1532	42	37	x	x	PART
ajst-1532	42	38	y	y	NOUN
ajst-1532	42	39	z	z	NOUN
ajst-1532	42	40	are	be	AUX
ajst-1532	42	41	given	give	VERB
ajst-1532	42	42	as	as	ADP
ajst-1532	42	43	t	t	PROPN
ajst-1532	42	44	1	1	NUM
ajst-1532	42	45	6	6	NUM
ajst-1532	42	46	6(0	6(0	NUM
ajst-1532	42	47	sin	sin	NOUN
ajst-1532	42	48	cos	cos	NOUN
ajst-1532	42	49	)	)	PUNCT
ajst-1532	42	50	w	w	PROPN
ajst-1532	42	51			PROPN
ajst-1532	42	52			PROPN
ajst-1532	42	53	v	v	PROPN
ajst-1532	42	54	(	(	PUNCT
ajst-1532	42	55	3	3	X
ajst-1532	42	56	)	)	PUNCT
ajst-1532	42	57	t	t	NOUN
ajst-1532	42	58	3	3	NUM
ajst-1532	42	59	7	7	NUM
ajst-1532	42	60	7	7	NUM
ajst-1532	42	61	(	(	PUNCT
ajst-1532	42	62	sin	sin	NOUN
ajst-1532	42	63	cos	cos	PROPN
ajst-1532	42	64	0	0	NUM
ajst-1532	42	65	)	)	PUNCT
ajst-1532	42	66	w	w	PROPN
ajst-1532	42	67			PROPN
ajst-1532	42	68			PROPN
ajst-1532	42	69			PROPN
ajst-1532	42	70	w	w	PROPN
ajst-1532	42	71	(	(	PUNCT
ajst-1532	42	72	4	4	NUM
ajst-1532	42	73	)	)	PUNCT
ajst-1532	42	74	according	accord	VERB
ajst-1532	42	75	to	to	ADP
ajst-1532	42	76	the	the	DET
ajst-1532	42	77	geometric	geometric	ADJ
ajst-1532	42	78	relationship	relationship	NOUN
ajst-1532	42	79	of	of	ADP
ajst-1532	42	80	the	the	DET
ajst-1532	42	81	mechanism	mechanism	NOUN
ajst-1532	42	82	,	,	PUNCT
ajst-1532	42	83	the	the	DET
ajst-1532	42	84	kinematics	kinematic	NOUN
ajst-1532	42	85	constraint	constraint	NOUN
ajst-1532	42	86	equation	equation	NOUN
ajst-1532	42	87	by	by	ADP
ajst-1532	42	88	using	use	VERB
ajst-1532	42	89	staggered	staggered	ADJ
ajst-1532	42	90	angle	angle	NOUN
ajst-1532	42	91	theorem[12	theorem[12	PROPN
ajst-1532	42	92	]	]	PUNCT
ajst-1532	42	93	for	for	ADP
ajst-1532	42	94	the	the	DET
ajst-1532	42	95	mechanism	mechanism	NOUN
ajst-1532	42	96	can	can	AUX
ajst-1532	42	97	be	be	AUX
ajst-1532	42	98	written	write	VERB
ajst-1532	42	99	as	as	ADP
ajst-1532	42	100	3	3	NUM
ajst-1532	42	101	3	3	NUM
ajst-1532	42	102	0w	0w	NOUN
ajst-1532	42	103	w	w	INTJ
ajst-1532	43	1	w	w	ADP
ajst-1532	43	2	v	v	NOUN
ajst-1532	43	3	(	(	PUNCT
ajst-1532	43	4	5	5	NUM
ajst-1532	43	5	)	)	PUNCT
ajst-1532	43	6	from	from	ADP
ajst-1532	43	7	eqs	eqs	PROPN
ajst-1532	43	8	.	.	PUNCT
ajst-1532	44	1	(	(	PUNCT
ajst-1532	44	2	2)-(5	2)-(5	NUM
ajst-1532	44	3	)	)	PUNCT
ajst-1532	44	4	,	,	PUNCT
ajst-1532	44	5	the	the	DET
ajst-1532	44	6	inverse	inverse	NOUN
ajst-1532	44	7	solution	solution	NOUN
ajst-1532	44	8	of	of	ADP
ajst-1532	44	9	position	position	NOUN
ajst-1532	44	10	is	be	AUX
ajst-1532	44	11	given	give	VERB
ajst-1532	44	12	as	as	ADP
ajst-1532	44	13	eq	eq	ADP
ajst-1532	44	14	.	.	PUNCT
ajst-1532	45	1	(	(	PUNCT
ajst-1532	45	2	6	6	NUM
ajst-1532	45	3	)	)	PUNCT
ajst-1532	45	4	,	,	PUNCT
ajst-1532	45	5	the	the	DET
ajst-1532	45	6	forward	forward	ADJ
ajst-1532	45	7	solution	solution	NOUN
ajst-1532	45	8	of	of	ADP
ajst-1532	45	9	the	the	DET
ajst-1532	45	10	position	position	NOUN
ajst-1532	45	11	is	be	AUX
ajst-1532	45	12	given	give	VERB
ajst-1532	45	13	as	as	ADP
ajst-1532	45	14	the	the	DET
ajst-1532	45	15	eq	eq	NOUN
ajst-1532	45	16	.	.	PUNCT
ajst-1532	46	1	(	(	PUNCT
ajst-1532	46	2	7	7	NUM
ajst-1532	46	3	)	)	PUNCT
ajst-1532	46	4	.	.	PUNCT
ajst-1532	47	1	6	6	NUM
ajst-1532	47	2	7	7	NUM
ajst-1532	47	3	arctan(tan	arctan(tan	PROPN
ajst-1532	47	4	cos	cos	PROPN
ajst-1532	47	5	)	)	PUNCT
ajst-1532	47	6	w	w	PROPN
ajst-1532	47	7	w	w	PROPN
ajst-1532	47	8	w	w	PROPN
ajst-1532	47	9			PROPN
ajst-1532	47	10			NUM
ajst-1532	47	11			X
ajst-1532	47	12			X
ajst-1532	47	13			NUM
ajst-1532	47	14			NUM
ajst-1532	47	15			NUM
ajst-1532	47	16			PROPN
ajst-1532	47	17			PROPN
ajst-1532	47	18	(	(	PUNCT
ajst-1532	47	19	6	6	NUM
ajst-1532	47	20	)	)	PUNCT
ajst-1532	47	21	7	7	NUM
ajst-1532	47	22	6	6	NUM
ajst-1532	47	23	6	6	NUM
ajst-1532	47	24	arctan(tan	arctan(tan	PROPN
ajst-1532	47	25	cos	cos	PROPN
ajst-1532	47	26	)	)	PUNCT
ajst-1532	47	27	w	w	PROPN
ajst-1532	47	28	w	w	NOUN
ajst-1532	47	29			X
ajst-1532	47	30			X
ajst-1532	47	31			PROPN
ajst-1532	47	32			NUM
ajst-1532	47	33			X
ajst-1532	48	1			PROPN
ajst-1532	49	1			NUM
ajst-1532	49	2			INTJ
ajst-1532	50	1			PROPN
ajst-1532	50	2	(	(	PUNCT
ajst-1532	50	3	7	7	NUM
ajst-1532	50	4	)	)	PUNCT
ajst-1532	50	5	3.2	3.2	NUM
ajst-1532	50	6	.	.	PUNCT
ajst-1532	51	1	structural	structural	ADJ
ajst-1532	51	2	constraint	constraint	NOUN
ajst-1532	51	3	(	(	PUNCT
ajst-1532	51	4	1	1	NUM
ajst-1532	51	5	)	)	PUNCT
ajst-1532	51	6	6max	6max	NUM
ajst-1532	51	7	and	and	CCONJ
ajst-1532	51	8	6min	6min	NUM
ajst-1532	51	9	are	be	AUX
ajst-1532	51	10	defined	define	VERB
ajst-1532	51	11	as	as	ADP
ajst-1532	51	12	the	the	DET
ajst-1532	51	13	maximum	maximum	ADJ
ajst-1532	51	14	and	and	CCONJ
ajst-1532	51	15	minimum	minimum	ADJ
ajst-1532	51	16	rotation	rotation	NOUN
ajst-1532	51	17	angles	angle	NOUN
ajst-1532	51	18	of	of	ADP
ajst-1532	51	19	the	the	DET
ajst-1532	51	20	actuator	actuator	NOUN
ajst-1532	51	21	1wu	1wu	NOUN
ajst-1532	51	22	respectively	respectively	ADV
ajst-1532	51	23	,	,	PUNCT
ajst-1532	51	24	7max	7max	NUM
ajst-1532	51	25	and	and	CCONJ
ajst-1532	51	26	7min	7min	NUM
ajst-1532	51	27	are	be	AUX
ajst-1532	51	28	the	the	DET
ajst-1532	51	29	maximum	maximum	ADJ
ajst-1532	51	30	and	and	CCONJ
ajst-1532	51	31	minimum	minimum	ADJ
ajst-1532	51	32	rotation	rotation	NOUN
ajst-1532	51	33	angles	angle	NOUN
ajst-1532	51	34	of	of	ADP
ajst-1532	51	35	the	the	DET
ajst-1532	51	36	actuator	actuator	NOUN
ajst-1532	51	37	3wu	3wu	NOUN
ajst-1532	51	38	respectively	respectively	ADV
ajst-1532	51	39	,	,	PUNCT
ajst-1532	51	40	and	and	CCONJ
ajst-1532	51	41	the	the	DET
ajst-1532	51	42	constraint	constraint	NOUN
ajst-1532	51	43	conditions	condition	NOUN
ajst-1532	51	44	of	of	ADP
ajst-1532	51	45	no	no	DET
ajst-1532	51	46	interference	interference	NOUN
ajst-1532	51	47	between	between	ADP
ajst-1532	51	48	the	the	DET
ajst-1532	51	49	fixed	fix	VERB
ajst-1532	51	50	platform	platform	NOUN
ajst-1532	51	51	and	and	CCONJ
ajst-1532	51	52	the	the	DET
ajst-1532	51	53	connecting	connect	VERB
ajst-1532	51	54	rod	rod	NOUN
ajst-1532	51	55	can	can	AUX
ajst-1532	51	56	be	be	AUX
ajst-1532	51	57	expressed	express	VERB
ajst-1532	51	58	as	as	ADP
ajst-1532	51	59	6min	6min	NUM
ajst-1532	51	60	6	6	NUM
ajst-1532	51	61	6max	6max	NUM
ajst-1532	51	62	7min	7min	NUM
ajst-1532	51	63	7	7	NUM
ajst-1532	51	64	7max	7max	NUM
ajst-1532	51	65			PROPN
ajst-1532	52	1			X
ajst-1532	52	2			PROPN
ajst-1532	52	3			PROPN
ajst-1532	52	4			PROPN
ajst-1532	52	5			PROPN
ajst-1532	52	6			PROPN
ajst-1532	52	7			PROPN
ajst-1532	53	1			PROPN
ajst-1532	53	2			PUNCT
ajst-1532	53	3			PROPN
ajst-1532	53	4			PROPN
ajst-1532	53	5	(	(	PUNCT
ajst-1532	53	6	8)	8)	NUM
ajst-1532	53	7	(	(	PUNCT
ajst-1532	53	8	2	2	NUM
ajst-1532	53	9	)	)	PUNCT
ajst-1532	53	10	the	the	DET
ajst-1532	53	11	constraint	constraint	NOUN
ajst-1532	53	12	conditions	condition	NOUN
ajst-1532	53	13	for	for	ADP
ajst-1532	53	14	the	the	DET
ajst-1532	53	15	mechanism	mechanism	NOUN
ajst-1532	53	16	to	to	PART
ajst-1532	53	17	avoid	avoid	VERB
ajst-1532	53	18	singular	singular	ADJ
ajst-1532	53	19	posture	posture	NOUN
ajst-1532	53	20	can	can	AUX
ajst-1532	53	21	be	be	AUX
ajst-1532	53	22	expressed	express	VERB
ajst-1532	53	23	as	as	ADP
ajst-1532	53	24	6	6	NUM
ajst-1532	53	25	7	7	NUM
ajst-1532	53	26	90	90	NUM
ajst-1532	53	27	90	90	NUM
ajst-1532	53	28	90	90	NUM
ajst-1532	53	29	90	90	NUM
ajst-1532	53	30			NOUN
ajst-1532	53	31			PROPN
ajst-1532	53	32			PROPN
ajst-1532	53	33			PROPN
ajst-1532	53	34			PROPN
ajst-1532	53	35			PROPN
ajst-1532	53	36			PROPN
ajst-1532	53	37			PROPN
ajst-1532	53	38			PROPN
ajst-1532	53	39			NUM
ajst-1532	53	40			PROPN
ajst-1532	53	41			PROPN
ajst-1532	53	42			PROPN
ajst-1532	53	43			PROPN
ajst-1532	53	44			PROPN
ajst-1532	53	45	(	(	PUNCT
ajst-1532	53	46	9	9	NUM
ajst-1532	53	47	)	)	PUNCT
ajst-1532	53	48	(	(	PUNCT
ajst-1532	53	49	3	3	X
ajst-1532	53	50	)	)	PUNCT
ajst-1532	53	51	it	it	PRON
ajst-1532	53	52	is	be	AUX
ajst-1532	53	53	assumed	assume	VERB
ajst-1532	53	54	that	that	SCONJ
ajst-1532	53	55	section	section	NOUN
ajst-1532	53	56	of	of	ADP
ajst-1532	53	57	the	the	DET
ajst-1532	53	58	rods	rod	NOUN
ajst-1532	53	59	is	be	AUX
ajst-1532	53	60	round	round	ADJ
ajst-1532	53	61	,	,	PUNCT
ajst-1532	53	62	and	and	CCONJ
ajst-1532	53	63	its	its	PRON
ajst-1532	53	64	diameter	diameter	NOUN
ajst-1532	53	65	is	be	AUX
ajst-1532	53	66	d	d	NOUN
ajst-1532	53	67	,	,	PUNCT
ajst-1532	53	68	the	the	DET
ajst-1532	53	69	shortest	short	ADJ
ajst-1532	53	70	distance	distance	NOUN
ajst-1532	53	71	between	between	ADP
ajst-1532	53	72	the	the	DET
ajst-1532	53	73	same	same	ADJ
ajst-1532	53	74	side	side	NOUN
ajst-1532	53	75	of	of	ADP
ajst-1532	53	76	the	the	DET
ajst-1532	53	77	connecting	connect	VERB
ajst-1532	53	78	rod	rod	NOUN
ajst-1532	53	79	and	and	CCONJ
ajst-1532	53	80	the	the	DET
ajst-1532	53	81	rod	rod	NOUN
ajst-1532	53	82	connected	connect	VERB
ajst-1532	53	83	to	to	ADP
ajst-1532	53	84	the	the	DET
ajst-1532	53	85	frame	frame	NOUN
ajst-1532	53	86	is	be	AUX
ajst-1532	53	87	set	set	VERB
ajst-1532	53	88	i	i	PROPN
ajst-1532	53	89	d	d	PROPN
ajst-1532	53	90	,	,	PUNCT
ajst-1532	53	91	the	the	DET
ajst-1532	53	92	constraint	constraint	NOUN
ajst-1532	53	93	conditions	condition	NOUN
ajst-1532	53	94	that	that	SCONJ
ajst-1532	53	95	there	there	PRON
ajst-1532	53	96	are	be	VERB
ajst-1532	53	97	not	not	PART
ajst-1532	53	98	interference	interference	NOUN
ajst-1532	53	99	between	between	ADP
ajst-1532	53	100	two	two	NUM
ajst-1532	53	101	rods	rod	NOUN
ajst-1532	53	102	can	can	AUX
ajst-1532	53	103	be	be	AUX
ajst-1532	53	104	expressed	express	VERB
ajst-1532	53	105	as	as	ADP
ajst-1532	53	106	i	i	PROPN
ajst-1532	53	107	d	d	PROPN
ajst-1532	53	108	d	d	PROPN
ajst-1532	53	109	(	(	PUNCT
ajst-1532	53	110	10	10	NUM
ajst-1532	53	111	)	)	SYM
ajst-1532	53	112	4	4	NUM
ajst-1532	53	113	.	.	PUNCT
ajst-1532	53	114	workspace	workspace	NOUN
ajst-1532	53	115	analysis	analysis	NOUN
ajst-1532	53	116	the	the	DET
ajst-1532	53	117	structural	structural	ADJ
ajst-1532	53	118	parameters	parameter	NOUN
ajst-1532	53	119	of	of	ADP
ajst-1532	53	120	the	the	DET
ajst-1532	53	121	mechanism	mechanism	NOUN
ajst-1532	53	122	are	be	AUX
ajst-1532	53	123	shown	show	VERB
ajst-1532	53	124	in	in	ADP
ajst-1532	53	125	table	table	NOUN
ajst-1532	53	126	1	1	NUM
ajst-1532	53	127	.	.	PUNCT
ajst-1532	54	1	the	the	DET
ajst-1532	54	2	point	point	NOUN
ajst-1532	54	3			ADJ
ajst-1532	54	4	0	0	NOUN
ajst-1532	54	5	-20	-20	NUM
ajst-1532	54	6	0	0	NUM
ajst-1532	54	7	t	t	PROPN
ajst-1532	54	8	w	w	PROPN
ajst-1532	54	9	p	p	NOUN
ajst-1532	54	10	on	on	ADP
ajst-1532	54	11	the	the	DET
ajst-1532	54	12	moving	move	VERB
ajst-1532	54	13	platform	platform	NOUN
ajst-1532	54	14	of	of	ADP
ajst-1532	54	15	the	the	DET
ajst-1532	54	16	mechanism	mechanism	NOUN
ajst-1532	54	17	is	be	AUX
ajst-1532	54	18	selected	select	VERB
ajst-1532	54	19	as	as	ADP
ajst-1532	54	20	reference	reference	NOUN
ajst-1532	54	21	point	point	NOUN
ajst-1532	54	22	for	for	ADP
ajst-1532	54	23	the	the	DET
ajst-1532	54	24	workspace	workspace	NOUN
ajst-1532	54	25	.	.	PUNCT
ajst-1532	55	1	given	give	VERB
ajst-1532	55	2	the	the	DET
ajst-1532	55	3	constraints	constraint	NOUN
ajst-1532	55	4	of	of	ADP
ajst-1532	55	5	eqs	eqs	PROPN
ajst-1532	55	6	.	.	PUNCT
ajst-1532	56	1	(	(	PUNCT
ajst-1532	56	2	10)-(12	10)-(12	NUM
ajst-1532	56	3	)	)	PUNCT
ajst-1532	56	4	,	,	PUNCT
ajst-1532	57	1	60	60	NUM
ajst-1532	57	2	60w	60w	NUM
ajst-1532	57	3			NOUN
ajst-1532	57	4			X
ajst-1532	57	5			X
ajst-1532	57	6	,	,	PUNCT
ajst-1532	57	7	45	45	NUM
ajst-1532	57	8	45w	45w	NUM
ajst-1532	57	9			NOUN
ajst-1532	57	10			X
ajst-1532	57	11			X
ajst-1532	57	12	,	,	PUNCT
ajst-1532	57	13	and	and	CCONJ
ajst-1532	57	14	the	the	DET
ajst-1532	57	15	step	step	NOUN
ajst-1532	57	16	length	length	NOUN
ajst-1532	57	17	is	be	AUX
ajst-1532	57	18	5w	5w	PROPN
ajst-1532	57	19	w	w	NOUN
ajst-1532	57	20			NOUN
ajst-1532	57	21			NOUN
ajst-1532	57	22			NUM
ajst-1532	58	1			NOUN
ajst-1532	59	1			NUM
ajst-1532	59	2	,	,	PUNCT
ajst-1532	59	3	then	then	ADV
ajst-1532	59	4	,	,	PUNCT
ajst-1532	59	5	the	the	DET
ajst-1532	59	6	three	three	NUM
ajst-1532	59	7	-	-	PUNCT
ajst-1532	59	8	dimensional	dimensional	ADJ
ajst-1532	59	9	search	search	NOUN
ajst-1532	59	10	method	method	NOUN
ajst-1532	59	11	is	be	AUX
ajst-1532	59	12	used	use	VERB
ajst-1532	59	13	to	to	PART
ajst-1532	59	14	simulate	simulate	VERB
ajst-1532	59	15	and	and	CCONJ
ajst-1532	59	16	analyze	analyze	VERB
ajst-1532	59	17	the	the	DET
ajst-1532	59	18	workspace	workspace	NOUN
ajst-1532	59	19	of	of	ADP
ajst-1532	59	20	the	the	DET
ajst-1532	59	21	mechanism	mechanism	NOUN
ajst-1532	59	22	with	with	ADP
ajst-1532	59	23	matlab	matlab	PROPN
ajst-1532	59	24	.	.	PUNCT
ajst-1532	60	1	the	the	DET
ajst-1532	60	2	results	result	NOUN
ajst-1532	60	3	are	be	AUX
ajst-1532	60	4	shown	show	VERB
ajst-1532	60	5	in	in	ADP
ajst-1532	60	6	fig	fig	NOUN
ajst-1532	60	7	.	.	PUNCT
ajst-1532	61	1	45	45	NUM
ajst-1532	61	2	.	.	PUNCT
ajst-1532	62	1	compared	compare	VERB
ajst-1532	62	2	with	with	ADP
ajst-1532	62	3	the	the	DET
ajst-1532	62	4	range	range	NOUN
ajst-1532	62	5	of	of	ADP
ajst-1532	62	6	human	human	ADJ
ajst-1532	62	7	wrist	wrist	NOUN
ajst-1532	62	8	motion	motion	NOUN
ajst-1532	62	9	,	,	PUNCT
ajst-1532	62	10	the	the	DET
ajst-1532	62	11	mechanism	mechanism	NOUN
ajst-1532	62	12	can	can	AUX
ajst-1532	62	13	basically	basically	ADV
ajst-1532	62	14	meet	meet	VERB
ajst-1532	62	15	the	the	DET
ajst-1532	62	16	motion	motion	NOUN
ajst-1532	62	17	requirements	requirement	NOUN
ajst-1532	62	18	of	of	ADP
ajst-1532	62	19	the	the	DET
ajst-1532	62	20	human	human	ADJ
ajst-1532	62	21	wrist	wrist	NOUN
ajst-1532	62	22	joint	joint	NOUN
ajst-1532	62	23	.	.	PUNCT
ajst-1532	63	1	table	table	NOUN
ajst-1532	63	2	1	1	NUM
ajst-1532	63	3	.	.	PUNCT
ajst-1532	63	4	structural	structural	ADJ
ajst-1532	63	5	parameters	parameter	NOUN
ajst-1532	63	6	and	and	CCONJ
ajst-1532	63	7	inertial	inertial	ADJ
ajst-1532	63	8	parameters	parameter	NOUN
ajst-1532	63	9	structural	structural	ADJ
ajst-1532	63	10	parameters	parameter	NOUN
ajst-1532	63	11	value	value	VERB
ajst-1532	63	12	w	w	PROPN
ajst-1532	63	13	wa	wa	PROPN
ajst-1532	63	14	b	b	PROPN
ajst-1532	63	15	length	length	NOUN
ajst-1532	63	16	1	1	NUM
ajst-1532	63	17	/	/	SYM
ajst-1532	63	18	mmwl	mmwl	NOUN
ajst-1532	63	19	20	20	NUM
ajst-1532	63	20	w	w	NOUN
ajst-1532	63	21	wb	wb	PROPN
ajst-1532	63	22	c	c	PROPN
ajst-1532	63	23	length	length	NOUN
ajst-1532	63	24	2	2	NUM
ajst-1532	63	25	/	/	SYM
ajst-1532	63	26	mmwl	mmwl	NOUN
ajst-1532	63	27	35	35	NUM
ajst-1532	63	28	w	w	NOUN
ajst-1532	63	29	wd	wd	PROPN
ajst-1532	63	30	e	e	X
ajst-1532	63	31	length	length	NOUN
ajst-1532	63	32	3	3	NUM
ajst-1532	63	33	/	/	SYM
ajst-1532	63	34	mmwl	mmwl	NOUN
ajst-1532	63	35	30	30	NUM
ajst-1532	63	36	w	w	NOUN
ajst-1532	63	37	wg	wg	PROPN
ajst-1532	64	1	h	h	NOUN
ajst-1532	64	2	length	length	NOUN
ajst-1532	64	3	3	3	NUM
ajst-1532	64	4	/	/	SYM
ajst-1532	64	5	mmwl	mmwl	NOUN
ajst-1532	64	6	30	30	NUM
ajst-1532	64	7	w	w	NOUN
ajst-1532	64	8	we	we	PRON
ajst-1532	64	9	f	f	PROPN
ajst-1532	64	10	length	length	NOUN
ajst-1532	64	11	4	4	NUM
ajst-1532	64	12	/	/	SYM
ajst-1532	64	13	mmwl	mmwl	NOUN
ajst-1532	64	14	35	35	NUM
ajst-1532	64	15	w	w	NOUN
ajst-1532	64	16	wf	wf	PROPN
ajst-1532	64	17	g	g	NOUN
ajst-1532	64	18	length	length	NOUN
ajst-1532	64	19	5	5	NUM
ajst-1532	64	20	/	/	SYM
ajst-1532	64	21	mmwl	mmwl	NOUN
ajst-1532	64	22	20	20	NUM
ajst-1532	64	23	(	(	PUNCT
ajst-1532	64	24	mm)id	mm)id	PROPN
ajst-1532	64	25	10	10	NUM
ajst-1532	64	26	7max	7max	NUM
ajst-1532	64	27	(	(	PUNCT
ajst-1532	64	28	)	)	PUNCT
ajst-1532	64	29			PROPN
ajst-1532	64	30	�	�	PROPN
ajst-1532	64	31	/	/	SYM
ajst-1532	64	32	7min	7min	PROPN
ajst-1532	64	33	(	(	PUNCT
ajst-1532	64	34	)	)	PUNCT
ajst-1532	64	35			PROPN
ajst-1532	64	36	�	�	PROPN
ajst-1532	65	1	60/-60	60/-60	NUM
ajst-1532	65	2	6max	6max	NOUN
ajst-1532	65	3	(	(	PUNCT
ajst-1532	65	4	)	)	PUNCT
ajst-1532	65	5			PROPN
ajst-1532	65	6	�	�	PROPN
ajst-1532	65	7	/	/	SYM
ajst-1532	65	8	6min	6min	PROPN
ajst-1532	65	9	(	(	PUNCT
ajst-1532	65	10	)	)	PUNCT
ajst-1532	65	11			PROPN
ajst-1532	65	12	�	�	PROPN
ajst-1532	66	1	60/-60	60/-60	NUM
ajst-1532	66	2	figure	figure	NOUN
ajst-1532	66	3	4	4	NUM
ajst-1532	66	4	.	.	PUNCT
ajst-1532	66	5	three	three	NUM
ajst-1532	66	6	-	-	PUNCT
ajst-1532	66	7	dimension	dimension	NOUN
ajst-1532	66	8	graph	graph	NOUN
ajst-1532	66	9	of	of	ADP
ajst-1532	66	10	the	the	DET
ajst-1532	66	11	workspace	workspace	NOUN
ajst-1532	66	12	-20	-20	NUM
ajst-1532	66	13	0	0	NUM
ajst-1532	66	14	20	20	NUM
ajst-1532	66	15	-20	-20	NUM
ajst-1532	66	16	-10	-10	SYM
ajst-1532	66	17	0	0	NUM
ajst-1532	66	18	10	10	NUM
ajst-1532	66	19	20	20	NUM
ajst-1532	66	20	-20	-20	NUM
ajst-1532	66	21	-18	-18	NUM
ajst-1532	66	22	-16	-16	X
ajst-1532	66	23	-14	-14	PUNCT
ajst-1532	66	24	-12	-12	PRON
ajst-1532	66	25	z	z	X
ajst-1532	66	26	/	/	SYM
ajst-1532	66	27	mmx	mmx	PROPN
ajst-1532	66	28	/	/	SYM
ajst-1532	66	29	mm	mm	PROPN
ajst-1532	66	30	y/	y/	NOUN
ajst-1532	66	31	m	m	VERB
ajst-1532	66	32	m	m	VERB
ajst-1532	66	33	97	97	NUM
ajst-1532	66	34	figure	figure	NOUN
ajst-1532	66	35	5	5	NUM
ajst-1532	66	36	.	.	PUNCT
ajst-1532	66	37	boundary	boundary	ADJ
ajst-1532	66	38	map	map	NOUN
ajst-1532	66	39	of	of	ADP
ajst-1532	66	40	the	the	DET
ajst-1532	66	41	workspace	workspace	NOUN
ajst-1532	66	42	5	5	NUM
ajst-1532	66	43	.	.	PUNCT
ajst-1532	66	44	conclusion	conclusion	NOUN
ajst-1532	66	45	based	base	VERB
ajst-1532	66	46	on	on	ADP
ajst-1532	66	47	the	the	DET
ajst-1532	66	48	analysis	analysis	NOUN
ajst-1532	66	49	of	of	ADP
ajst-1532	66	50	the	the	DET
ajst-1532	66	51	motion	motion	NOUN
ajst-1532	66	52	form	form	NOUN
ajst-1532	66	53	of	of	ADP
ajst-1532	66	54	human	human	ADJ
ajst-1532	66	55	wrist	wrist	NOUN
ajst-1532	66	56	joint	joint	NOUN
ajst-1532	66	57	,	,	PUNCT
ajst-1532	66	58	a	a	DET
ajst-1532	66	59	humanoid	humanoid	ADJ
ajst-1532	66	60	wrist	wrist	NOUN
ajst-1532	66	61	joint	joint	NOUN
ajst-1532	66	62	based	base	VERB
ajst-1532	66	63	on	on	ADP
ajst-1532	66	64	orthogonal	orthogonal	ADJ
ajst-1532	66	65	spherical	spherical	ADJ
ajst-1532	66	66	two	two	NUM
ajst-1532	66	67	-	-	PUNCT
ajst-1532	66	68	degree	degree	NOUN
ajst-1532	66	69	-	-	PUNCT
ajst-1532	66	70	of	of	ADP
ajst-1532	66	71	-	-	PUNCT
ajst-1532	66	72	freedom	freedom	NOUN
ajst-1532	66	73	parallel	parallel	ADJ
ajst-1532	66	74	mechanism	mechanism	NOUN
ajst-1532	66	75	is	be	AUX
ajst-1532	66	76	proposed	propose	VERB
ajst-1532	66	77	.	.	PUNCT
ajst-1532	67	1	based	base	VERB
ajst-1532	67	2	on	on	ADP
ajst-1532	67	3	the	the	DET
ajst-1532	67	4	inverse	inverse	NOUN
ajst-1532	67	5	kinematics	kinematic	NOUN
ajst-1532	67	6	solution	solution	NOUN
ajst-1532	67	7	of	of	ADP
ajst-1532	67	8	the	the	DET
ajst-1532	67	9	mechanism	mechanism	NOUN
ajst-1532	67	10	,	,	PUNCT
ajst-1532	67	11	the	the	DET
ajst-1532	67	12	result	result	NOUN
ajst-1532	67	13	of	of	ADP
ajst-1532	67	14	workspace	workspace	NOUN
ajst-1532	67	15	analysis	analysis	NOUN
ajst-1532	67	16	shows	show	VERB
ajst-1532	67	17	that	that	SCONJ
ajst-1532	67	18	the	the	DET
ajst-1532	67	19	mechanism	mechanism	NOUN
ajst-1532	67	20	can	can	AUX
ajst-1532	67	21	basically	basically	ADV
ajst-1532	67	22	meet	meet	VERB
ajst-1532	67	23	the	the	DET
ajst-1532	67	24	motion	motion	NOUN
ajst-1532	67	25	requirements	requirement	NOUN
ajst-1532	67	26	of	of	ADP
ajst-1532	67	27	human	human	ADJ
ajst-1532	67	28	wrist	wrist	NOUN
ajst-1532	67	29	joint	joint	NOUN
ajst-1532	67	30	.	.	PUNCT
ajst-1532	68	1	acknowledgment	acknowledgment	NOUN
ajst-1532	68	2	this	this	DET
ajst-1532	68	3	work	work	NOUN
ajst-1532	68	4	is	be	AUX
ajst-1532	68	5	supported	support	VERB
ajst-1532	68	6	by	by	ADP
ajst-1532	68	7	teaching	teach	VERB
ajst-1532	68	8	case	case	NOUN
ajst-1532	68	9	project	project	NOUN
ajst-1532	68	10	in	in	ADP
ajst-1532	68	11	hebei	hebei	PROPN
ajst-1532	68	12	normal	normal	ADJ
ajst-1532	68	13	university	university	NOUN
ajst-1532	68	14	of	of	ADP
ajst-1532	68	15	science	science	NOUN
ajst-1532	68	16	and	and	CCONJ
ajst-1532	68	17	technology	technology	NOUN
ajst-1532	68	18	,	,	PUNCT
ajst-1532	68	19	project	project	NOUN
ajst-1532	68	20	number	number	NOUN
ajst-1532	68	21	:	:	PUNCT
ajst-1532	68	22	2021al02，and	2021al02，and	NUM
ajst-1532	68	23	teaching	teach	VERB
ajst-1532	68	24	reform	reform	NOUN
ajst-1532	68	25	project	project	NOUN
ajst-1532	68	26	of	of	ADP
ajst-1532	68	27	hebei	hebei	PROPN
ajst-1532	68	28	normal	normal	ADJ
ajst-1532	68	29	university	university	NOUN
ajst-1532	68	30	of	of	ADP
ajst-1532	68	31	science	science	NOUN
ajst-1532	68	32	and	and	CCONJ
ajst-1532	68	33	technology	technology	NOUN
ajst-1532	68	34	,	,	PUNCT
ajst-1532	68	35	project	project	NOUN
ajst-1532	68	36	number	number	NOUN
ajst-1532	68	37	:	:	PUNCT
ajst-1532	68	38	jyyb202153	jyyb202153	PROPN
ajst-1532	68	39	,	,	PUNCT
ajst-1532	68	40	and	and	CCONJ
ajst-1532	68	41	hebei	hebei	PROPN
ajst-1532	68	42	professional	professional	ADJ
ajst-1532	68	43	degree	degree	NOUN
ajst-1532	68	44	teaching	teaching	NOUN
ajst-1532	68	45	case	case	NOUN
ajst-1532	68	46	base	base	NOUN
ajst-1532	68	47	project	project	NOUN
ajst-1532	68	48	,	,	PUNCT
ajst-1532	68	49	project	project	NOUN
ajst-1532	68	50	number	number	NOUN
ajst-1532	68	51	:	:	PUNCT
ajst-1532	68	52	kcjsz2021074，project	kcjsz2021074，project	PROPN
ajst-1532	68	53	of	of	ADP
ajst-1532	68	54	hebei	hebei	PROPN
ajst-1532	68	55	industrial	industrial	ADJ
ajst-1532	68	56	manipulator	manipulator	NOUN
ajst-1532	68	57	control	control	NOUN
ajst-1532	68	58	and	and	CCONJ
ajst-1532	68	59	reliability	reliability	NOUN
ajst-1532	68	60	technology	technology	NOUN
ajst-1532	68	61	innovation	innovation	NOUN
ajst-1532	68	62	center	center	NOUN
ajst-1532	68	63	(	(	PUNCT
ajst-1532	68	64	hebei	hebei	PROPN
ajst-1532	68	65	university	university	PROPN
ajst-1532	68	66	of	of	ADP
ajst-1532	68	67	water	water	NOUN
ajst-1532	68	68	resources	resource	NOUN
ajst-1532	68	69	and	and	CCONJ
ajst-1532	68	70	electric	electric	ADJ
ajst-1532	68	71	engineering	engineering	NOUN
ajst-1532	68	72	)	)	PUNCT
ajst-1532	68	73	,	,	PUNCT
ajst-1532	68	74	project	project	NOUN
ajst-1532	68	75	number	number	NOUN
ajst-1532	68	76	:	:	PUNCT
ajst-1532	68	77	jxkf2108	jxkf2108	PROPN
ajst-1532	68	78	and	and	CCONJ
ajst-1532	68	79	jxkf2107	jxkf2107	PROPN
ajst-1532	68	80	.	.	PUNCT
ajst-1532	69	1	references	reference	NOUN
ajst-1532	69	2	[	[	X
ajst-1532	69	3	1	1	NUM
ajst-1532	69	4	]	]	PUNCT
ajst-1532	69	5	tianmiao	tianmiao	PROPN
ajst-1532	69	6	wang	wang	PROPN
ajst-1532	69	7	,	,	PUNCT
ajst-1532	69	8	yong	yong	PROPN
ajst-1532	69	9	tao	tao	PROPN
ajst-1532	69	10	.	.	PUNCT
ajst-1532	70	1	research	research	NOUN
ajst-1532	70	2	status	status	NOUN
ajst-1532	70	3	and	and	CCONJ
ajst-1532	70	4	industrialization	industrialization	NOUN
ajst-1532	70	5	development	development	NOUN
ajst-1532	70	6	strategy	strategy	NOUN
ajst-1532	70	7	of	of	ADP
ajst-1532	70	8	chinese	chinese	ADJ
ajst-1532	70	9	industrial	industrial	ADJ
ajst-1532	70	10	robot	robot	NOUN
ajst-1532	71	1	[	[	X
ajst-1532	71	2	j	j	X
ajst-1532	71	3	]	]	X
ajst-1532	71	4	.	.	PUNCT
ajst-1532	72	1	journal	journal	PROPN
ajst-1532	72	2	of	of	ADP
ajst-1532	72	3	mechanical	mechanical	ADJ
ajst-1532	72	4	engineering[j	engineering[j	PROPN
ajst-1532	72	5	]	]	PUNCT
ajst-1532	72	6	,	,	PUNCT
ajst-1532	72	7	2014	2014	NUM
ajst-1532	72	8	,	,	PUNCT
ajst-1532	72	9	50(9	50(9	NUM
ajst-1532	72	10	):	):	PUNCT
ajst-1532	72	11	1	1	NUM
ajst-1532	72	12	-	-	SYM
ajst-1532	72	13	13	13	NUM
ajst-1532	72	14	.	.	PUNCT
ajst-1532	73	1	(	(	PUNCT
ajst-1532	73	2	in	in	ADP
ajst-1532	73	3	chinese	chinese	PROPN
ajst-1532	73	4	)	)	PUNCT
ajst-1532	74	1	[	[	X
ajst-1532	74	2	2	2	NUM
ajst-1532	74	3	]	]	X
ajst-1532	74	4	saha	saha	PROPN
ajst-1532	74	5	s	s	PROPN
ajst-1532	74	6	k.	k.	PROPN
ajst-1532	74	7	introduction	introduction	NOUN
ajst-1532	74	8	to	to	ADP
ajst-1532	74	9	robotics	robotic	NOUN
ajst-1532	74	10	[	[	X
ajst-1532	74	11	m	m	X
ajst-1532	74	12	]	]	X
ajst-1532	74	13	.	.	PUNCT
ajst-1532	75	1	beijing	beijing	PROPN
ajst-1532	75	2	:	:	PUNCT
ajst-1532	76	1	china	china	PROPN
ajst-1532	76	2	machine	machine	PROPN
ajst-1532	76	3	press	press	PROPN
ajst-1532	76	4	,	,	PUNCT
ajst-1532	76	5	2010	2010	NUM
ajst-1532	76	6	.	.	PUNCT
ajst-1532	77	1	[	[	X
ajst-1532	77	2	3	3	X
ajst-1532	77	3	]	]	X
ajst-1532	77	4	östring	östre	VERB
ajst-1532	77	5	m	m	PROPN
ajst-1532	77	6	,	,	PUNCT
ajst-1532	77	7	gunnarsson	gunnarsson	PROPN
ajst-1532	77	8	s	s	PART
ajst-1532	77	9	,	,	PUNCT
ajst-1532	77	10	norrlöf	norrlöf	ADJ
ajst-1532	77	11	m.	m.	NOUN
ajst-1532	77	12	closed	close	VERB
ajst-1532	77	13	-	-	PUNCT
ajst-1532	77	14	loop	loop	NOUN
ajst-1532	77	15	identification	identification	NOUN
ajst-1532	77	16	of	of	ADP
ajst-1532	77	17	an	an	DET
ajst-1532	77	18	industrial	industrial	ADJ
ajst-1532	77	19	robot	robot	NOUN
ajst-1532	77	20	containing	contain	VERB
ajst-1532	77	21	flexibilities[j	flexibilities[j	PROPN
ajst-1532	77	22	]	]	PUNCT
ajst-1532	77	23	.	.	PUNCT
ajst-1532	78	1	control	control	NOUN
ajst-1532	78	2	engineering	engineering	NOUN
ajst-1532	78	3	practice	practice	NOUN
ajst-1532	78	4	,	,	PUNCT
ajst-1532	78	5	2003	2003	NUM
ajst-1532	78	6	,	,	PUNCT
ajst-1532	78	7	11(3	11(3	NUM
ajst-1532	78	8	):	):	PUNCT
ajst-1532	78	9	291	291	NUM
ajst-1532	78	10	-	-	SYM
ajst-1532	78	11	300	300	NUM
ajst-1532	78	12	.	.	PUNCT
ajst-1532	79	1	[	[	X
ajst-1532	79	2	4	4	NUM
ajst-1532	79	3	]	]	X
ajst-1532	79	4	dongchao	dongchao	PROPN
ajst-1532	79	5	yang	yang	PROPN
ajst-1532	79	6	,	,	PUNCT
ajst-1532	79	7	guoming	guoming	PROPN
ajst-1532	79	8	zhao	zhao	PROPN
ajst-1532	79	9	,	,	PUNCT
ajst-1532	79	10	ken	ken	PROPN
ajst-1532	79	11	chen	chen	PROPN
ajst-1532	79	12	,	,	PUNCT
ajst-1532	79	13	et	et	PROPN
ajst-1532	79	14	al	al	PROPN
ajst-1532	79	15	.	.	PUNCT
ajst-1532	80	1	analysis	analysis	NOUN
ajst-1532	80	2	of	of	ADP
ajst-1532	80	3	degrees	degree	NOUN
ajst-1532	80	4	of	of	ADP
ajst-1532	80	5	freedom	freedom	NOUN
ajst-1532	80	6	of	of	ADP
ajst-1532	80	7	humanoid	humanoid	NOUN
ajst-1532	80	8	robot	robot	NOUN
ajst-1532	80	9	[	[	X
ajst-1532	80	10	j].china	j].china	PROPN
ajst-1532	80	11	mechanical	mechanical	ADJ
ajst-1532	80	12	engineering	engineering	NOUN
ajst-1532	80	13	,	,	PUNCT
ajst-1532	80	14	2003	2003	NUM
ajst-1532	80	15	,	,	PUNCT
ajst-1532	80	16	14(6	14(6	NUM
ajst-1532	80	17	):	):	PUNCT
ajst-1532	80	18	453	453	NUM
ajst-1532	80	19	-	-	NUM
ajst-1532	80	20	456	456	NUM
ajst-1532	80	21	.	.	PUNCT
ajst-1532	81	1	(	(	PUNCT
ajst-1532	81	2	in	in	ADP
ajst-1532	81	3	chinese	chinese	PROPN
ajst-1532	81	4	)	)	PUNCT
ajst-1532	82	1	[	[	X
ajst-1532	82	2	5	5	X
ajst-1532	82	3	]	]	PUNCT
ajst-1532	82	4	xiuli	xiuli	PROPN
ajst-1532	82	5	yu	yu	PROPN
ajst-1532	82	6	,	,	PUNCT
ajst-1532	82	7	shimin	shimin	PROPN
ajst-1532	82	8	wei	wei	PROPN
ajst-1532	82	9	,	,	PUNCT
ajst-1532	82	10	qizheng	qizheng	PROPN
ajst-1532	82	11	liao	liao	PROPN
ajst-1532	82	12	.	.	PUNCT
ajst-1532	83	1	development	development	PROPN
ajst-1532	83	2	and	and	CCONJ
ajst-1532	83	3	technology	technology	NOUN
ajst-1532	83	4	research	research	NOUN
ajst-1532	83	5	of	of	ADP
ajst-1532	83	6	humanoid	humanoid	NOUN
ajst-1532	83	7	robot[j	robot[j	NOUN
ajst-1532	83	8	]	]	PUNCT
ajst-1532	83	9	.	.	PUNCT
ajst-1532	84	1	journal	journal	PROPN
ajst-1532	84	2	of	of	ADP
ajst-1532	84	3	mechanical	mechanical	ADJ
ajst-1532	84	4	engineering[j	engineering[j	PROPN
ajst-1532	84	5	]	]	PUNCT
ajst-1532	84	6	.	.	PUNCT
ajst-1532	85	1	2009	2009	NUM
ajst-1532	85	2	,	,	PUNCT
ajst-1532	85	3	45(3	45(3	NUM
ajst-1532	85	4	):	):	PUNCT
ajst-1532	85	5	71	71	NUM
ajst-1532	85	6	-	-	SYM
ajst-1532	85	7	75	75	NUM
ajst-1532	85	8	.	.	PUNCT
ajst-1532	86	1	(	(	PUNCT
ajst-1532	86	2	in	in	ADP
ajst-1532	86	3	chinese	chinese	PROPN
ajst-1532	86	4	)	)	PUNCT
ajst-1532	87	1	[	[	X
ajst-1532	87	2	6	6	NUM
ajst-1532	87	3	]	]	X
ajst-1532	87	4	artermiadis	artermiadi	NOUN
ajst-1532	87	5	p	p	PROPN
ajst-1532	87	6	k	k	PROPN
ajst-1532	87	7	，	，	PROPN
ajst-1532	87	8	katsiaris	katsiaris	PROPN
ajst-1532	87	9	p	p	PROPN
ajst-1532	87	10	t	t	PROPN
ajst-1532	87	11	,	,	PUNCT
ajst-1532	87	12	kyriakopoulos	kyriakopoulos	PROPN
ajst-1532	87	13	k	k	PROPN
ajst-1532	87	14	j.	j.	PROPN
ajst-1532	87	15	a	a	DET
ajst-1532	87	16	biomimetic	biomimetic	ADJ
ajst-1532	87	17	approach	approach	NOUN
ajst-1532	87	18	to	to	ADP
ajst-1532	87	19	inverse	inverse	NOUN
ajst-1532	87	20	kinematics	kinematic	NOUN
ajst-1532	87	21	for	for	ADP
ajst-1532	87	22	a	a	DET
ajst-1532	87	23	redundant	redundant	ADJ
ajst-1532	87	24	robot	robot	NOUN
ajst-1532	87	25	arm[j	arm[j	ADJ
ajst-1532	87	26	]	]	PUNCT
ajst-1532	87	27	.	.	PUNCT
ajst-1532	88	1	autonomous	autonomous	ADJ
ajst-1532	88	2	robots	robot	NOUN
ajst-1532	88	3	,	,	PUNCT
ajst-1532	88	4	2010	2010	NUM
ajst-1532	88	5	,	,	PUNCT
ajst-1532	88	6	29(3	29(3	NUM
ajst-1532	88	7	-	-	SYM
ajst-1532	88	8	4	4	NUM
ajst-1532	88	9	):	):	PUNCT
ajst-1532	88	10	293	293	NUM
ajst-1532	88	11	-	-	SYM
ajst-1532	88	12	308	308	NUM
ajst-1532	88	13	.	.	PUNCT
ajst-1532	89	1	[	[	X
ajst-1532	89	2	7	7	X
ajst-1532	89	3	]	]	PUNCT
ajst-1532	89	4	bauml	bauml	NOUN
ajst-1532	89	5	b	b	NUM
ajst-1532	89	6	,	,	PUNCT
ajst-1532	89	7	schmidt	schmidt	PROPN
ajst-1532	89	8	f	f	PROPN
ajst-1532	89	9	,	,	PUNCT
ajst-1532	89	10	wimbock	wimbock	PROPN
ajst-1532	89	11	t	t	PROPN
ajst-1532	89	12	,	,	PUNCT
ajst-1532	89	13	et	et	PROPN
ajst-1532	89	14	al	al	PROPN
ajst-1532	89	15	.	.	PUNCT
ajst-1532	89	16	catching	catch	VERB
ajst-1532	89	17	flying	fly	VERB
ajst-1532	89	18	balls	ball	NOUN
ajst-1532	89	19	and	and	CCONJ
ajst-1532	89	20	preparing	prepare	VERB
ajst-1532	89	21	coffee	coffee	NOUN
ajst-1532	89	22	:	:	PUNCT
ajst-1532	89	23	humanoid	humanoid	ADJ
ajst-1532	89	24	rollin	rollin	PROPN
ajst-1532	89	25	'	'	PART
ajst-1532	89	26	justin	justin	PROPN
ajst-1532	89	27	performs	perform	VERB
ajst-1532	89	28	dynamic	dynamic	ADJ
ajst-1532	89	29	and	and	CCONJ
ajst-1532	89	30	sensitive	sensitive	ADJ
ajst-1532	89	31	tasks[c	tasks[c	PROPN
ajst-1532	89	32	]	]	PUNCT
ajst-1532	89	33	.	.	PUNCT
ajst-1532	90	1	2011	2011	NUM
ajst-1532	90	2	ieee	ieee	PROPN
ajst-1532	90	3	international	international	ADJ
ajst-1532	90	4	conference	conference	NOUN
ajst-1532	90	5	on	on	ADP
ajst-1532	90	6	robotics	robotic	NOUN
ajst-1532	90	7	and	and	CCONJ
ajst-1532	90	8	automation	automation	NOUN
ajst-1532	90	9	,	,	PUNCT
ajst-1532	90	10	shanghai	shanghai	PROPN
ajst-1532	90	11	,	,	PUNCT
ajst-1532	90	12	china	china	PROPN
ajst-1532	90	13	,	,	PUNCT
ajst-1532	90	14	2011：3443	2011：3443	PROPN
ajst-1532	90	15	-	-	PUNCT
ajst-1532	90	16	3444	3444	NUM
ajst-1532	90	17	.	.	PUNCT
ajst-1532	91	1	[	[	X
ajst-1532	91	2	8	8	NUM
ajst-1532	91	3	]	]	X
ajst-1532	91	4	jing	jing	PROPN
ajst-1532	91	5	zhao	zhao	NOUN
ajst-1532	91	6	,	,	PUNCT
ajst-1532	91	7	chunyu	chunyu	NOUN
ajst-1532	91	8	song	song	NOUN
ajst-1532	91	9	,	,	PUNCT
ajst-1532	91	10	bin	bin	PROPN
ajst-1532	91	11	du	du	PROPN
ajst-1532	91	12	.	.	PUNCT
ajst-1532	91	13	configuration	configuration	NOUN
ajst-1532	91	14	of	of	ADP
ajst-1532	91	15	humanoid	humanoid	ADJ
ajst-1532	91	16	robotic	robotic	ADJ
ajst-1532	91	17	arm	arm	NOUN
ajst-1532	91	18	based	base	VERB
ajst-1532	91	19	on	on	ADP
ajst-1532	91	20	human	human	ADJ
ajst-1532	91	21	engineering	engineering	NOUN
ajst-1532	92	1	[	[	X
ajst-1532	92	2	j	j	X
ajst-1532	92	3	]	]	X
ajst-1532	92	4	.	.	PUNCT
ajst-1532	93	1	journal	journal	PROPN
ajst-1532	93	2	of	of	ADP
ajst-1532	93	3	mechanical	mechanical	ADJ
ajst-1532	93	4	engineering	engineering	NOUN
ajst-1532	93	5	,	,	PUNCT
ajst-1532	93	6	2013	2013	NUM
ajst-1532	93	7	,	,	PUNCT
ajst-1532	93	8	49(11	49(11	NUM
ajst-1532	93	9	):	):	PUNCT
ajst-1532	93	10	16	16	NUM
ajst-1532	93	11	-	-	SYM
ajst-1532	93	12	21	21	NUM
ajst-1532	93	13	.	.	PUNCT
ajst-1532	94	1	(	(	PUNCT
ajst-1532	94	2	in	in	ADP
ajst-1532	94	3	chinese	chinese	PROPN
ajst-1532	94	4	)	)	PUNCT
ajst-1532	95	1	[	[	X
ajst-1532	95	2	9	9	NUM
ajst-1532	95	3	]	]	X
ajst-1532	95	4	merlet	merlet	NOUN
ajst-1532	95	5	j	j	PROPN
ajst-1532	95	6	p.	p.	PROPN
ajst-1532	95	7	parallel	parallel	ADJ
ajst-1532	95	8	robots	robot	NOUN
ajst-1532	95	9	[	[	X
ajst-1532	95	10	m	m	X
ajst-1532	95	11	]	]	X
ajst-1532	95	12	.	.	PUNCT
ajst-1532	96	1	springer	springer	PROPN
ajst-1532	96	2	netherlands	netherlands	PROPN
ajst-1532	96	3	,	,	PUNCT
ajst-1532	96	4	2014	2014	NUM
ajst-1532	96	5	.	.	PUNCT
ajst-1532	97	1	[	[	X
ajst-1532	97	2	10	10	NUM
ajst-1532	97	3	]	]	X
ajst-1532	97	4	kai	kai	PROPN
ajst-1532	97	5	zhang	zhang	PROPN
ajst-1532	97	6	.	.	PUNCT
ajst-1532	98	1	joint	joint	ADJ
ajst-1532	98	2	motion	motion	NOUN
ajst-1532	98	3	recording	record	VERB
ajst-1532	98	4	methodneutral	methodneutral	ADJ
ajst-1532	98	5	zero	zero	NUM
ajst-1532	98	6	method	method	NOUN
ajst-1532	98	7	[	[	X
ajst-1532	98	8	eb	eb	PROPN
ajst-1532	98	9	/	/	SYM
ajst-1532	98	10	ol	ol	PROPN
ajst-1532	98	11	]	]	PUNCT
ajst-1532	98	12	.	.	PUNCT
ajst-1532	99	1	http://guzhe.baike.com/article-49292.html	http://guzhe.baike.com/article-49292.html	PROPN
ajst-1532	99	2	.	.	PUNCT
ajst-1532	100	1	[	[	X
ajst-1532	100	2	11	11	NUM
ajst-1532	100	3	]	]	X
ajst-1532	100	4	zhen	zhen	PROPN
ajst-1532	100	5	huang	huang	PROPN
ajst-1532	100	6	,	,	PUNCT
ajst-1532	100	7	yongsheng	yongsheng	PROPN
ajst-1532	100	8	zhao	zhao	PROPN
ajst-1532	100	9	,	,	PUNCT
ajst-1532	100	10	tieshi	tieshi	ADJ
ajst-1532	100	11	zhao	zhao	PROPN
ajst-1532	100	12	.	.	PUNCT
ajst-1532	101	1	advanced	advanced	ADJ
ajst-1532	101	2	spatial	spatial	ADJ
ajst-1532	101	3	mechanism[m	mechanism[m	NOUN
ajst-1532	101	4	]	]	PUNCT
ajst-1532	101	5	.	.	PUNCT
ajst-1532	102	1	china	china	PROPN
ajst-1532	102	2	higher	high	ADJ
ajst-1532	102	3	education	education	PROPN
ajst-1532	102	4	press	press	NOUN
ajst-1532	102	5	,	,	PUNCT
ajst-1532	102	6	2006	2006	NUM
ajst-1532	102	7	.	.	PUNCT
ajst-1532	103	1	(	(	PUNCT
ajst-1532	103	2	in	in	ADP
ajst-1532	103	3	chinese	chinese	PROPN
ajst-1532	103	4	)	)	PUNCT
ajst-1532	104	1	[	[	X
ajst-1532	104	2	12	12	NUM
ajst-1532	104	3	]	]	X
ajst-1532	104	4	youlun	youlun	PROPN
ajst-1532	104	5	xiong	xiong	PROPN
ajst-1532	104	6	,	,	PUNCT
ajst-1532	104	7	han	han	PROPN
ajst-1532	104	8	ding	ding	PROPN
ajst-1532	104	9	,	,	PUNCT
ajst-1532	104	10	encang	encang	PROPN
ajst-1532	104	11	liu	liu	PROPN
ajst-1532	104	12	,	,	PUNCT
ajst-1532	104	13	et	et	PROPN
ajst-1532	104	14	al	al	PROPN
ajst-1532	104	15	.	.	PUNCT
ajst-1532	105	1	robotics[m	robotics[m	PROPN
ajst-1532	105	2	]	]	PUNCT
ajst-1532	105	3	.	.	PUNCT
ajst-1532	106	1	beijing	beijing	PROPN
ajst-1532	106	2	:	:	PUNCT
ajst-1532	107	1	china	china	PROPN
ajst-1532	107	2	machine	machine	PROPN
ajst-1532	107	3	press	press	PROPN
ajst-1532	107	4	,	,	PUNCT
ajst-1532	107	5	1992	1992	NUM
ajst-1532	107	6	.	.	PUNCT