id	sid	tid	token	lemma	pos
ajst-31619	1	1	75	75	NUM
ajst-31619	1	2	on	on	ADP
ajst-31619	1	3	the	the	DET
ajst-31619	1	4	solution	solution	NOUN
ajst-31619	1	5	of	of	ADP
ajst-31619	1	6	five	five	NUM
ajst-31619	1	7	-	-	PUNCT
ajst-31619	1	8	position	position	NOUN
ajst-31619	1	9	synthesis	synthesis	NOUN
ajst-31619	1	10	for	for	ADP
ajst-31619	1	11	stephenson	stephenson	PROPN
ajst-31619	1	12	ii	ii	PROPN
ajst-31619	1	13	six	six	NUM
ajst-31619	1	14	-	-	PUNCT
ajst-31619	1	15	bar	bar	NOUN
ajst-31619	1	16	linkages	linkage	NOUN
ajst-31619	1	17	based	base	VERB
ajst-31619	1	18	on	on	ADP
ajst-31619	1	19	solution	solution	NOUN
ajst-31619	1	20	region	region	NOUN
ajst-31619	1	21	synthesis	synthesis	NOUN
ajst-31619	1	22	method	method	NOUN
ajst-31619	1	23	wupeng	wupeng	NOUN
ajst-31619	1	24	liua	liua	NOUN
ajst-31619	1	25	,	,	PUNCT
ajst-31619	1	26	song	song	NOUN
ajst-31619	1	27	zhaob	zhaob	PROPN
ajst-31619	1	28	,	,	PUNCT
ajst-31619	1	29	yan	yan	PROPN
ajst-31619	1	30	wang	wang	PROPN
ajst-31619	1	31	,	,	PUNCT
ajst-31619	1	32	jiajin	jiajin	NOUN
ajst-31619	1	33	zhou	zhou	PROPN
ajst-31619	1	34	,	,	PUNCT
ajst-31619	1	35	guangzheng	guangzheng	PROPN
ajst-31619	1	36	liu	liu	PROPN
ajst-31619	1	37	,	,	PUNCT
ajst-31619	1	38	xiaoyan	xiaoyan	PROPN
ajst-31619	1	39	guo	guo	PROPN
ajst-31619	1	40	,	,	PUNCT
ajst-31619	1	41	xiaopeng	xiaopeng	PROPN
ajst-31619	1	42	yang	yang	PROPN
ajst-31619	1	43	china	china	PROPN
ajst-31619	1	44	north	north	PROPN
ajst-31619	1	45	vehicle	vehicle	PROPN
ajst-31619	1	46	research	research	PROPN
ajst-31619	1	47	institute	institute	PROPN
ajst-31619	1	48	,	,	PUNCT
ajst-31619	1	49	norinco	norinco	PROPN
ajst-31619	1	50	group	group	PROPN
ajst-31619	1	51	,	,	PUNCT
ajst-31619	1	52	beijing	beijing	PROPN
ajst-31619	1	53	100072	100072	NUM
ajst-31619	1	54	,	,	PUNCT
ajst-31619	1	55	china	china	PROPN
ajst-31619	1	56	alwpliuwupeng@sina.com	alwpliuwupeng@sina.com	PROPN
ajst-31619	1	57	,	,	PUNCT
ajst-31619	1	58	b13315217502@163.com	b13315217502@163.com	PROPN
ajst-31619	1	59	abstract	abstract	NOUN
ajst-31619	1	60	.	.	PUNCT
ajst-31619	2	1	in	in	ADP
ajst-31619	2	2	this	this	DET
ajst-31619	2	3	paper	paper	NOUN
ajst-31619	2	4	,	,	PUNCT
ajst-31619	2	5	the	the	DET
ajst-31619	2	6	five	five	NUM
ajst-31619	2	7	-	-	PUNCT
ajst-31619	2	8	position	position	NOUN
ajst-31619	2	9	synthesis	synthesis	NOUN
ajst-31619	2	10	of	of	ADP
ajst-31619	2	11	stephenson	stephenson	PROPN
ajst-31619	2	12	ii	ii	PROPN
ajst-31619	2	13	six	six	NUM
ajst-31619	2	14	-	-	PUNCT
ajst-31619	2	15	bar	bar	NOUN
ajst-31619	2	16	linkages	linkage	NOUN
ajst-31619	2	17	is	be	AUX
ajst-31619	2	18	studied	study	VERB
ajst-31619	2	19	based	base	VERB
ajst-31619	2	20	on	on	ADP
ajst-31619	2	21	the	the	DET
ajst-31619	2	22	solution	solution	NOUN
ajst-31619	2	23	region	region	NOUN
ajst-31619	2	24	synthesis	synthesis	NOUN
ajst-31619	2	25	methodology	methodology	NOUN
ajst-31619	2	26	,	,	PUNCT
ajst-31619	2	27	in	in	ADP
ajst-31619	2	28	addition	addition	NOUN
ajst-31619	2	29	,	,	PUNCT
ajst-31619	2	30	a	a	DET
ajst-31619	2	31	universal	universal	ADJ
ajst-31619	2	32	and	and	CCONJ
ajst-31619	2	33	effective	effective	ADJ
ajst-31619	2	34	defect	defect	NOUN
ajst-31619	2	35	determination	determination	NOUN
ajst-31619	2	36	method	method	NOUN
ajst-31619	2	37	for	for	ADP
ajst-31619	2	38	complex	complex	ADJ
ajst-31619	2	39	linkages	linkage	NOUN
ajst-31619	2	40	is	be	AUX
ajst-31619	2	41	presented	present	VERB
ajst-31619	2	42	.	.	PUNCT
ajst-31619	3	1	firstly	firstly	ADV
ajst-31619	3	2	,	,	PUNCT
ajst-31619	3	3	five	five	NUM
ajst-31619	3	4	-	-	PUNCT
ajst-31619	3	5	position	position	NOUN
ajst-31619	3	6	synthesis	synthesis	NOUN
ajst-31619	3	7	equations	equation	NOUN
ajst-31619	3	8	of	of	ADP
ajst-31619	3	9	stephenson	stephenson	PROPN
ajst-31619	3	10	ii	ii	PROPN
ajst-31619	3	11	six	six	NUM
ajst-31619	3	12	-	-	PUNCT
ajst-31619	3	13	bar	bar	NOUN
ajst-31619	3	14	linkages	linkage	NOUN
ajst-31619	3	15	ware	ware	NOUN
ajst-31619	3	16	established	establish	VERB
ajst-31619	3	17	,	,	PUNCT
ajst-31619	3	18	then	then	ADV
ajst-31619	3	19	the	the	DET
ajst-31619	3	20	equations	equation	NOUN
ajst-31619	3	21	are	be	AUX
ajst-31619	3	22	solved	solve	VERB
ajst-31619	3	23	in	in	ADP
ajst-31619	3	24	bertini	bertini	NOUN
ajst-31619	3	25	.	.	PUNCT
ajst-31619	4	1	a	a	DET
ajst-31619	4	2	numerical	numerical	ADJ
ajst-31619	4	3	example	example	NOUN
ajst-31619	4	4	of	of	ADP
ajst-31619	4	5	five	five	NUM
ajst-31619	4	6	-	-	PUNCT
ajst-31619	4	7	position	position	NOUN
ajst-31619	4	8	synthesis	synthesis	NOUN
ajst-31619	4	9	for	for	ADP
ajst-31619	4	10	stephenson	stephenson	PROPN
ajst-31619	4	11	ii	ii	PROPN
ajst-31619	4	12	six	six	NUM
ajst-31619	4	13	-	-	PUNCT
ajst-31619	4	14	bar	bar	NOUN
ajst-31619	4	15	linkages	linkage	NOUN
ajst-31619	4	16	was	be	AUX
ajst-31619	4	17	given	give	VERB
ajst-31619	4	18	to	to	PART
ajst-31619	4	19	elaborate	elaborate	VERB
ajst-31619	4	20	the	the	DET
ajst-31619	4	21	method	method	NOUN
ajst-31619	4	22	and	and	CCONJ
ajst-31619	4	23	process	process	NOUN
ajst-31619	4	24	of	of	ADP
ajst-31619	4	25	establishing	establish	VERB
ajst-31619	4	26	the	the	DET
ajst-31619	4	27	solution	solution	NOUN
ajst-31619	4	28	region	region	NOUN
ajst-31619	4	29	and	and	CCONJ
ajst-31619	4	30	the	the	DET
ajst-31619	4	31	method	method	NOUN
ajst-31619	4	32	for	for	ADP
ajst-31619	4	33	identifying	identify	VERB
ajst-31619	4	34	defect	defect	NOUN
ajst-31619	4	35	linkages	linkage	NOUN
ajst-31619	4	36	of	of	ADP
ajst-31619	4	37	complex	complex	ADJ
ajst-31619	4	38	six	six	NUM
ajst-31619	4	39	-	-	PUNCT
ajst-31619	4	40	bar	bar	NOUN
ajst-31619	4	41	linkages	linkage	NOUN
ajst-31619	4	42	,	,	PUNCT
ajst-31619	4	43	and	and	CCONJ
ajst-31619	4	44	the	the	DET
ajst-31619	4	45	correctness	correctness	NOUN
ajst-31619	4	46	and	and	CCONJ
ajst-31619	4	47	effectiveness	effectiveness	NOUN
ajst-31619	4	48	of	of	ADP
ajst-31619	4	49	the	the	DET
ajst-31619	4	50	method	method	NOUN
ajst-31619	4	51	for	for	ADP
ajst-31619	4	52	identifying	identify	VERB
ajst-31619	4	53	defect	defect	NOUN
ajst-31619	4	54	linkages	linkage	NOUN
ajst-31619	4	55	ware	ware	NOUN
ajst-31619	4	56	proved	prove	VERB
ajst-31619	4	57	.	.	PUNCT
ajst-31619	5	1	finally	finally	ADV
ajst-31619	5	2	,	,	PUNCT
ajst-31619	5	3	the	the	DET
ajst-31619	5	4	feasible	feasible	ADJ
ajst-31619	5	5	solution	solution	NOUN
ajst-31619	5	6	region	region	NOUN
ajst-31619	5	7	of	of	ADP
ajst-31619	5	8	the	the	DET
ajst-31619	5	9	five	five	NUM
ajst-31619	5	10	-	-	PUNCT
ajst-31619	5	11	position	position	NOUN
ajst-31619	5	12	synthesis	synthesis	NOUN
ajst-31619	5	13	of	of	ADP
ajst-31619	5	14	six	six	NUM
ajst-31619	5	15	-	-	PUNCT
ajst-31619	5	16	bar	bar	NOUN
ajst-31619	5	17	linkages	linkage	NOUN
ajst-31619	5	18	is	be	AUX
ajst-31619	5	19	presented	present	VERB
ajst-31619	5	20	.	.	PUNCT
ajst-31619	6	1	keywords	keyword	NOUN
ajst-31619	6	2	:	:	PUNCT
ajst-31619	6	3	planar	planar	ADJ
ajst-31619	6	4	linkages	linkage	NOUN
ajst-31619	6	5	;	;	PUNCT
ajst-31619	6	6	circuits	circuit	NOUN
ajst-31619	6	7	;	;	PUNCT
ajst-31619	6	8	branches	branch	NOUN
ajst-31619	6	9	;	;	PUNCT
ajst-31619	6	10	linkage	linkage	NOUN
ajst-31619	6	11	synthesis	synthesis	NOUN
ajst-31619	6	12	.	.	PUNCT
ajst-31619	7	1	1	1	X
ajst-31619	7	2	.	.	X
ajst-31619	7	3	introduction	introduction	NOUN
ajst-31619	7	4	1.1	1.1	NUM
ajst-31619	7	5	.	.	PUNCT
ajst-31619	8	1	application	application	NOUN
ajst-31619	8	2	overview	overview	VERB
ajst-31619	8	3	the	the	DET
ajst-31619	8	4	development	development	NOUN
ajst-31619	8	5	of	of	ADP
ajst-31619	8	6	technology	technology	NOUN
ajst-31619	8	7	pushed	push	VERB
ajst-31619	8	8	the	the	DET
ajst-31619	8	9	application	application	NOUN
ajst-31619	8	10	for	for	ADP
ajst-31619	8	11	linkages	linkage	NOUN
ajst-31619	8	12	in	in	ADP
ajst-31619	8	13	the	the	DET
ajst-31619	8	14	fields	field	NOUN
ajst-31619	8	15	of	of	ADP
ajst-31619	8	16	bionic	bionic	ADJ
ajst-31619	8	17	robot	robot	NOUN
ajst-31619	8	18	,	,	PUNCT
ajst-31619	8	19	manipulator	manipulator	NOUN
ajst-31619	8	20	,	,	PUNCT
ajst-31619	8	21	medical	medical	ADJ
ajst-31619	8	22	rehabilitation	rehabilitation	NOUN
ajst-31619	8	23	machinery	machinery	NOUN
ajst-31619	8	24	,	,	PUNCT
ajst-31619	8	25	aerospace	aerospace	NOUN
ajst-31619	8	26	and	and	CCONJ
ajst-31619	8	27	industrial	industrial	ADJ
ajst-31619	8	28	production	production	NOUN
ajst-31619	8	29	.	.	PUNCT
ajst-31619	9	1	inspired	inspire	VERB
ajst-31619	9	2	by	by	ADP
ajst-31619	9	3	the	the	DET
ajst-31619	9	4	jumping	jump	VERB
ajst-31619	9	5	way	way	NOUN
ajst-31619	9	6	of	of	ADP
ajst-31619	9	7	insects	insect	NOUN
ajst-31619	9	8	,	,	PUNCT
ajst-31619	9	9	li	li	PROPN
ajst-31619	9	10	et	et	PROPN
ajst-31619	9	11	al	al	PROPN
ajst-31619	9	12	.	.	PUNCT
ajst-31619	10	1	[	[	X
ajst-31619	10	2	1	1	X
ajst-31619	10	3	]	]	PUNCT
ajst-31619	10	4	designed	design	VERB
ajst-31619	10	5	a	a	DET
ajst-31619	10	6	mini	mini	ADJ
ajst-31619	10	7	jumping	jumping	NOUN
ajst-31619	10	8	robot	robot	NOUN
ajst-31619	10	9	,	,	PUNCT
ajst-31619	10	10	as	as	SCONJ
ajst-31619	10	11	shown	show	VERB
ajst-31619	10	12	in	in	ADP
ajst-31619	10	13	fig	fig	NOUN
ajst-31619	10	14	.	.	PUNCT
ajst-31619	11	1	1	1	X
ajst-31619	11	2	.	.	X
ajst-31619	11	3	zhang	zhang	PROPN
ajst-31619	11	4	et	et	PROPN
ajst-31619	11	5	al	al	PROPN
ajst-31619	11	6	.	.	PUNCT
ajst-31619	12	1	[	[	X
ajst-31619	12	2	2	2	X
ajst-31619	12	3	]	]	PUNCT
ajst-31619	12	4	designed	design	VERB
ajst-31619	12	5	a	a	DET
ajst-31619	12	6	locust	locust	NOUN
ajst-31619	12	7	bionic	bionic	ADJ
ajst-31619	12	8	robot	robot	NOUN
ajst-31619	12	9	based	base	VERB
ajst-31619	12	10	on	on	ADP
ajst-31619	12	11	a	a	DET
ajst-31619	12	12	six	six	NUM
ajst-31619	12	13	-	-	PUNCT
ajst-31619	12	14	bar	bar	NOUN
ajst-31619	12	15	linkage	linkage	NOUN
ajst-31619	12	16	with	with	ADP
ajst-31619	12	17	1	1	NUM
ajst-31619	12	18	-	-	PUNCT
ajst-31619	12	19	dof	dof	NOUN
ajst-31619	12	20	.	.	PUNCT
ajst-31619	13	1	the	the	DET
ajst-31619	13	2	robot	robot	NOUN
ajst-31619	13	3	can	can	AUX
ajst-31619	13	4	keep	keep	VERB
ajst-31619	13	5	its	its	PRON
ajst-31619	13	6	body	body	NOUN
ajst-31619	13	7	posture	posture	NOUN
ajst-31619	13	8	almost	almost	ADV
ajst-31619	13	9	unchanged	unchanged	ADJ
ajst-31619	13	10	during	during	ADP
ajst-31619	13	11	jumping	jumping	NOUN
ajst-31619	13	12	,	,	PUNCT
ajst-31619	13	13	as	as	SCONJ
ajst-31619	13	14	shown	show	VERB
ajst-31619	13	15	in	in	ADP
ajst-31619	13	16	fig	fig	NOUN
ajst-31619	13	17	.	.	PUNCT
ajst-31619	14	1	2	2	X
ajst-31619	14	2	.	.	X
ajst-31619	14	3	figure	figure	NOUN
ajst-31619	14	4	1	1	NUM
ajst-31619	14	5	.	.	PUNCT
ajst-31619	14	6	bionic	bionic	ADJ
ajst-31619	14	7	leafhopper	leafhopper	NOUN
ajst-31619	14	8	76	76	NUM
ajst-31619	14	9	figure	figure	NOUN
ajst-31619	14	10	2	2	NUM
ajst-31619	14	11	.	.	PUNCT
ajst-31619	14	12	a	a	DET
ajst-31619	14	13	type	type	NOUN
ajst-31619	14	14	of	of	ADP
ajst-31619	14	15	bionic	bionic	ADJ
ajst-31619	14	16	locust	locust	NOUN
ajst-31619	14	17	gao	gao	PROPN
ajst-31619	14	18	and	and	CCONJ
ajst-31619	14	19	zhang	zhang	PROPN
ajst-31619	15	1	[	[	X
ajst-31619	15	2	3	3	NUM
ajst-31619	15	3	]	]	PUNCT
ajst-31619	15	4	designed	design	VERB
ajst-31619	15	5	a	a	DET
ajst-31619	15	6	type	type	NOUN
ajst-31619	15	7	of	of	ADP
ajst-31619	15	8	manipulator	manipulator	NOUN
ajst-31619	15	9	based	base	VERB
ajst-31619	15	10	on	on	ADP
ajst-31619	15	11	1	1	NUM
ajst-31619	15	12	-	-	PUNCT
ajst-31619	15	13	dof	dof	ADJ
ajst-31619	15	14	six	six	NUM
ajst-31619	15	15	-	-	PUNCT
ajst-31619	15	16	bar	bar	NOUN
ajst-31619	15	17	linkages	linkage	NOUN
ajst-31619	15	18	according	accord	VERB
ajst-31619	15	19	to	to	ADP
ajst-31619	15	20	the	the	DET
ajst-31619	15	21	structure	structure	NOUN
ajst-31619	15	22	of	of	ADP
ajst-31619	15	23	human	human	ADJ
ajst-31619	15	24	finger	finger	NOUN
ajst-31619	15	25	joints	joint	NOUN
ajst-31619	15	26	and	and	CCONJ
ajst-31619	15	27	the	the	DET
ajst-31619	15	28	movements	movement	NOUN
ajst-31619	15	29	of	of	ADP
ajst-31619	15	30	fingers	finger	NOUN
ajst-31619	15	31	in	in	ADP
ajst-31619	15	32	the	the	DET
ajst-31619	15	33	process	process	NOUN
ajst-31619	15	34	of	of	ADP
ajst-31619	15	35	grasping	grasp	VERB
ajst-31619	15	36	objects	object	NOUN
ajst-31619	15	37	.	.	PUNCT
ajst-31619	16	1	rodríguez	rodríguez	VERB
ajst-31619	16	2	et	et	PROPN
ajst-31619	16	3	al	al	PROPN
ajst-31619	16	4	.	.	PUNCT
ajst-31619	17	1	[	[	X
ajst-31619	17	2	4	4	NUM
ajst-31619	17	3	-	-	SYM
ajst-31619	17	4	6	6	NUM
ajst-31619	17	5	]	]	PUNCT
ajst-31619	17	6	designed	design	VERB
ajst-31619	17	7	a	a	DET
ajst-31619	17	8	three	three	NUM
ajst-31619	17	9	-	-	PUNCT
ajst-31619	17	10	finger	finger	NOUN
ajst-31619	17	11	manipulator	manipulator	NOUN
ajst-31619	17	12	based	base	VERB
ajst-31619	17	13	on	on	ADP
ajst-31619	17	14	1	1	NUM
ajst-31619	17	15	-	-	PUNCT
ajst-31619	17	16	dof	dof	ADJ
ajst-31619	17	17	six	six	NUM
ajst-31619	17	18	-	-	PUNCT
ajst-31619	17	19	bar	bar	NOUN
ajst-31619	17	20	linkages	linkage	NOUN
ajst-31619	17	21	,	,	PUNCT
ajst-31619	17	22	as	as	SCONJ
ajst-31619	17	23	shown	show	VERB
ajst-31619	17	24	in	in	ADP
ajst-31619	17	25	fig	fig	NOUN
ajst-31619	17	26	.	.	PUNCT
ajst-31619	18	1	3	3	X
ajst-31619	18	2	.	.	X
ajst-31619	18	3	wu	wu	PROPN
ajst-31619	18	4	et	et	PROPN
ajst-31619	18	5	al	al	PROPN
ajst-31619	18	6	.	.	PUNCT
ajst-31619	19	1	[	[	X
ajst-31619	19	2	7	7	X
ajst-31619	19	3	]	]	PUNCT
ajst-31619	19	4	designed	design	VERB
ajst-31619	19	5	an	an	DET
ajst-31619	19	6	underactuated	underactuated	ADJ
ajst-31619	19	7	mechanical	mechanical	ADJ
ajst-31619	19	8	finger	finger	NOUN
ajst-31619	19	9	based	base	VERB
ajst-31619	19	10	on	on	ADP
ajst-31619	19	11	a	a	DET
ajst-31619	19	12	six	six	NUM
ajst-31619	19	13	-	-	PUNCT
ajst-31619	19	14	bar	bar	NOUN
ajst-31619	19	15	linkage	linkage	NOUN
ajst-31619	19	16	with	with	ADP
ajst-31619	19	17	1	1	NUM
ajst-31619	19	18	-	-	PUNCT
ajst-31619	19	19	dof	dof	NOUN
ajst-31619	19	20	,	,	PUNCT
ajst-31619	19	21	which	which	PRON
ajst-31619	19	22	can	can	AUX
ajst-31619	19	23	grasp	grasp	VERB
ajst-31619	19	24	objects	object	NOUN
ajst-31619	19	25	of	of	ADP
ajst-31619	19	26	various	various	ADJ
ajst-31619	19	27	sizes	size	NOUN
ajst-31619	19	28	and	and	CCONJ
ajst-31619	19	29	shapes	shape	NOUN
ajst-31619	19	30	.	.	PUNCT
ajst-31619	20	1	however	however	ADV
ajst-31619	20	2	,	,	PUNCT
ajst-31619	20	3	the	the	DET
ajst-31619	20	4	size	size	NOUN
ajst-31619	20	5	of	of	ADP
ajst-31619	20	6	the	the	DET
ajst-31619	20	7	bionic	bionic	ADJ
ajst-31619	20	8	finger	finger	NOUN
ajst-31619	20	9	is	be	AUX
ajst-31619	20	10	quite	quite	ADV
ajst-31619	20	11	than	than	ADP
ajst-31619	20	12	that	that	PRON
ajst-31619	20	13	of	of	ADP
ajst-31619	20	14	the	the	DET
ajst-31619	20	15	real	real	ADJ
ajst-31619	20	16	finger	finger	NOUN
ajst-31619	20	17	.	.	PUNCT
ajst-31619	21	1	in	in	ADP
ajst-31619	21	2	order	order	NOUN
ajst-31619	21	3	to	to	PART
ajst-31619	21	4	get	get	VERB
ajst-31619	21	5	the	the	DET
ajst-31619	21	6	bionic	bionic	ADJ
ajst-31619	21	7	finger	finger	NOUN
ajst-31619	21	8	of	of	ADP
ajst-31619	21	9	which	which	DET
ajst-31619	21	10	size	size	NOUN
ajst-31619	21	11	closes	close	VERB
ajst-31619	21	12	to	to	ADP
ajst-31619	21	13	the	the	DET
ajst-31619	21	14	real	real	ADJ
ajst-31619	21	15	finger	finger	NOUN
ajst-31619	21	16	,	,	PUNCT
ajst-31619	21	17	some	some	DET
ajst-31619	21	18	scholars	scholar	NOUN
ajst-31619	21	19	later	later	ADV
ajst-31619	21	20	designed	design	VERB
ajst-31619	21	21	and	and	CCONJ
ajst-31619	21	22	manufactured	manufacture	VERB
ajst-31619	21	23	various	various	ADJ
ajst-31619	21	24	mechanical	mechanical	ADJ
ajst-31619	21	25	fingers	finger	NOUN
ajst-31619	21	26	and	and	CCONJ
ajst-31619	21	27	rehabilitation	rehabilitation	NOUN
ajst-31619	21	28	machines	machine	NOUN
ajst-31619	21	29	using	use	VERB
ajst-31619	21	30	six	six	NUM
ajst-31619	21	31	-	-	PUNCT
ajst-31619	21	32	bar	bar	NOUN
ajst-31619	21	33	linkages	linkage	NOUN
ajst-31619	21	34	with	with	ADP
ajst-31619	21	35	1	1	NUM
ajst-31619	21	36	-	-	PUNCT
ajst-31619	21	37	dof	dof	NOUN
ajst-31619	21	38	,	,	PUNCT
ajst-31619	21	39	which	which	PRON
ajst-31619	21	40	are	be	AUX
ajst-31619	21	41	not	not	PART
ajst-31619	21	42	only	only	ADV
ajst-31619	21	43	small	small	ADJ
ajst-31619	21	44	in	in	ADP
ajst-31619	21	45	size	size	NOUN
ajst-31619	21	46	,	,	PUNCT
ajst-31619	21	47	but	but	CCONJ
ajst-31619	21	48	also	also	ADV
ajst-31619	21	49	fit	fit	ADJ
ajst-31619	21	50	well	well	ADV
ajst-31619	21	51	with	with	ADP
ajst-31619	21	52	real	real	ADJ
ajst-31619	21	53	fingers	finger	NOUN
ajst-31619	21	54	[	[	X
ajst-31619	21	55	8	8	NUM
ajst-31619	21	56	-	-	SYM
ajst-31619	21	57	9	9	NUM
ajst-31619	21	58	]	]	PUNCT
ajst-31619	21	59	,	,	PUNCT
ajst-31619	21	60	as	as	SCONJ
ajst-31619	21	61	shown	show	VERB
ajst-31619	21	62	in	in	ADP
ajst-31619	21	63	fig	fig	NOUN
ajst-31619	21	64	.	.	PUNCT
ajst-31619	22	1	4	4	X
ajst-31619	22	2	.	.	X
ajst-31619	22	3	haldane	haldane	NOUN
ajst-31619	22	4	and	and	CCONJ
ajst-31619	22	5	plecnik	plecnik	X
ajst-31619	22	6	et	et	PROPN
ajst-31619	22	7	al	al	PROPN
ajst-31619	22	8	.	.	PUNCT
ajst-31619	23	1	[	[	X
ajst-31619	23	2	10,11	10,11	NOUN
ajst-31619	23	3	]	]	PUNCT
ajst-31619	23	4	presented	present	VERB
ajst-31619	23	5	1	1	NUM
ajst-31619	23	6	-	-	PUNCT
ajst-31619	23	7	dof	dof	ADJ
ajst-31619	23	8	eight	eight	NUM
ajst-31619	23	9	-	-	PUNCT
ajst-31619	23	10	bar	bar	NOUN
ajst-31619	23	11	linakge	linakge	ADJ
ajst-31619	23	12	leg	leg	NOUN
ajst-31619	23	13	capable	capable	ADJ
ajst-31619	23	14	of	of	ADP
ajst-31619	23	15	vertical	vertical	ADJ
ajst-31619	23	16	jumping	jumping	NOUN
ajst-31619	23	17	as	as	SCONJ
ajst-31619	23	18	shown	show	VERB
ajst-31619	23	19	in	in	ADP
ajst-31619	23	20	fig	fig	NOUN
ajst-31619	23	21	.	.	PUNCT
ajst-31619	24	1	5	5	NUM
ajst-31619	24	2	.	.	X
ajst-31619	24	3	park	park	NOUN
ajst-31619	24	4	and	and	CCONJ
ajst-31619	24	5	jeon	jeon	PROPN
ajst-31619	24	6	et	et	PROPN
ajst-31619	24	7	al	al	PROPN
ajst-31619	24	8	.	.	PUNCT
ajst-31619	25	1	[	[	X
ajst-31619	25	2	12	12	NUM
ajst-31619	25	3	-	-	SYM
ajst-31619	25	4	14	14	NUM
ajst-31619	25	5	]	]	PUNCT
ajst-31619	25	6	designed	design	VERB
ajst-31619	25	7	an	an	DET
ajst-31619	25	8	industrial	industrial	ADJ
ajst-31619	25	9	clamping	clamping	NOUN
ajst-31619	25	10	device	device	NOUN
ajst-31619	25	11	which	which	PRON
ajst-31619	25	12	can	can	AUX
ajst-31619	25	13	tighten	tighten	VERB
ajst-31619	25	14	steel	steel	NOUN
ajst-31619	25	15	plates	plate	NOUN
ajst-31619	25	16	of	of	ADP
ajst-31619	25	17	different	different	ADJ
ajst-31619	25	18	thicknesses	thickness	NOUN
ajst-31619	25	19	based	base	VERB
ajst-31619	25	20	on	on	ADP
ajst-31619	25	21	the	the	DET
ajst-31619	25	22	six	six	NUM
ajst-31619	25	23	-	-	PUNCT
ajst-31619	25	24	bar	bar	NOUN
ajst-31619	25	25	linkage	linkage	NOUN
ajst-31619	25	26	,	,	PUNCT
ajst-31619	25	27	as	as	SCONJ
ajst-31619	25	28	shown	show	VERB
ajst-31619	25	29	in	in	ADP
ajst-31619	25	30	fig	fig	NOUN
ajst-31619	25	31	.	.	PUNCT
ajst-31619	26	1	6	6	NUM
ajst-31619	26	2	.	.	X
ajst-31619	26	3	in	in	ADP
ajst-31619	26	4	the	the	DET
ajst-31619	26	5	future	future	NOUN
ajst-31619	26	6	,	,	PUNCT
ajst-31619	26	7	1	1	NUM
ajst-31619	26	8	-	-	PUNCT
ajst-31619	26	9	dof	dof	NOUN
ajst-31619	26	10	linkages	linkage	NOUN
ajst-31619	26	11	can	can	AUX
ajst-31619	26	12	also	also	ADV
ajst-31619	26	13	be	be	AUX
ajst-31619	26	14	used	use	VERB
ajst-31619	26	15	for	for	ADP
ajst-31619	26	16	planetary	planetary	ADJ
ajst-31619	26	17	exploration	exploration	NOUN
ajst-31619	26	18	robots	robot	NOUN
ajst-31619	26	19	,	,	PUNCT
ajst-31619	26	20	because	because	SCONJ
ajst-31619	26	21	mechanical	mechanical	ADJ
ajst-31619	26	22	legs	leg	NOUN
ajst-31619	26	23	can	can	AUX
ajst-31619	26	24	more	more	ADV
ajst-31619	26	25	easily	easily	ADV
ajst-31619	26	26	overcome	overcome	VERB
ajst-31619	26	27	obstacles	obstacle	NOUN
ajst-31619	26	28	and	and	CCONJ
ajst-31619	26	29	adapt	adapt	VERB
ajst-31619	26	30	to	to	ADP
ajst-31619	26	31	more	more	ADJ
ajst-31619	26	32	terrain	terrain	NOUN
ajst-31619	26	33	than	than	SCONJ
ajst-31619	26	34	wheeled	wheeled	ADJ
ajst-31619	26	35	or	or	CCONJ
ajst-31619	26	36	tracked	track	VERB
ajst-31619	26	37	exploration	exploration	NOUN
ajst-31619	26	38	robots	robot	NOUN
ajst-31619	26	39	.	.	PUNCT
ajst-31619	27	1	with	with	ADP
ajst-31619	27	2	the	the	DET
ajst-31619	27	3	development	development	NOUN
ajst-31619	27	4	of	of	ADP
ajst-31619	27	5	modern	modern	ADJ
ajst-31619	27	6	machinery	machinery	NOUN
ajst-31619	27	7	,	,	PUNCT
ajst-31619	27	8	linkage	linkage	NOUN
ajst-31619	27	9	machineries	machinery	NOUN
ajst-31619	27	10	will	will	AUX
ajst-31619	27	11	be	be	AUX
ajst-31619	27	12	more	more	ADV
ajst-31619	27	13	and	and	CCONJ
ajst-31619	27	14	more	more	ADV
ajst-31619	27	15	widely	widely	ADV
ajst-31619	27	16	used	use	VERB
ajst-31619	27	17	.	.	PUNCT
ajst-31619	28	1	figure	figure	VERB
ajst-31619	28	2	3	3	NUM
ajst-31619	28	3	.	.	NOUN
ajst-31619	28	4	six	six	NUM
ajst-31619	28	5	-	-	PUNCT
ajst-31619	28	6	bar	bar	NOUN
ajst-31619	28	7	manipulators	manipulator	NOUN
ajst-31619	28	8	figure	figure	VERB
ajst-31619	28	9	4	4	NUM
ajst-31619	28	10	.	.	PUNCT
ajst-31619	29	1	exoskeleton	exoskeleton	ADJ
ajst-31619	29	2	rehabilitation	rehabilitation	NOUN
ajst-31619	29	3	fingers	finger	NOUN
ajst-31619	29	4	and	and	CCONJ
ajst-31619	29	5	robotic	robotic	ADJ
ajst-31619	29	6	fingers	finger	NOUN
ajst-31619	29	7	77	77	NUM
ajst-31619	29	8	figure	figure	NOUN
ajst-31619	29	9	5	5	NUM
ajst-31619	29	10	.	.	PUNCT
ajst-31619	29	11	vertical	vertical	ADJ
ajst-31619	29	12	jump	jump	VERB
ajst-31619	29	13	mechanical	mechanical	ADJ
ajst-31619	29	14	leg	leg	NOUN
ajst-31619	29	15	figure	figure	NOUN
ajst-31619	29	16	6	6	NUM
ajst-31619	29	17	.	.	PUNCT
ajst-31619	30	1	large	large	ADJ
ajst-31619	30	2	stroke	stroke	NOUN
ajst-31619	30	3	industrial	industrial	ADJ
ajst-31619	30	4	finger	finger	NOUN
ajst-31619	30	5	clamp	clamp	NOUN
ajst-31619	30	6	device	device	NOUN
ajst-31619	30	7	1.2	1.2	NUM
ajst-31619	30	8	.	.	PUNCT
ajst-31619	31	1	synthesis	synthesis	NOUN
ajst-31619	31	2	methods	method	NOUN
ajst-31619	31	3	of	of	ADP
ajst-31619	31	4	linkages	linkage	NOUN
ajst-31619	31	5	in	in	ADP
ajst-31619	31	6	1876	1876	NUM
ajst-31619	31	7	,	,	PUNCT
ajst-31619	31	8	burmester	burmester	PROPN
ajst-31619	31	9	proposed	propose	VERB
ajst-31619	31	10	the	the	DET
ajst-31619	31	11	geometric	geometric	ADJ
ajst-31619	31	12	method	method	NOUN
ajst-31619	31	13	for	for	ADP
ajst-31619	31	14	linkage	linkage	NOUN
ajst-31619	31	15	synthesis	synthesis	NOUN
ajst-31619	31	16	and	and	CCONJ
ajst-31619	31	17	proposed	propose	VERB
ajst-31619	31	18	the	the	DET
ajst-31619	31	19	famous	famous	ADJ
ajst-31619	31	20	burmester	burmester	NOUN
ajst-31619	31	21	curve	curve	NOUN
ajst-31619	31	22	through	through	ADP
ajst-31619	31	23	the	the	DET
ajst-31619	31	24	research	research	NOUN
ajst-31619	31	25	of	of	ADP
ajst-31619	31	26	3~5	3~5	NUM
ajst-31619	31	27	finitely	finitely	ADV
ajst-31619	31	28	separated	separate	VERB
ajst-31619	31	29	positions	position	NOUN
ajst-31619	31	30	of	of	ADP
ajst-31619	31	31	four	four	NUM
ajst-31619	31	32	-	-	PUNCT
ajst-31619	31	33	bar	bar	NOUN
ajst-31619	31	34	linkages	linkage	NOUN
ajst-31619	31	35	.	.	PUNCT
ajst-31619	32	1	references	reference	NOUN
ajst-31619	33	1	[	[	X
ajst-31619	33	2	15,16	15,16	NUM
ajst-31619	33	3	]	]	PUNCT
ajst-31619	33	4	presented	present	VERB
ajst-31619	33	5	the	the	DET
ajst-31619	33	6	solution	solution	NOUN
ajst-31619	33	7	region	region	NOUN
ajst-31619	33	8	synthesis	synthesis	NOUN
ajst-31619	33	9	method	method	NOUN
ajst-31619	33	10	of	of	ADP
ajst-31619	33	11	four	four	NUM
ajst-31619	33	12	position	position	NOUN
ajst-31619	33	13	synthesis	synthesis	NOUN
ajst-31619	33	14	of	of	ADP
ajst-31619	33	15	fourbar	fourbar	NOUN
ajst-31619	33	16	linkages	linkage	NOUN
ajst-31619	33	17	based	base	VERB
ajst-31619	33	18	on	on	ADP
ajst-31619	33	19	the	the	DET
ajst-31619	33	20	burmester	burmester	NOUN
ajst-31619	33	21	curve	curve	NOUN
ajst-31619	33	22	.	.	PUNCT
ajst-31619	34	1	after	after	ADP
ajst-31619	34	2	that	that	PRON
ajst-31619	34	3	,	,	PUNCT
ajst-31619	34	4	the	the	DET
ajst-31619	34	5	solution	solution	NOUN
ajst-31619	34	6	region	region	NOUN
ajst-31619	34	7	synthesis	synthesis	NOUN
ajst-31619	34	8	method	method	NOUN
ajst-31619	34	9	was	be	AUX
ajst-31619	34	10	widely	widely	ADV
ajst-31619	34	11	used	use	VERB
ajst-31619	34	12	in	in	ADP
ajst-31619	34	13	the	the	DET
ajst-31619	34	14	motion	motion	NOUN
ajst-31619	34	15	generation	generation	NOUN
ajst-31619	34	16	of	of	ADP
ajst-31619	34	17	planar	planar	ADJ
ajst-31619	34	18	four	four	NUM
ajst-31619	34	19	-	-	PUNCT
ajst-31619	34	20	bar	bar	NOUN
ajst-31619	34	21	linkages	linkage	NOUN
ajst-31619	34	22	[	[	X
ajst-31619	34	23	17	17	NUM
ajst-31619	34	24	-	-	SYM
ajst-31619	34	25	20	20	NUM
ajst-31619	34	26	]	]	PUNCT
ajst-31619	34	27	.	.	PUNCT
ajst-31619	35	1	later	later	ADV
ajst-31619	35	2	,	,	PUNCT
ajst-31619	35	3	han	han	PROPN
ajst-31619	35	4	and	and	CCONJ
ajst-31619	35	5	yang	yang	PROPN
ajst-31619	36	1	[	[	X
ajst-31619	36	2	21,22	21,22	X
ajst-31619	36	3	]	]	X
ajst-31619	36	4	studied	study	VERB
ajst-31619	36	5	the	the	DET
ajst-31619	36	6	four	four	NUM
ajst-31619	36	7	-	-	PUNCT
ajst-31619	36	8	position	position	NOUN
ajst-31619	36	9	synthesis	synthesis	NOUN
ajst-31619	36	10	of	of	ADP
ajst-31619	36	11	planar	planar	ADJ
ajst-31619	36	12	six	six	NUM
ajst-31619	36	13	-	-	PUNCT
ajst-31619	36	14	bar	bar	NOUN
ajst-31619	36	15	linkages	linkage	NOUN
ajst-31619	36	16	based	base	VERB
ajst-31619	36	17	on	on	ADP
ajst-31619	36	18	the	the	DET
ajst-31619	36	19	solution	solution	NOUN
ajst-31619	36	20	region	region	NOUN
ajst-31619	36	21	synthesis	synthesis	NOUN
ajst-31619	36	22	method	method	NOUN
ajst-31619	36	23	,	,	PUNCT
ajst-31619	36	24	and	and	CCONJ
ajst-31619	36	25	used	use	VERB
ajst-31619	36	26	the	the	DET
ajst-31619	36	27	jacobian	jacobian	ADJ
ajst-31619	36	28	matrix	matrix	NOUN
ajst-31619	36	29	determinant	determinant	ADJ
ajst-31619	36	30	to	to	PART
ajst-31619	36	31	determine	determine	VERB
ajst-31619	36	32	whether	whether	SCONJ
ajst-31619	36	33	six	six	NUM
ajst-31619	36	34	-	-	PUNCT
ajst-31619	36	35	bar	bar	NOUN
ajst-31619	36	36	linkages	linkage	NOUN
ajst-31619	36	37	composed	compose	VERB
ajst-31619	36	38	of	of	ADP
ajst-31619	36	39	the	the	DET
ajst-31619	36	40	four	four	NUM
ajst-31619	36	41	-	-	PUNCT
ajst-31619	36	42	bar	bar	NOUN
ajst-31619	36	43	assur	assur	NOUN
ajst-31619	36	44	group	group	NOUN
ajst-31619	36	45	have	have	VERB
ajst-31619	36	46	branch	branch	NOUN
ajst-31619	36	47	defects	defect	NOUN
ajst-31619	36	48	.	.	PUNCT
ajst-31619	37	1	however	however	ADV
ajst-31619	37	2	,	,	PUNCT
ajst-31619	37	3	complex	complex	ADJ
ajst-31619	37	4	linkages	linkage	NOUN
ajst-31619	37	5	often	often	ADV
ajst-31619	37	6	have	have	VERB
ajst-31619	37	7	multiple	multiple	ADJ
ajst-31619	37	8	branches	branch	NOUN
ajst-31619	37	9	in	in	ADP
ajst-31619	37	10	one	one	NUM
ajst-31619	37	11	circuit	circuit	NOUN
ajst-31619	37	12	,	,	PUNCT
ajst-31619	37	13	and	and	CCONJ
ajst-31619	37	14	only	only	ADV
ajst-31619	37	15	the	the	DET
ajst-31619	37	16	signs	sign	NOUN
ajst-31619	37	17	of	of	ADP
ajst-31619	37	18	jacobian	jacobian	ADJ
ajst-31619	37	19	matrix	matrix	NOUN
ajst-31619	37	20	determinants	determinant	NOUN
ajst-31619	37	21	of	of	ADP
ajst-31619	37	22	two	two	NUM
ajst-31619	37	23	adjacent	adjacent	ADJ
ajst-31619	37	24	branches	branch	NOUN
ajst-31619	37	25	are	be	AUX
ajst-31619	37	26	different	different	ADJ
ajst-31619	37	27	.	.	PUNCT
ajst-31619	38	1	since	since	SCONJ
ajst-31619	38	2	,	,	PUNCT
ajst-31619	38	3	it	it	PRON
ajst-31619	38	4	does	do	AUX
ajst-31619	38	5	not	not	PART
ajst-31619	38	6	guarantee	guarantee	VERB
ajst-31619	38	7	that	that	SCONJ
ajst-31619	38	8	all	all	PRON
ajst-31619	38	9	of	of	ADP
ajst-31619	38	10	the	the	DET
ajst-31619	38	11	linkages	linkage	NOUN
ajst-31619	38	12	with	with	ADP
ajst-31619	38	13	branch	branch	NOUN
ajst-31619	38	14	defects	defect	NOUN
ajst-31619	38	15	are	be	AUX
ajst-31619	38	16	eliminated	eliminate	VERB
ajst-31619	38	17	.	.	PUNCT
ajst-31619	39	1	therefore	therefore	ADV
ajst-31619	39	2	,	,	PUNCT
ajst-31619	39	3	a	a	DET
ajst-31619	39	4	universal	universal	ADJ
ajst-31619	39	5	and	and	CCONJ
ajst-31619	39	6	effective	effective	ADJ
ajst-31619	39	7	method	method	NOUN
ajst-31619	39	8	to	to	PART
ajst-31619	39	9	determine	determine	VERB
ajst-31619	39	10	defect	defect	NOUN
ajst-31619	39	11	linkages	linkage	NOUN
ajst-31619	39	12	for	for	ADP
ajst-31619	39	13	complex	complex	ADJ
ajst-31619	39	14	linkages	linkage	NOUN
ajst-31619	39	15	is	be	AUX
ajst-31619	39	16	proposed	propose	VERB
ajst-31619	39	17	in	in	ADP
ajst-31619	39	18	this	this	DET
ajst-31619	39	19	paper	paper	NOUN
ajst-31619	39	20	.	.	PUNCT
ajst-31619	40	1	this	this	DET
ajst-31619	40	2	method	method	NOUN
ajst-31619	40	3	can	can	AUX
ajst-31619	40	4	not	not	PART
ajst-31619	40	5	only	only	ADV
ajst-31619	40	6	solve	solve	VERB
ajst-31619	40	7	the	the	DET
ajst-31619	40	8	problems	problem	NOUN
ajst-31619	40	9	above	above	ADV
ajst-31619	40	10	,	,	PUNCT
ajst-31619	40	11	but	but	CCONJ
ajst-31619	40	12	also	also	ADV
ajst-31619	40	13	accurately	accurately	ADV
ajst-31619	40	14	determine	determine	VERB
ajst-31619	40	15	whether	whether	SCONJ
ajst-31619	40	16	the	the	DET
ajst-31619	40	17	linkage	linkage	NOUN
ajst-31619	40	18	has	have	VERB
ajst-31619	40	19	circuit	circuit	NOUN
ajst-31619	40	20	detects	detect	NOUN
ajst-31619	40	21	or	or	CCONJ
ajst-31619	40	22	branch	branch	NOUN
ajst-31619	40	23	defects	defect	NOUN
ajst-31619	40	24	.	.	PUNCT
ajst-31619	41	1	since	since	SCONJ
ajst-31619	41	2	branch	branch	NOUN
ajst-31619	41	3	defects	defect	NOUN
ajst-31619	41	4	are	be	AUX
ajst-31619	41	5	not	not	PART
ajst-31619	41	6	fatal	fatal	ADJ
ajst-31619	41	7	to	to	ADP
ajst-31619	41	8	the	the	DET
ajst-31619	41	9	motion	motion	NOUN
ajst-31619	41	10	of	of	ADP
ajst-31619	41	11	the	the	DET
ajst-31619	41	12	linkage	linkage	NOUN
ajst-31619	41	13	,	,	PUNCT
ajst-31619	41	14	the	the	DET
ajst-31619	41	15	linkage	linkage	NOUN
ajst-31619	41	16	without	without	ADP
ajst-31619	41	17	circuit	circuit	NOUN
ajst-31619	41	18	defects	defect	NOUN
ajst-31619	41	19	but	but	CCONJ
ajst-31619	41	20	with	with	ADP
ajst-31619	41	21	branch	branch	NOUN
ajst-31619	41	22	defects	defect	NOUN
ajst-31619	41	23	can	can	AUX
ajst-31619	41	24	be	be	AUX
ajst-31619	41	25	retained	retain	VERB
ajst-31619	41	26	in	in	ADP
ajst-31619	41	27	the	the	DET
ajst-31619	41	28	feasible	feasible	ADJ
ajst-31619	41	29	solution	solution	NOUN
ajst-31619	41	30	region	region	NOUN
ajst-31619	41	31	according	accord	VERB
ajst-31619	41	32	to	to	ADP
ajst-31619	41	33	the	the	DET
ajst-31619	41	34	specific	specific	ADJ
ajst-31619	41	35	situation	situation	NOUN
ajst-31619	41	36	.	.	PUNCT
ajst-31619	42	1	at	at	ADP
ajst-31619	42	2	most	most	ADJ
ajst-31619	42	3	five	five	NUM
ajst-31619	42	4	positions	position	NOUN
ajst-31619	42	5	can	can	AUX
ajst-31619	42	6	be	be	AUX
ajst-31619	42	7	given	give	VERB
ajst-31619	42	8	for	for	ADP
ajst-31619	42	9	motion	motion	NOUN
ajst-31619	42	10	generation	generation	NOUN
ajst-31619	42	11	of	of	ADP
ajst-31619	42	12	four	four	NUM
ajst-31619	42	13	-	-	PUNCT
ajst-31619	42	14	bar	bar	NOUN
ajst-31619	42	15	linkages	linkage	NOUN
ajst-31619	42	16	and	and	CCONJ
ajst-31619	42	17	just	just	ADV
ajst-31619	42	18	a	a	DET
ajst-31619	42	19	finite	finite	ADJ
ajst-31619	42	20	number	number	NOUN
ajst-31619	42	21	of	of	ADP
ajst-31619	42	22	linkages	linkage	NOUN
ajst-31619	42	23	can	can	AUX
ajst-31619	42	24	be	be	AUX
ajst-31619	42	25	obtained	obtain	VERB
ajst-31619	42	26	.	.	PUNCT
ajst-31619	43	1	owing	owe	VERB
ajst-31619	43	2	to	to	ADP
ajst-31619	43	3	more	more	ADJ
ajst-31619	43	4	design	design	NOUN
ajst-31619	43	5	parameters	parameter	NOUN
ajst-31619	43	6	,	,	PUNCT
ajst-31619	43	7	an	an	DET
ajst-31619	43	8	infinite	infinite	ADJ
ajst-31619	43	9	number	number	NOUN
ajst-31619	43	10	of	of	ADP
ajst-31619	43	11	linkage	linkage	NOUN
ajst-31619	43	12	solutions	solution	NOUN
ajst-31619	43	13	can	can	AUX
ajst-31619	43	14	be	be	AUX
ajst-31619	43	15	obtained	obtain	VERB
ajst-31619	43	16	theoretically	theoretically	ADV
ajst-31619	43	17	for	for	ADP
ajst-31619	43	18	the	the	DET
ajst-31619	43	19	five	five	NUM
ajst-31619	43	20	-	-	PUNCT
ajst-31619	43	21	position	position	NOUN
ajst-31619	43	22	synthesis	synthesis	NOUN
ajst-31619	43	23	of	of	ADP
ajst-31619	43	24	six	six	NUM
ajst-31619	43	25	-	-	PUNCT
ajst-31619	43	26	bar	bar	NOUN
ajst-31619	43	27	linkages	linkage	NOUN
ajst-31619	43	28	,	,	PUNCT
ajst-31619	43	29	which	which	PRON
ajst-31619	43	30	can	can	AUX
ajst-31619	43	31	provide	provide	VERB
ajst-31619	43	32	a	a	DET
ajst-31619	43	33	broader	broad	ADJ
ajst-31619	43	34	choice	choice	NOUN
ajst-31619	43	35	space	space	NOUN
ajst-31619	43	36	for	for	ADP
ajst-31619	43	37	the	the	DET
ajst-31619	43	38	design	design	NOUN
ajst-31619	43	39	.	.	PUNCT
ajst-31619	44	1	based	base	VERB
ajst-31619	44	2	on	on	ADP
ajst-31619	44	3	the	the	DET
ajst-31619	44	4	solution	solution	NOUN
ajst-31619	44	5	region	region	NOUN
ajst-31619	44	6	synthesis	synthesis	NOUN
ajst-31619	44	7	method	method	NOUN
ajst-31619	44	8	,	,	PUNCT
ajst-31619	44	9	the	the	DET
ajst-31619	44	10	five	five	NUM
ajst-31619	44	11	-	-	PUNCT
ajst-31619	44	12	position	position	NOUN
ajst-31619	44	13	synthesis	synthesis	NOUN
ajst-31619	44	14	of	of	ADP
ajst-31619	44	15	stephenson	stephenson	PROPN
ajst-31619	44	16	ii	ii	PROPN
ajst-31619	44	17	six	six	NUM
ajst-31619	44	18	-	-	PUNCT
ajst-31619	44	19	bar	bar	NOUN
ajst-31619	44	20	linkages	linkage	NOUN
ajst-31619	44	21	composed	compose	VERB
ajst-31619	44	22	of	of	ADP
ajst-31619	44	23	four	four	NUM
ajst-31619	44	24	-	-	PUNCT
ajst-31619	44	25	bar	bar	NOUN
ajst-31619	44	26	assur	assur	PROPN
ajst-31619	44	27	group	group	PROPN
ajst-31619	44	28	ii	ii	PROPN
ajst-31619	44	29	is	be	AUX
ajst-31619	44	30	studied	study	VERB
ajst-31619	44	31	in	in	ADP
ajst-31619	44	32	this	this	DET
ajst-31619	44	33	paper	paper	NOUN
ajst-31619	44	34	.	.	PUNCT
ajst-31619	45	1	2	2	X
ajst-31619	45	2	.	.	X
ajst-31619	45	3	formula	formula	NOUN
ajst-31619	45	4	of	of	ADP
ajst-31619	45	5	five	five	NUM
ajst-31619	45	6	position	position	NOUN
ajst-31619	45	7	synthesis	synthesis	NOUN
ajst-31619	45	8	figure	figure	NOUN
ajst-31619	45	9	7	7	NUM
ajst-31619	45	10	shows	show	VERB
ajst-31619	45	11	the	the	DET
ajst-31619	45	12	schematic	schematic	ADJ
ajst-31619	45	13	of	of	ADP
ajst-31619	45	14	a	a	DET
ajst-31619	45	15	stephenson	stephenson	PROPN
ajst-31619	45	16	ii	ii	PROPN
ajst-31619	45	17	six	six	NUM
ajst-31619	45	18	-	-	PUNCT
ajst-31619	45	19	bar	bar	NOUN
ajst-31619	45	20	linkage	linkage	NOUN
ajst-31619	45	21	moving	move	VERB
ajst-31619	45	22	from	from	ADP
ajst-31619	45	23	its	its	PRON
ajst-31619	45	24	initial	initial	ADJ
ajst-31619	45	25	position	position	NOUN
ajst-31619	45	26	to	to	PART
ajst-31619	45	27	position	position	VERB
ajst-31619	45	28	j.	j.	PROPN
ajst-31619	45	29	the	the	DET
ajst-31619	45	30	linkage	linkage	NOUN
ajst-31619	45	31	is	be	AUX
ajst-31619	45	32	located	locate	VERB
ajst-31619	45	33	on	on	ADP
ajst-31619	45	34	a	a	DET
ajst-31619	45	35	complex	complex	ADJ
ajst-31619	45	36	plane	plane	NOUN
ajst-31619	45	37	,	,	PUNCT
ajst-31619	45	38	and	and	CCONJ
ajst-31619	45	39	the	the	DET
ajst-31619	45	40	locations	location	NOUN
ajst-31619	45	41	of	of	ADP
ajst-31619	45	42	joints	joint	NOUN
ajst-31619	45	43	are	be	AUX
ajst-31619	45	44	represented	represent	VERB
ajst-31619	45	45	as	as	ADP
ajst-31619	45	46	complex	complex	ADJ
ajst-31619	45	47	points	point	NOUN
ajst-31619	45	48	in	in	ADP
ajst-31619	45	49	the	the	DET
ajst-31619	45	50	complex	complex	ADJ
ajst-31619	45	51	plane	plane	NOUN
ajst-31619	45	52	,	,	PUNCT
ajst-31619	45	53	where	where	SCONJ
ajst-31619	45	54	r	r	NOUN
ajst-31619	45	55	and	and	CCONJ
ajst-31619	45	56	i	i	PRON
ajst-31619	45	57	represent	represent	VERB
ajst-31619	45	58	real	real	ADJ
ajst-31619	45	59	and	and	CCONJ
ajst-31619	45	60	imaginary	imaginary	ADJ
ajst-31619	45	61	units	unit	NOUN
ajst-31619	45	62	respectively	respectively	ADV
ajst-31619	45	63	.	.	PUNCT
ajst-31619	46	1	the	the	DET
ajst-31619	46	2	dotted	dotted	ADJ
ajst-31619	46	3	lines	line	NOUN
ajst-31619	46	4	represent	represent	VERB
ajst-31619	46	5	the	the	DET
ajst-31619	46	6	initial	initial	ADJ
ajst-31619	46	7	configuration	configuration	NOUN
ajst-31619	46	8	of	of	ADP
ajst-31619	46	9	the	the	DET
ajst-31619	46	10	linkage	linkage	NOUN
ajst-31619	46	11	.	.	PUNCT
ajst-31619	47	1	p1	p1	NOUN
ajst-31619	47	2	represents	represent	VERB
ajst-31619	47	3	the	the	DET
ajst-31619	47	4	first	first	ADJ
ajst-31619	47	5	position	position	NOUN
ajst-31619	47	6	of	of	ADP
ajst-31619	47	7	the	the	DET
ajst-31619	47	8	rigid	rigid	ADJ
ajst-31619	47	9	body	body	NOUN
ajst-31619	47	10	and	and	CCONJ
ajst-31619	47	11	pj	pj	PROPN
ajst-31619	47	12	represents	represent	VERB
ajst-31619	47	13	the	the	DET
ajst-31619	47	14	position	position	NOUN
ajst-31619	47	15	j	j	PROPN
ajst-31619	47	16	of	of	ADP
ajst-31619	47	17	the	the	DET
ajst-31619	47	18	rigid	rigid	ADJ
ajst-31619	47	19	body	body	NOUN
ajst-31619	47	20	.	.	PUNCT
ajst-31619	48	1	βj	βj	PRON
ajst-31619	48	2	,	,	PUNCT
ajst-31619	48	3	θj	θj	NOUN
ajst-31619	48	4	,	,	PUNCT
ajst-31619	48	5	φj	φj	PROPN
ajst-31619	48	6	,	,	PUNCT
ajst-31619	48	7	μj	μj	PROPN
ajst-31619	48	8	and	and	CCONJ
ajst-31619	48	9	λj	λj	PROPN
ajst-31619	48	10	are	be	AUX
ajst-31619	48	11	the	the	DET
ajst-31619	48	12	rotation	rotation	NOUN
ajst-31619	48	13	angles	angle	NOUN
ajst-31619	48	14	of	of	ADP
ajst-31619	48	15	the	the	DET
ajst-31619	48	16	linkage	linkage	NOUN
ajst-31619	48	17	moving	move	VERB
ajst-31619	48	18	from	from	ADP
ajst-31619	48	19	initial	initial	ADJ
ajst-31619	48	20	position	position	NOUN
ajst-31619	48	21	to	to	PART
ajst-31619	48	22	position	position	VERB
ajst-31619	48	23	j.	j.	PROPN
ajst-31619	48	24	78	78	NUM
ajst-31619	48	25	figure	figure	NOUN
ajst-31619	48	26	1	1	NUM
ajst-31619	48	27	.	.	PUNCT
ajst-31619	48	28	schematic	schematic	ADJ
ajst-31619	48	29	of	of	ADP
ajst-31619	48	30	the	the	DET
ajst-31619	48	31	six	six	NUM
ajst-31619	48	32	-	-	PUNCT
ajst-31619	48	33	bar	bar	NOUN
ajst-31619	48	34	linkage	linkage	NOUN
ajst-31619	48	35	moving	move	VERB
ajst-31619	48	36	from	from	ADP
ajst-31619	48	37	initial	initial	ADJ
ajst-31619	48	38	position	position	NOUN
ajst-31619	48	39	to	to	PART
ajst-31619	48	40	position	position	VERB
ajst-31619	48	41	j	j	PROPN
ajst-31619	48	42	when	when	SCONJ
ajst-31619	48	43	the	the	DET
ajst-31619	48	44	six	six	NUM
ajst-31619	48	45	-	-	PUNCT
ajst-31619	48	46	bar	bar	NOUN
ajst-31619	48	47	linkage	linkage	NOUN
ajst-31619	48	48	moves	move	NOUN
ajst-31619	48	49	from	from	ADP
ajst-31619	48	50	initial	initial	ADJ
ajst-31619	48	51	position	position	NOUN
ajst-31619	48	52	1	1	NUM
ajst-31619	48	53	to	to	PART
ajst-31619	48	54	position	position	VERB
ajst-31619	48	55	j	j	PROPN
ajst-31619	48	56	,	,	PUNCT
ajst-31619	48	57	three	three	NUM
ajst-31619	48	58	loop	loop	NOUN
ajst-31619	48	59	equations	equation	NOUN
ajst-31619	48	60	can	can	AUX
ajst-31619	48	61	be	be	AUX
ajst-31619	48	62	obtained	obtain	VERB
ajst-31619	48	63	:	:	PUNCT
ajst-31619	48	64	1	1	NUM
ajst-31619	48	65	(	(	PUNCT
ajst-31619	48	66	)	)	PUNCT
ajst-31619	48	67	(	(	PUNCT
ajst-31619	48	68	)	)	PUNCT
ajst-31619	48	69	0j	0j	NOUN
ajst-31619	49	1	j	j	PROPN
ajst-31619	49	2	ja	ja	INTJ
ajst-31619	49	3	r	r	NOUN
ajst-31619	49	4	c	c	PROPN
ajst-31619	49	5	a	a	DET
ajst-31619	49	6	s	s	X
ajst-31619	49	7	p	p	X
ajst-31619	49	8	c	c	NOUN
ajst-31619	49	9	p	p	NOUN
ajst-31619	49	10			PROPN
ajst-31619	49	11			VERB
ajst-31619	49	12			PROPN
ajst-31619	49	13			PROPN
ajst-31619	49	14			PRON
ajst-31619	49	15	(	(	PUNCT
ajst-31619	49	16	1	1	NUM
ajst-31619	49	17	)	)	PUNCT
ajst-31619	49	18	1	1	NUM
ajst-31619	49	19	(	(	PUNCT
ajst-31619	49	20	)	)	PUNCT
ajst-31619	49	21	(	(	PUNCT
ajst-31619	49	22	)	)	PUNCT
ajst-31619	49	23	(	(	PUNCT
ajst-31619	49	24	)	)	PUNCT
ajst-31619	49	25	0j	0j	NOUN
ajst-31619	50	1	j	j	PROPN
ajst-31619	50	2	j	j	PROPN
ajst-31619	50	3	jb	jb	PROPN
ajst-31619	50	4	v	v	PROPN
ajst-31619	50	5	d	d	PROPN
ajst-31619	50	6	b	b	X
ajst-31619	50	7	u	u	X
ajst-31619	50	8	f	f	PROPN
ajst-31619	50	9	d	d	PROPN
ajst-31619	50	10	s	s	PROPN
ajst-31619	50	11	p	p	X
ajst-31619	50	12	f	f	PROPN
ajst-31619	50	13	p	p	PROPN
ajst-31619	50	14			PROPN
ajst-31619	50	15			VERB
ajst-31619	50	16			PROPN
ajst-31619	50	17			VERB
ajst-31619	50	18			PROPN
ajst-31619	50	19			PROPN
ajst-31619	50	20			PRON
ajst-31619	50	21	(	(	PUNCT
ajst-31619	50	22	2	2	NUM
ajst-31619	50	23	)	)	PUNCT
ajst-31619	50	24	1	1	NUM
ajst-31619	50	25	(	(	PUNCT
ajst-31619	50	26	)	)	PUNCT
ajst-31619	50	27	(	(	PUNCT
ajst-31619	50	28	)	)	PUNCT
ajst-31619	50	29	(	(	PUNCT
ajst-31619	50	30	)	)	PUNCT
ajst-31619	50	31	0j	0j	NOUN
ajst-31619	51	1	j	j	PROPN
ajst-31619	51	2	j	j	PROPN
ajst-31619	51	3	jb	jb	PROPN
ajst-31619	51	4	v	v	PROPN
ajst-31619	51	5	e	e	PROPN
ajst-31619	51	6	b	b	PROPN
ajst-31619	51	7	t	t	PROPN
ajst-31619	51	8	g	g	PROPN
ajst-31619	51	9	e	e	PROPN
ajst-31619	51	10	s	s	PROPN
ajst-31619	51	11	p	p	NOUN
ajst-31619	51	12	g	g	PROPN
ajst-31619	51	13	p	p	NUM
ajst-31619	51	14			PROPN
ajst-31619	51	15			VERB
ajst-31619	51	16			PROPN
ajst-31619	51	17			VERB
ajst-31619	51	18			PROPN
ajst-31619	51	19			PROPN
ajst-31619	51	20			NUM
ajst-31619	51	21	(	(	PUNCT
ajst-31619	51	22	3	3	NUM
ajst-31619	51	23	)	)	PUNCT
ajst-31619	51	24	where	where	SCONJ
ajst-31619	51	25	ji	ji	PROPN
ajst-31619	51	26	jr	jr	PROPN
ajst-31619	51	27	e	e	PROPN
ajst-31619	51	28			VERB
ajst-31619	51	29	,	,	PUNCT
ajst-31619	51	30	ji	ji	PROPN
ajst-31619	51	31	js	js	PROPN
ajst-31619	51	32	e	e	PROPN
ajst-31619	51	33			PROPN
ajst-31619	51	34	,	,	PUNCT
ajst-31619	51	35	ji	ji	PROPN
ajst-31619	51	36	ju	ju	PROPN
ajst-31619	51	37	e	e	PROPN
ajst-31619	51	38			NOUN
ajst-31619	51	39	,	,	PUNCT
ajst-31619	51	40	ji	ji	PROPN
ajst-31619	51	41	jt	jt	PROPN
ajst-31619	51	42	e	e	PROPN
ajst-31619	51	43			PROPN
ajst-31619	51	44	,	,	PUNCT
ajst-31619	51	45	ji	ji	PROPN
ajst-31619	51	46	jv	jv	PROPN
ajst-31619	51	47	e	e	PROPN
ajst-31619	51	48			NOUN
ajst-31619	51	49	.	.	PUNCT
ajst-31619	52	1	conjugate	conjugate	ADJ
ajst-31619	52	2	equations	equation	NOUN
ajst-31619	52	3	of	of	ADP
ajst-31619	52	4	the	the	DET
ajst-31619	52	5	loop	loop	NOUN
ajst-31619	52	6	equations	equation	NOUN
ajst-31619	52	7	should	should	AUX
ajst-31619	52	8	be	be	AUX
ajst-31619	52	9	introduced	introduce	VERB
ajst-31619	52	10	to	to	PART
ajst-31619	52	11	synthesize	synthesize	VERB
ajst-31619	52	12	linkages	linkage	NOUN
ajst-31619	52	13	in	in	ADP
ajst-31619	52	14	the	the	DET
ajst-31619	52	15	complex	complex	ADJ
ajst-31619	52	16	plane	plane	NOUN
ajst-31619	52	17	.	.	PUNCT
ajst-31619	53	1	conjugate	conjugate	ADJ
ajst-31619	53	2	equations	equation	NOUN
ajst-31619	53	3	of	of	ADP
ajst-31619	53	4	the	the	DET
ajst-31619	53	5	three	three	NUM
ajst-31619	53	6	equations	equation	NOUN
ajst-31619	53	7	above	above	ADV
ajst-31619	53	8	are	be	AUX
ajst-31619	53	9	as	as	SCONJ
ajst-31619	53	10	follows	follow	VERB
ajst-31619	53	11	:	:	PUNCT
ajst-31619	53	12	*	*	PUNCT
ajst-31619	53	13	*	*	PUNCT
ajst-31619	54	1	*	*	PUNCT
ajst-31619	55	1	*	*	PUNCT
ajst-31619	55	2	*	*	PUNCT
ajst-31619	55	3	*	*	PUNCT
ajst-31619	55	4	1	1	NUM
ajst-31619	55	5	(	(	PUNCT
ajst-31619	55	6	)	)	PUNCT
ajst-31619	55	7	/	/	SYM
ajst-31619	55	8	(	(	PUNCT
ajst-31619	55	9	)	)	PUNCT
ajst-31619	55	10	/	/	SYM
ajst-31619	55	11	0j	0j	NOUN
ajst-31619	56	1	j	j	PROPN
ajst-31619	56	2	ja	ja	INTJ
ajst-31619	56	3	c	c	PROPN
ajst-31619	56	4	a	a	DET
ajst-31619	56	5	r	r	NOUN
ajst-31619	56	6	p	p	NOUN
ajst-31619	56	7	c	c	NOUN
ajst-31619	56	8	s	s	X
ajst-31619	56	9	p	p	NOUN
ajst-31619	56	10			NOUN
ajst-31619	56	11			VERB
ajst-31619	56	12			PROPN
ajst-31619	56	13			PROPN
ajst-31619	56	14			PRON
ajst-31619	56	15	(	(	PUNCT
ajst-31619	56	16	4	4	NUM
ajst-31619	56	17	)	)	PUNCT
ajst-31619	56	18	*	*	PUNCT
ajst-31619	57	1	*	*	PUNCT
ajst-31619	58	1	*	*	PUNCT
ajst-31619	59	1	*	*	PUNCT
ajst-31619	60	1	*	*	PUNCT
ajst-31619	61	1	*	*	PUNCT
ajst-31619	61	2	*	*	PUNCT
ajst-31619	61	3	*	*	PUNCT
ajst-31619	61	4	1	1	NUM
ajst-31619	61	5	(	(	PUNCT
ajst-31619	61	6	)	)	PUNCT
ajst-31619	61	7	/	/	SYM
ajst-31619	61	8	(	(	PUNCT
ajst-31619	61	9	)	)	PUNCT
ajst-31619	61	10	/	/	SYM
ajst-31619	61	11	(	(	PUNCT
ajst-31619	61	12	)	)	PUNCT
ajst-31619	61	13	/	/	SYM
ajst-31619	61	14	0j	0j	NOUN
ajst-31619	62	1	j	j	PROPN
ajst-31619	62	2	j	j	PROPN
ajst-31619	62	3	jb	jb	PROPN
ajst-31619	62	4	d	d	PROPN
ajst-31619	62	5	b	b	PROPN
ajst-31619	62	6	v	v	ADP
ajst-31619	62	7	f	f	X
ajst-31619	62	8	d	d	X
ajst-31619	62	9	u	u	PROPN
ajst-31619	62	10	p	p	PROPN
ajst-31619	62	11	f	f	PROPN
ajst-31619	62	12	s	s	NOUN
ajst-31619	62	13	p	p	PROPN
ajst-31619	62	14			PROPN
ajst-31619	62	15			VERB
ajst-31619	62	16			PROPN
ajst-31619	62	17			VERB
ajst-31619	62	18			PROPN
ajst-31619	62	19			PROPN
ajst-31619	62	20			NUM
ajst-31619	62	21	(	(	PUNCT
ajst-31619	62	22	5	5	NUM
ajst-31619	62	23	)	)	PUNCT
ajst-31619	62	24	*	*	PUNCT
ajst-31619	63	1	*	*	PUNCT
ajst-31619	64	1	*	*	PUNCT
ajst-31619	65	1	*	*	PUNCT
ajst-31619	66	1	*	*	PUNCT
ajst-31619	67	1	*	*	PUNCT
ajst-31619	67	2	*	*	PUNCT
ajst-31619	67	3	*	*	PUNCT
ajst-31619	67	4	1	1	NUM
ajst-31619	67	5	(	(	PUNCT
ajst-31619	67	6	)	)	PUNCT
ajst-31619	67	7	/	/	SYM
ajst-31619	67	8	(	(	PUNCT
ajst-31619	67	9	)	)	PUNCT
ajst-31619	67	10	/	/	SYM
ajst-31619	67	11	(	(	PUNCT
ajst-31619	67	12	)	)	PUNCT
ajst-31619	67	13	/	/	SYM
ajst-31619	67	14	0j	0j	NOUN
ajst-31619	68	1	j	j	PROPN
ajst-31619	68	2	j	j	PROPN
ajst-31619	68	3	jb	jb	PROPN
ajst-31619	68	4	e	e	PROPN
ajst-31619	68	5	b	b	PROPN
ajst-31619	68	6	v	v	ADP
ajst-31619	68	7	g	g	PROPN
ajst-31619	68	8	e	e	NOUN
ajst-31619	68	9	t	t	NOUN
ajst-31619	68	10	p	p	X
ajst-31619	68	11	g	g	PROPN
ajst-31619	68	12	s	s	NOUN
ajst-31619	68	13	p	p	NOUN
ajst-31619	68	14			NOUN
ajst-31619	68	15			VERB
ajst-31619	68	16			PROPN
ajst-31619	68	17			VERB
ajst-31619	68	18			PROPN
ajst-31619	68	19			PROPN
ajst-31619	68	20			NUM
ajst-31619	68	21	(	(	PUNCT
ajst-31619	68	22	6	6	NUM
ajst-31619	68	23	)	)	PUNCT
ajst-31619	68	24	sj	sj	NOUN
ajst-31619	68	25	is	be	AUX
ajst-31619	68	26	the	the	DET
ajst-31619	68	27	known	know	VERB
ajst-31619	68	28	parameter	parameter	NOUN
ajst-31619	68	29	in	in	ADP
ajst-31619	68	30	the	the	DET
ajst-31619	68	31	position	position	NOUN
ajst-31619	68	32	synthesis	synthesis	NOUN
ajst-31619	68	33	,	,	PUNCT
ajst-31619	68	34	and	and	CCONJ
ajst-31619	68	35	position	position	NOUN
ajst-31619	68	36	variables	variable	NOUN
ajst-31619	68	37	a	a	PRON
ajst-31619	68	38	,	,	PUNCT
ajst-31619	68	39	a	a	PROPN
ajst-31619	68	40	*	*	ADJ
ajst-31619	68	41	,	,	PUNCT
ajst-31619	68	42	b	b	NOUN
ajst-31619	68	43	,	,	PUNCT
ajst-31619	68	44	b	b	NOUN
ajst-31619	68	45	*	*	NOUN
ajst-31619	68	46	,	,	PUNCT
ajst-31619	68	47	c	c	X
ajst-31619	68	48	,	,	PUNCT
ajst-31619	68	49	c	c	NOUN
ajst-31619	68	50	*	*	NOUN
ajst-31619	68	51	,	,	PUNCT
ajst-31619	68	52	d	d	X
ajst-31619	68	53	,	,	PUNCT
ajst-31619	68	54	d	d	PROPN
ajst-31619	68	55	*	*	PUNCT
ajst-31619	68	56	,	,	PUNCT
ajst-31619	68	57	e	e	NOUN
ajst-31619	68	58	,	,	PUNCT
ajst-31619	68	59	e	e	NOUN
ajst-31619	68	60	*	*	NOUN
ajst-31619	68	61	,	,	PUNCT
ajst-31619	68	62	f	f	X
ajst-31619	68	63	,	,	PUNCT
ajst-31619	68	64	f	f	PROPN
ajst-31619	68	65	*	*	PUNCT
ajst-31619	68	66	,	,	PUNCT
ajst-31619	68	67	g	g	PROPN
ajst-31619	68	68	,	,	PUNCT
ajst-31619	68	69	g	g	PROPN
ajst-31619	68	70	*	*	PUNCT
ajst-31619	68	71	and	and	CCONJ
ajst-31619	68	72	rotation	rotation	NOUN
ajst-31619	68	73	angle	angle	NOUN
ajst-31619	68	74	variables	variables	PROPN
ajst-31619	68	75	rj	rj	PROPN
ajst-31619	68	76	,	,	PUNCT
ajst-31619	68	77	tj	tj	PROPN
ajst-31619	68	78	,	,	PUNCT
ajst-31619	68	79	uj	uj	PROPN
ajst-31619	68	80	,	,	PUNCT
ajst-31619	68	81	vj	vj	PROPN
ajst-31619	68	82	are	be	AUX
ajst-31619	68	83	the	the	DET
ajst-31619	68	84	variables	variable	NOUN
ajst-31619	68	85	need	need	VERB
ajst-31619	68	86	to	to	PART
ajst-31619	68	87	be	be	AUX
ajst-31619	68	88	solved	solve	VERB
ajst-31619	68	89	.	.	PUNCT
ajst-31619	69	1	position	position	NOUN
ajst-31619	69	2	variables	variable	NOUN
ajst-31619	69	3	a	a	PRON
ajst-31619	69	4	,	,	PUNCT
ajst-31619	69	5	a	a	PROPN
ajst-31619	69	6	*	*	ADJ
ajst-31619	69	7	,	,	PUNCT
ajst-31619	69	8	b	b	NOUN
ajst-31619	69	9	,	,	PUNCT
ajst-31619	69	10	b	b	NOUN
ajst-31619	69	11	*	*	NOUN
ajst-31619	69	12	,	,	PUNCT
ajst-31619	69	13	c	c	X
ajst-31619	69	14	,	,	PUNCT
ajst-31619	69	15	c	c	NOUN
ajst-31619	69	16	*	*	NOUN
ajst-31619	69	17	,	,	PUNCT
ajst-31619	69	18	d	d	X
ajst-31619	69	19	,	,	PUNCT
ajst-31619	69	20	d	d	PROPN
ajst-31619	69	21	*	*	PUNCT
ajst-31619	69	22	,	,	PUNCT
ajst-31619	69	23	e	e	NOUN
ajst-31619	69	24	,	,	PUNCT
ajst-31619	69	25	e	e	NOUN
ajst-31619	69	26	*	*	NOUN
ajst-31619	69	27	,	,	PUNCT
ajst-31619	69	28	f	f	X
ajst-31619	69	29	,	,	PUNCT
ajst-31619	69	30	f	f	PROPN
ajst-31619	69	31	*	*	PUNCT
ajst-31619	69	32	,	,	PUNCT
ajst-31619	69	33	g	g	PROPN
ajst-31619	69	34	,	,	PUNCT
ajst-31619	69	35	g	g	PROPN
ajst-31619	69	36	*	*	PUNCT
ajst-31619	69	37	are	be	AUX
ajst-31619	69	38	considered	consider	VERB
ajst-31619	69	39	as	as	ADP
ajst-31619	69	40	14	14	NUM
ajst-31619	69	41	independent	independent	ADJ
ajst-31619	69	42	variables	variable	NOUN
ajst-31619	69	43	in	in	ADP
ajst-31619	69	44	the	the	DET
ajst-31619	69	45	isotropic	isotropic	ADJ
ajst-31619	69	46	coordinate	coordinate	NOUN
ajst-31619	69	47	system	system	NOUN
ajst-31619	69	48	.	.	PUNCT
ajst-31619	70	1	only	only	ADV
ajst-31619	70	2	when	when	SCONJ
ajst-31619	70	3	a	a	PRON
ajst-31619	70	4	and	and	CCONJ
ajst-31619	70	5	a	a	PRON
ajst-31619	70	6	*	*	ADJ
ajst-31619	70	7	,	,	PUNCT
ajst-31619	70	8	b	b	NOUN
ajst-31619	70	9	and	and	CCONJ
ajst-31619	70	10	b	b	NOUN
ajst-31619	70	11	*	*	PUNCT
ajst-31619	70	12	,	,	PUNCT
ajst-31619	70	13	c	c	NOUN
ajst-31619	70	14	and	and	CCONJ
ajst-31619	70	15	c	c	NOUN
ajst-31619	70	16	*	*	NOUN
ajst-31619	70	17	,	,	PUNCT
ajst-31619	70	18	d	d	NOUN
ajst-31619	70	19	and	and	CCONJ
ajst-31619	70	20	d	d	PROPN
ajst-31619	70	21	*	*	PUNCT
ajst-31619	70	22	,	,	PUNCT
ajst-31619	70	23	e	e	NOUN
ajst-31619	70	24	and	and	CCONJ
ajst-31619	70	25	e	e	PROPN
ajst-31619	70	26	*	*	PROPN
ajst-31619	70	27	,	,	PUNCT
ajst-31619	70	28	f	f	PROPN
ajst-31619	70	29	and	and	CCONJ
ajst-31619	70	30	f	f	PROPN
ajst-31619	70	31	*	*	PROPN
ajst-31619	70	32	,	,	PUNCT
ajst-31619	70	33	g	g	PROPN
ajst-31619	70	34	and	and	CCONJ
ajst-31619	70	35	g	g	PROPN
ajst-31619	70	36	*	*	AUX
ajst-31619	70	37	all	all	PRON
ajst-31619	70	38	satisfy	satisfy	VERB
ajst-31619	70	39	the	the	DET
ajst-31619	70	40	conjugate	conjugate	ADJ
ajst-31619	70	41	relation	relation	NOUN
ajst-31619	70	42	at	at	ADP
ajst-31619	70	43	the	the	DET
ajst-31619	70	44	same	same	ADJ
ajst-31619	70	45	time	time	NOUN
ajst-31619	70	46	,	,	PUNCT
ajst-31619	70	47	that	that	ADV
ajst-31619	70	48	is	is	ADV
ajst-31619	70	49	,	,	PUNCT
ajst-31619	70	50	the	the	DET
ajst-31619	70	51	real	real	ADJ
ajst-31619	70	52	parts	part	NOUN
ajst-31619	70	53	are	be	AUX
ajst-31619	70	54	equal	equal	ADJ
ajst-31619	70	55	and	and	CCONJ
ajst-31619	70	56	the	the	DET
ajst-31619	70	57	imaginary	imaginary	ADJ
ajst-31619	70	58	parts	part	NOUN
ajst-31619	70	59	are	be	AUX
ajst-31619	70	60	opposite	opposite	ADJ
ajst-31619	70	61	each	each	DET
ajst-31619	70	62	other	other	ADJ
ajst-31619	70	63	,	,	PUNCT
ajst-31619	70	64	the	the	DET
ajst-31619	70	65	linkage	linkage	NOUN
ajst-31619	70	66	solution	solution	NOUN
ajst-31619	70	67	is	be	AUX
ajst-31619	70	68	a	a	DET
ajst-31619	70	69	solution	solution	NOUN
ajst-31619	70	70	with	with	ADP
ajst-31619	70	71	physical	physical	ADJ
ajst-31619	70	72	significance	significance	NOUN
ajst-31619	70	73	[	[	X
ajst-31619	70	74	37	37	NUM
ajst-31619	70	75	]	]	PUNCT
ajst-31619	70	76	.	.	PUNCT
ajst-31619	71	1	in	in	ADP
ajst-31619	71	2	order	order	NOUN
ajst-31619	71	3	to	to	PART
ajst-31619	71	4	reduce	reduce	VERB
ajst-31619	71	5	the	the	DET
ajst-31619	71	6	number	number	NOUN
ajst-31619	71	7	of	of	ADP
ajst-31619	71	8	variables	variable	NOUN
ajst-31619	71	9	and	and	CCONJ
ajst-31619	71	10	improve	improve	VERB
ajst-31619	71	11	numerical	numerical	ADJ
ajst-31619	71	12	solving	solving	NOUN
ajst-31619	71	13	speed	speed	NOUN
ajst-31619	71	14	,	,	PUNCT
ajst-31619	71	15	the	the	DET
ajst-31619	71	16	equations	equation	NOUN
ajst-31619	71	17	above	above	ADV
ajst-31619	71	18	should	should	AUX
ajst-31619	71	19	be	be	AUX
ajst-31619	71	20	simplified	simplify	VERB
ajst-31619	71	21	.	.	PUNCT
ajst-31619	72	1	coupling	couple	VERB
ajst-31619	72	2	eq	eq	X
ajst-31619	72	3	.	.	PUNCT
ajst-31619	73	1	(	(	PUNCT
ajst-31619	73	2	1	1	NUM
ajst-31619	73	3	)	)	PUNCT
ajst-31619	73	4	and	and	CCONJ
ajst-31619	73	5	eq	eq	NOUN
ajst-31619	73	6	.	.	PUNCT
ajst-31619	74	1	(	(	PUNCT
ajst-31619	74	2	4	4	NUM
ajst-31619	74	3	)	)	PUNCT
ajst-31619	74	4	,	,	PUNCT
ajst-31619	74	5	the	the	DET
ajst-31619	74	6	rotation	rotation	NOUN
ajst-31619	74	7	angle	angle	NOUN
ajst-31619	74	8	variable	variable	PROPN
ajst-31619	74	9	rj	rj	PROPN
ajst-31619	74	10	can	can	AUX
ajst-31619	74	11	be	be	AUX
ajst-31619	74	12	eliminated	eliminate	VERB
ajst-31619	74	13	,	,	PUNCT
ajst-31619	74	14	and	and	CCONJ
ajst-31619	74	15	the	the	DET
ajst-31619	74	16	following	follow	VERB
ajst-31619	74	17	equation	equation	NOUN
ajst-31619	74	18	can	can	AUX
ajst-31619	74	19	be	be	AUX
ajst-31619	74	20	obtained	obtain	VERB
ajst-31619	74	21	:	:	PUNCT
ajst-31619	74	22	r	r	NOUN
ajst-31619	74	23	j(c	j(c	NOUN
ajst-31619	74	24	-a	-a	PUNCT
ajst-31619	74	25	)	)	PUNCT
ajst-31619	74	26	sj	sj	INTJ
ajst-31619	74	27	(	(	PUNCT
ajst-31619	74	28	p	p	NOUN
ajst-31619	74	29	1c	1c	X
ajst-31619	74	30	)	)	PUNCT
ajst-31619	75	1	sj	sj	PROPN
ajst-31619	75	2	(	(	PUNCT
ajst-31619	75	3	p1	p1	PROPN
ajst-31619	75	4	-	-	PUNCT
ajst-31619	75	5	f	f	PROPN
ajst-31619	75	6	)	)	PUNCT
ajst-31619	75	7	u	u	NOUN
ajst-31619	75	8	j(f	j(f	PROPN
ajst-31619	75	9	-d	-d	X
ajst-31619	75	10	)	)	PUNCT
ajst-31619	75	11	t	t	PROPN
ajst-31619	75	12	j(g	j(g	PROPN
ajst-31619	75	13	-e	-e	X
ajst-31619	75	14	)	)	PUNCT
ajst-31619	75	15	v	v	NOUN
ajst-31619	75	16	j(e	j(e	PROPN
ajst-31619	75	17	-b	-b	PUNCT
ajst-31619	75	18	)	)	PUNCT
ajst-31619	76	1	79	79	NUM
ajst-31619	77	1	*	*	PUNCT
ajst-31619	78	1	*	*	PUNCT
ajst-31619	79	1	*	*	PUNCT
ajst-31619	80	1	*	*	PUNCT
ajst-31619	80	2	*	*	PUNCT
ajst-31619	80	3	*	*	PUNCT
ajst-31619	80	4	1	1	NUM
ajst-31619	80	5	1	1	NUM
ajst-31619	80	6	(	(	PUNCT
ajst-31619	80	7	)	)	PUNCT
ajst-31619	80	8	(	(	PUNCT
ajst-31619	80	9	)	)	PUNCT
ajst-31619	80	10	(	(	PUNCT
ajst-31619	80	11	(	(	PUNCT
ajst-31619	80	12	)	)	PUNCT
ajst-31619	80	13	(	(	PUNCT
ajst-31619	80	14	)	)	PUNCT
ajst-31619	80	15	)	)	PUNCT
ajst-31619	80	16	(	(	PUNCT
ajst-31619	80	17	(	(	PUNCT
ajst-31619	80	18	)	)	PUNCT
ajst-31619	80	19	(	(	PUNCT
ajst-31619	80	20	)	)	PUNCT
ajst-31619	80	21	)	)	PUNCT
ajst-31619	81	1	=	=	SYM
ajst-31619	81	2	0	0	NUM
ajst-31619	81	3	j	j	PROPN
ajst-31619	82	1	j	j	PROPN
ajst-31619	82	2	j	j	PROPN
ajst-31619	82	3	j	j	PROPN
ajst-31619	82	4	j	j	PROPN
ajst-31619	82	5	s	s	AUX
ajst-31619	82	6	c	c	PROPN
ajst-31619	82	7	a	a	DET
ajst-31619	82	8	c	c	NOUN
ajst-31619	82	9	a	a	DET
ajst-31619	82	10	p	p	NOUN
ajst-31619	82	11	a	a	DET
ajst-31619	82	12	s	s	X
ajst-31619	82	13	p	p	X
ajst-31619	82	14	c	c	NOUN
ajst-31619	82	15	s	s	X
ajst-31619	82	16	p	p	NOUN
ajst-31619	82	17	a	a	DET
ajst-31619	82	18	p	p	X
ajst-31619	82	19	c	c	PROPN
ajst-31619	82	20			PROPN
ajst-31619	82	21			PROPN
ajst-31619	82	22			PROPN
ajst-31619	82	23			PROPN
ajst-31619	82	24			PROPN
ajst-31619	82	25			PROPN
ajst-31619	82	26			PROPN
ajst-31619	82	27			PROPN
ajst-31619	82	28			NOUN
ajst-31619	82	29	(	(	PUNCT
ajst-31619	82	30	7	7	NUM
ajst-31619	82	31	)	)	PUNCT
ajst-31619	82	32	coupling	coupling	NOUN
ajst-31619	82	33	eq	eq	NOUN
ajst-31619	82	34	.	.	PUNCT
ajst-31619	83	1	(	(	PUNCT
ajst-31619	83	2	2	2	NUM
ajst-31619	83	3	)	)	PUNCT
ajst-31619	83	4	and	and	CCONJ
ajst-31619	83	5	eq	eq	NOUN
ajst-31619	83	6	.	.	PUNCT
ajst-31619	84	1	(	(	PUNCT
ajst-31619	84	2	5	5	NUM
ajst-31619	84	3	)	)	PUNCT
ajst-31619	84	4	,	,	PUNCT
ajst-31619	84	5	the	the	DET
ajst-31619	84	6	rotation	rotation	NOUN
ajst-31619	84	7	angle	angle	NOUN
ajst-31619	84	8	variable	variable	ADJ
ajst-31619	84	9	uj	uj	PROPN
ajst-31619	84	10	can	can	AUX
ajst-31619	84	11	be	be	AUX
ajst-31619	84	12	eliminated	eliminate	VERB
ajst-31619	84	13	,	,	PUNCT
ajst-31619	84	14	and	and	CCONJ
ajst-31619	84	15	the	the	DET
ajst-31619	84	16	following	follow	VERB
ajst-31619	84	17	equation	equation	NOUN
ajst-31619	84	18	can	can	AUX
ajst-31619	84	19	be	be	AUX
ajst-31619	84	20	obtained	obtain	VERB
ajst-31619	84	21	:	:	PUNCT
ajst-31619	85	1	*	*	PUNCT
ajst-31619	85	2	*	*	PUNCT
ajst-31619	85	3	1	1	NUM
ajst-31619	85	4	*	*	PUNCT
ajst-31619	85	5	*	*	PUNCT
ajst-31619	86	1	*	*	PUNCT
ajst-31619	87	1	*	*	PUNCT
ajst-31619	87	2	*	*	PUNCT
ajst-31619	87	3	*	*	PUNCT
ajst-31619	87	4	1	1	NUM
ajst-31619	87	5	(	(	PUNCT
ajst-31619	87	6	)	)	PUNCT
ajst-31619	87	7	(	(	PUNCT
ajst-31619	87	8	)	)	PUNCT
ajst-31619	87	9	(	(	PUNCT
ajst-31619	87	10	(	(	PUNCT
ajst-31619	87	11	)	)	PUNCT
ajst-31619	87	12	(	(	PUNCT
ajst-31619	87	13	)	)	PUNCT
ajst-31619	87	14	(	(	PUNCT
ajst-31619	87	15	)	)	PUNCT
ajst-31619	87	16	)	)	PUNCT
ajst-31619	88	1	(	(	PUNCT
ajst-31619	88	2	(	(	PUNCT
ajst-31619	88	3	)	)	PUNCT
ajst-31619	88	4	(	(	PUNCT
ajst-31619	88	5	)	)	PUNCT
ajst-31619	88	6	(	(	PUNCT
ajst-31619	88	7	)	)	PUNCT
ajst-31619	88	8	)	)	PUNCT
ajst-31619	89	1	=	=	SYM
ajst-31619	89	2	0	0	NUM
ajst-31619	89	3	j	j	PROPN
ajst-31619	90	1	j	j	PROPN
ajst-31619	90	2	j	j	PROPN
ajst-31619	90	3	j	j	PROPN
ajst-31619	90	4	j	j	PROPN
ajst-31619	90	5	j	j	PROPN
ajst-31619	90	6	j	j	PROPN
ajst-31619	90	7	j	j	PROPN
ajst-31619	91	1	j	j	PROPN
ajst-31619	91	2	j	j	PROPN
ajst-31619	91	3	s	s	PROPN
ajst-31619	92	1	v	v	PROPN
ajst-31619	92	2	f	f	PROPN
ajst-31619	93	1	d	d	X
ajst-31619	93	2	f	f	PROPN
ajst-31619	93	3	d	d	X
ajst-31619	93	4	p	p	PROPN
ajst-31619	93	5	b	b	PROPN
ajst-31619	93	6	v	v	INTJ
ajst-31619	93	7	d	d	X
ajst-31619	93	8	b	b	PROPN
ajst-31619	93	9	s	s	X
ajst-31619	93	10	p	p	X
ajst-31619	93	11	f	f	PROPN
ajst-31619	93	12	s	s	PROPN
ajst-31619	93	13	v	v	NOUN
ajst-31619	93	14	p	p	NOUN
ajst-31619	93	15	b	b	PROPN
ajst-31619	93	16	s	s	PROPN
ajst-31619	93	17	d	d	PROPN
ajst-31619	93	18	b	b	PROPN
ajst-31619	93	19	v	v	ADP
ajst-31619	93	20	p	p	X
ajst-31619	93	21	f	f	PROPN
ajst-31619	93	22			PROPN
ajst-31619	93	23			PROPN
ajst-31619	93	24			PROPN
ajst-31619	93	25			PROPN
ajst-31619	93	26			PROPN
ajst-31619	93	27			PROPN
ajst-31619	93	28			PROPN
ajst-31619	93	29			PROPN
ajst-31619	93	30			PROPN
ajst-31619	93	31			PROPN
ajst-31619	93	32			PROPN
ajst-31619	93	33			PROPN
ajst-31619	93	34			PROPN
ajst-31619	93	35	(	(	PUNCT
ajst-31619	93	36	8)	8)	NUM
ajst-31619	93	37	coupling	coupling	NOUN
ajst-31619	93	38	eq	eq	X
ajst-31619	93	39	.	.	PUNCT
ajst-31619	94	1	(	(	PUNCT
ajst-31619	94	2	3	3	NUM
ajst-31619	94	3	)	)	PUNCT
ajst-31619	94	4	and	and	CCONJ
ajst-31619	94	5	eq	eq	NOUN
ajst-31619	94	6	.	.	PUNCT
ajst-31619	95	1	(	(	PUNCT
ajst-31619	95	2	6	6	NUM
ajst-31619	95	3	)	)	PUNCT
ajst-31619	95	4	,	,	PUNCT
ajst-31619	95	5	the	the	DET
ajst-31619	95	6	rotation	rotation	NOUN
ajst-31619	95	7	angle	angle	NOUN
ajst-31619	95	8	variable	variable	NOUN
ajst-31619	95	9	tj	tj	PROPN
ajst-31619	95	10	can	can	AUX
ajst-31619	95	11	be	be	AUX
ajst-31619	95	12	eliminated	eliminate	VERB
ajst-31619	95	13	,	,	PUNCT
ajst-31619	95	14	and	and	CCONJ
ajst-31619	95	15	the	the	DET
ajst-31619	95	16	following	follow	VERB
ajst-31619	95	17	equation	equation	NOUN
ajst-31619	95	18	can	can	AUX
ajst-31619	95	19	be	be	AUX
ajst-31619	95	20	obtained	obtain	VERB
ajst-31619	95	21	:	:	PUNCT
ajst-31619	96	1	*	*	PUNCT
ajst-31619	96	2	*	*	PUNCT
ajst-31619	96	3	1	1	NUM
ajst-31619	96	4	*	*	PUNCT
ajst-31619	96	5	*	*	PUNCT
ajst-31619	97	1	*	*	PUNCT
ajst-31619	98	1	*	*	PUNCT
ajst-31619	98	2	*	*	PUNCT
ajst-31619	98	3	*	*	PUNCT
ajst-31619	98	4	1	1	NUM
ajst-31619	98	5	(	(	PUNCT
ajst-31619	98	6	)	)	PUNCT
ajst-31619	98	7	(	(	PUNCT
ajst-31619	98	8	)	)	PUNCT
ajst-31619	98	9	(	(	PUNCT
ajst-31619	98	10	(	(	PUNCT
ajst-31619	98	11	)	)	PUNCT
ajst-31619	98	12	(	(	PUNCT
ajst-31619	98	13	)	)	PUNCT
ajst-31619	98	14	(	(	PUNCT
ajst-31619	98	15	)	)	PUNCT
ajst-31619	98	16	)	)	PUNCT
ajst-31619	99	1	(	(	PUNCT
ajst-31619	99	2	(	(	PUNCT
ajst-31619	99	3	)	)	PUNCT
ajst-31619	99	4	(	(	PUNCT
ajst-31619	99	5	)	)	PUNCT
ajst-31619	99	6	(	(	PUNCT
ajst-31619	99	7	)	)	PUNCT
ajst-31619	99	8	)	)	PUNCT
ajst-31619	100	1	=	=	SYM
ajst-31619	100	2	0	0	NUM
ajst-31619	100	3	j	j	PROPN
ajst-31619	101	1	j	j	PROPN
ajst-31619	101	2	j	j	PROPN
ajst-31619	101	3	j	j	PROPN
ajst-31619	101	4	j	j	PROPN
ajst-31619	101	5	j	j	PROPN
ajst-31619	101	6	j	j	PROPN
ajst-31619	101	7	j	j	PROPN
ajst-31619	102	1	j	j	PROPN
ajst-31619	102	2	j	j	PROPN
ajst-31619	102	3	s	s	PROPN
ajst-31619	102	4	v	v	NOUN
ajst-31619	102	5	g	g	NOUN
ajst-31619	102	6	e	e	NOUN
ajst-31619	102	7	g	g	NOUN
ajst-31619	102	8	e	e	PROPN
ajst-31619	102	9	p	p	PROPN
ajst-31619	102	10	b	b	PROPN
ajst-31619	102	11	v	v	ADP
ajst-31619	102	12	e	e	X
ajst-31619	102	13	b	b	PROPN
ajst-31619	102	14	s	s	X
ajst-31619	102	15	p	p	NOUN
ajst-31619	102	16	g	g	NOUN
ajst-31619	102	17	s	s	PROPN
ajst-31619	102	18	v	v	ADP
ajst-31619	102	19	p	p	PROPN
ajst-31619	102	20	b	b	PROPN
ajst-31619	102	21	s	s	PROPN
ajst-31619	102	22	e	e	X
ajst-31619	102	23	b	b	PROPN
ajst-31619	102	24	v	v	ADP
ajst-31619	102	25	p	p	NOUN
ajst-31619	102	26	g	g	PROPN
ajst-31619	102	27			PROPN
ajst-31619	102	28			PROPN
ajst-31619	102	29			PROPN
ajst-31619	102	30			PROPN
ajst-31619	102	31			PROPN
ajst-31619	102	32			PROPN
ajst-31619	102	33			PROPN
ajst-31619	102	34			PROPN
ajst-31619	102	35			PROPN
ajst-31619	102	36			PROPN
ajst-31619	102	37			PROPN
ajst-31619	102	38			PROPN
ajst-31619	102	39			NOUN
ajst-31619	102	40	(	(	PUNCT
ajst-31619	102	41	9	9	NUM
ajst-31619	102	42	)	)	PUNCT
ajst-31619	103	1	where	where	SCONJ
ajst-31619	103	2	j	j	PROPN
ajst-31619	103	3	=	=	SYM
ajst-31619	103	4	2	2	NUM
ajst-31619	103	5	,	,	PUNCT
ajst-31619	103	6	3	3	NUM
ajst-31619	103	7	,	,	PUNCT
ajst-31619	103	8	4	4	NUM
ajst-31619	103	9	,	,	PUNCT
ajst-31619	103	10	5	5	NUM
ajst-31619	103	11	.	.	PUNCT
ajst-31619	103	12	interestingly	interestingly	ADV
ajst-31619	103	13	,	,	PUNCT
ajst-31619	103	14	looking	look	VERB
ajst-31619	103	15	at	at	ADP
ajst-31619	103	16	the	the	DET
ajst-31619	103	17	eq	eq	NOUN
ajst-31619	103	18	.	.	PUNCT
ajst-31619	104	1	(	(	PUNCT
ajst-31619	104	2	7	7	NUM
ajst-31619	104	3	)	)	PUNCT
ajst-31619	104	4	,	,	PUNCT
ajst-31619	104	5	it	it	PRON
ajst-31619	104	6	can	can	AUX
ajst-31619	104	7	be	be	AUX
ajst-31619	104	8	found	find	VERB
ajst-31619	104	9	that	that	SCONJ
ajst-31619	104	10	it	it	PRON
ajst-31619	104	11	is	be	AUX
ajst-31619	104	12	actually	actually	ADV
ajst-31619	104	13	the	the	DET
ajst-31619	104	14	five	five	NUM
ajst-31619	104	15	-	-	PUNCT
ajst-31619	104	16	position	position	NOUN
ajst-31619	104	17	synthesis	synthesis	NOUN
ajst-31619	104	18	equation	equation	NOUN
ajst-31619	104	19	of	of	ADP
ajst-31619	104	20	four	four	NUM
ajst-31619	104	21	-	-	PUNCT
ajst-31619	104	22	bar	bar	NOUN
ajst-31619	104	23	linkages	linkage	NOUN
ajst-31619	104	24	.	.	PUNCT
ajst-31619	105	1	in	in	ADP
ajst-31619	105	2	other	other	ADJ
ajst-31619	105	3	words	word	NOUN
ajst-31619	105	4	,	,	PUNCT
ajst-31619	105	5	the	the	DET
ajst-31619	105	6	formulas	formula	NOUN
ajst-31619	105	7	of	of	ADP
ajst-31619	105	8	position	position	NOUN
ajst-31619	105	9	synthesis	synthesis	NOUN
ajst-31619	105	10	are	be	AUX
ajst-31619	105	11	common	common	ADJ
ajst-31619	105	12	to	to	ADP
ajst-31619	105	13	the	the	DET
ajst-31619	105	14	five	five	NUM
ajst-31619	105	15	-	-	PUNCT
ajst-31619	105	16	position	position	NOUN
ajst-31619	105	17	synthesis	synthesis	NOUN
ajst-31619	105	18	of	of	ADP
ajst-31619	105	19	four	four	NUM
ajst-31619	105	20	-	-	PUNCT
ajst-31619	105	21	bar	bar	NOUN
ajst-31619	105	22	linkages	linkage	NOUN
ajst-31619	105	23	and	and	CCONJ
ajst-31619	105	24	stephenson	stephenson	PROPN
ajst-31619	105	25	ii	ii	PROPN
ajst-31619	105	26	-	-	PUNCT
ajst-31619	105	27	b	b	PROPN
ajst-31619	105	28	six	six	NUM
ajst-31619	105	29	-	-	PUNCT
ajst-31619	105	30	bar	bar	NOUN
ajst-31619	105	31	linkages	linkage	NOUN
ajst-31619	105	32	.	.	PUNCT
ajst-31619	106	1	if	if	SCONJ
ajst-31619	106	2	four	four	NUM
ajst-31619	106	3	-	-	PUNCT
ajst-31619	106	4	bar	bar	NOUN
ajst-31619	106	5	linkages	linkage	NOUN
ajst-31619	106	6	can	can	AUX
ajst-31619	106	7	satisfy	satisfy	VERB
ajst-31619	106	8	design	design	NOUN
ajst-31619	106	9	requirements	requirement	NOUN
ajst-31619	106	10	,	,	PUNCT
ajst-31619	106	11	just	just	ADV
ajst-31619	106	12	solve	solve	VERB
ajst-31619	106	13	eq	eq	NOUN
ajst-31619	106	14	.	.	PUNCT
ajst-31619	107	1	(	(	PUNCT
ajst-31619	107	2	7	7	NUM
ajst-31619	107	3	)	)	PUNCT
ajst-31619	107	4	.	.	PUNCT
ajst-31619	108	1	if	if	SCONJ
ajst-31619	108	2	linkages	linkage	NOUN
ajst-31619	108	3	which	which	PRON
ajst-31619	108	4	meet	meet	VERB
ajst-31619	108	5	design	design	NOUN
ajst-31619	108	6	requirements	requirement	NOUN
ajst-31619	108	7	can	can	AUX
ajst-31619	108	8	not	not	PART
ajst-31619	108	9	be	be	AUX
ajst-31619	108	10	found	find	VERB
ajst-31619	108	11	in	in	ADP
ajst-31619	108	12	four	four	NUM
ajst-31619	108	13	-	-	PUNCT
ajst-31619	108	14	bar	bar	NOUN
ajst-31619	108	15	linkages	linkage	NOUN
ajst-31619	108	16	,	,	PUNCT
ajst-31619	108	17	six	six	NUM
ajst-31619	108	18	-	-	PUNCT
ajst-31619	108	19	bar	bar	NOUN
ajst-31619	108	20	linkages	linkage	NOUN
ajst-31619	108	21	can	can	AUX
ajst-31619	108	22	be	be	AUX
ajst-31619	108	23	obtained	obtain	VERB
ajst-31619	108	24	by	by	ADP
ajst-31619	108	25	solving	solve	VERB
ajst-31619	108	26	eqs	eqs	PROPN
ajst-31619	108	27	.	.	PUNCT
ajst-31619	109	1	(	(	PUNCT
ajst-31619	109	2	7	7	NUM
ajst-31619	109	3	)	)	PUNCT
ajst-31619	109	4	~	~	PUNCT
ajst-31619	109	5	(	(	PUNCT
ajst-31619	109	6	9	9	X
ajst-31619	109	7	)	)	PUNCT
ajst-31619	109	8	at	at	ADP
ajst-31619	109	9	the	the	DET
ajst-31619	109	10	same	same	ADJ
ajst-31619	109	11	time	time	NOUN
ajst-31619	109	12	.	.	PUNCT
ajst-31619	110	1	for	for	ADP
ajst-31619	110	2	five	five	NUM
ajst-31619	110	3	-	-	PUNCT
ajst-31619	110	4	position	position	NOUN
ajst-31619	110	5	synthesis	synthesis	NOUN
ajst-31619	110	6	,	,	PUNCT
ajst-31619	110	7	the	the	DET
ajst-31619	110	8	set	set	NOUN
ajst-31619	110	9	of	of	ADP
ajst-31619	110	10	synthesis	synthesis	NOUN
ajst-31619	110	11	equations	equation	NOUN
ajst-31619	110	12	contains	contain	VERB
ajst-31619	110	13	a	a	DET
ajst-31619	110	14	total	total	NOUN
ajst-31619	110	15	of	of	ADP
ajst-31619	110	16	12	12	NUM
ajst-31619	110	17	equations	equation	NOUN
ajst-31619	110	18	,	,	PUNCT
ajst-31619	110	19	which	which	PRON
ajst-31619	110	20	include	include	VERB
ajst-31619	110	21	18	18	NUM
ajst-31619	110	22	variables	variable	NOUN
ajst-31619	110	23	,	,	PUNCT
ajst-31619	110	24	namely	namely	ADV
ajst-31619	110	25	a	a	PRON
ajst-31619	110	26	,	,	PUNCT
ajst-31619	110	27	a	a	PROPN
ajst-31619	110	28	*	*	ADJ
ajst-31619	110	29	,	,	PUNCT
ajst-31619	110	30	b	b	NOUN
ajst-31619	110	31	,	,	PUNCT
ajst-31619	110	32	b	b	NOUN
ajst-31619	110	33	*	*	NOUN
ajst-31619	110	34	,	,	PUNCT
ajst-31619	110	35	c	c	X
ajst-31619	110	36	,	,	PUNCT
ajst-31619	110	37	c	c	NOUN
ajst-31619	110	38	*	*	NOUN
ajst-31619	110	39	,	,	PUNCT
ajst-31619	110	40	d	d	X
ajst-31619	110	41	,	,	PUNCT
ajst-31619	110	42	d	d	PROPN
ajst-31619	110	43	*	*	PUNCT
ajst-31619	110	44	,	,	PUNCT
ajst-31619	110	45	e	e	NOUN
ajst-31619	110	46	,	,	PUNCT
ajst-31619	110	47	e	e	NOUN
ajst-31619	110	48	*	*	NOUN
ajst-31619	110	49	,	,	PUNCT
ajst-31619	110	50	f	f	X
ajst-31619	110	51	,	,	PUNCT
ajst-31619	110	52	f	f	PROPN
ajst-31619	110	53	*	*	PUNCT
ajst-31619	110	54	,	,	PUNCT
ajst-31619	110	55	g	g	PROPN
ajst-31619	110	56	,	,	PUNCT
ajst-31619	110	57	g	g	PROPN
ajst-31619	110	58	*	*	PUNCT
ajst-31619	110	59	,	,	PUNCT
ajst-31619	110	60	vj	vj	INTJ
ajst-31619	110	61	(	(	PUNCT
ajst-31619	110	62	j=2	j=2	PROPN
ajst-31619	110	63	,	,	PUNCT
ajst-31619	110	64	3	3	NUM
ajst-31619	110	65	,	,	PUNCT
ajst-31619	110	66	4	4	NUM
ajst-31619	110	67	,	,	PUNCT
ajst-31619	110	68	5	5	NUM
ajst-31619	110	69	)	)	PUNCT
ajst-31619	110	70	.	.	PUNCT
ajst-31619	111	1	therefore	therefore	ADV
ajst-31619	111	2	,	,	PUNCT
ajst-31619	111	3	the	the	DET
ajst-31619	111	4	values	value	NOUN
ajst-31619	111	5	of	of	ADP
ajst-31619	111	6	six	six	NUM
ajst-31619	111	7	variables	variable	NOUN
ajst-31619	111	8	must	must	AUX
ajst-31619	111	9	be	be	AUX
ajst-31619	111	10	given	give	VERB
ajst-31619	111	11	to	to	PART
ajst-31619	111	12	solve	solve	VERB
ajst-31619	111	13	the	the	DET
ajst-31619	111	14	12	12	NUM
ajst-31619	111	15	equations	equation	NOUN
ajst-31619	111	16	.	.	PUNCT
ajst-31619	112	1	in	in	ADP
ajst-31619	112	2	this	this	DET
ajst-31619	112	3	paper	paper	NOUN
ajst-31619	112	4	,	,	PUNCT
ajst-31619	112	5	values	value	NOUN
ajst-31619	112	6	of	of	ADP
ajst-31619	112	7	position	position	NOUN
ajst-31619	112	8	variables	variable	NOUN
ajst-31619	112	9	b	b	PROPN
ajst-31619	112	10	,	,	PUNCT
ajst-31619	112	11	b	b	PROPN
ajst-31619	112	12	*	*	ADJ
ajst-31619	112	13	and	and	CCONJ
ajst-31619	112	14	rotation	rotation	NOUN
ajst-31619	112	15	angle	angle	NOUN
ajst-31619	112	16	variables	variable	NOUN
ajst-31619	112	17	v2	v2	PROPN
ajst-31619	112	18	,	,	PUNCT
ajst-31619	112	19	v3	v3	PROPN
ajst-31619	112	20	,	,	PUNCT
ajst-31619	112	21	v4	v4	PROPN
ajst-31619	112	22	and	and	CCONJ
ajst-31619	112	23	v5	v5	PROPN
ajst-31619	112	24	are	be	AUX
ajst-31619	112	25	given	give	VERB
ajst-31619	112	26	.	.	PUNCT
ajst-31619	113	1	it	it	PRON
ajst-31619	113	2	is	be	AUX
ajst-31619	113	3	worth	worth	ADJ
ajst-31619	113	4	noting	note	VERB
ajst-31619	113	5	that	that	SCONJ
ajst-31619	113	6	although	although	SCONJ
ajst-31619	113	7	b	b	PROPN
ajst-31619	113	8	and	and	CCONJ
ajst-31619	113	9	b	b	X
ajst-31619	113	10	*	*	NOUN
ajst-31619	113	11	are	be	AUX
ajst-31619	113	12	treated	treat	VERB
ajst-31619	113	13	as	as	ADP
ajst-31619	113	14	two	two	NUM
ajst-31619	113	15	independent	independent	ADJ
ajst-31619	113	16	variables	variable	NOUN
ajst-31619	113	17	during	during	ADP
ajst-31619	113	18	numerical	numerical	ADJ
ajst-31619	113	19	solving	solving	NOUN
ajst-31619	113	20	,	,	PUNCT
ajst-31619	113	21	the	the	DET
ajst-31619	113	22	conjugate	conjugate	ADJ
ajst-31619	113	23	relationship	relationship	NOUN
ajst-31619	113	24	of	of	ADP
ajst-31619	113	25	the	the	DET
ajst-31619	113	26	two	two	NUM
ajst-31619	113	27	variables	variable	NOUN
ajst-31619	113	28	is	be	AUX
ajst-31619	113	29	preserved	preserve	VERB
ajst-31619	113	30	when	when	SCONJ
ajst-31619	113	31	the	the	DET
ajst-31619	113	32	values	value	NOUN
ajst-31619	113	33	of	of	ADP
ajst-31619	113	34	b	b	NOUN
ajst-31619	113	35	and	and	CCONJ
ajst-31619	113	36	b	b	NOUN
ajst-31619	113	37	*	*	PROPN
ajst-31619	113	38	are	be	AUX
ajst-31619	113	39	given	give	VERB
ajst-31619	113	40	in	in	ADP
ajst-31619	113	41	order	order	NOUN
ajst-31619	113	42	to	to	PART
ajst-31619	113	43	guarantee	guarantee	VERB
ajst-31619	113	44	the	the	DET
ajst-31619	113	45	physical	physical	ADJ
ajst-31619	113	46	meaning	meaning	NOUN
ajst-31619	113	47	of	of	ADP
ajst-31619	113	48	the	the	DET
ajst-31619	113	49	given	give	VERB
ajst-31619	113	50	variables	variable	NOUN
ajst-31619	113	51	.	.	PUNCT
ajst-31619	114	1	different	different	ADJ
ajst-31619	114	2	values	value	NOUN
ajst-31619	114	3	of	of	ADP
ajst-31619	114	4	b	b	NOUN
ajst-31619	114	5	and	and	CCONJ
ajst-31619	114	6	b	b	X
ajst-31619	114	7	*	*	PROPN
ajst-31619	114	8	will	will	AUX
ajst-31619	114	9	result	result	VERB
ajst-31619	114	10	in	in	ADP
ajst-31619	114	11	different	different	ADJ
ajst-31619	114	12	linkages	linkage	NOUN
ajst-31619	114	13	.	.	PUNCT
ajst-31619	115	1	in	in	ADP
ajst-31619	115	2	theory	theory	NOUN
ajst-31619	115	3	,	,	PUNCT
ajst-31619	115	4	as	as	ADV
ajst-31619	115	5	long	long	ADV
ajst-31619	115	6	as	as	ADP
ajst-31619	115	7	enough	enough	ADJ
ajst-31619	115	8	number	number	NOUN
ajst-31619	115	9	of	of	ADP
ajst-31619	115	10	values	value	NOUN
ajst-31619	115	11	of	of	ADP
ajst-31619	115	12	b	b	NOUN
ajst-31619	115	13	and	and	CCONJ
ajst-31619	115	14	b	b	NOUN
ajst-31619	115	15	*	*	PROPN
ajst-31619	115	16	are	be	AUX
ajst-31619	115	17	given	give	VERB
ajst-31619	115	18	,	,	PUNCT
ajst-31619	115	19	an	an	DET
ajst-31619	115	20	infinite	infinite	ADJ
ajst-31619	115	21	number	number	NOUN
ajst-31619	115	22	of	of	ADP
ajst-31619	115	23	linkages	linkage	NOUN
ajst-31619	115	24	can	can	AUX
ajst-31619	115	25	be	be	AUX
ajst-31619	115	26	obtained	obtain	VERB
ajst-31619	115	27	which	which	PRON
ajst-31619	115	28	can	can	AUX
ajst-31619	115	29	pass	pass	VERB
ajst-31619	115	30	through	through	ADP
ajst-31619	115	31	the	the	DET
ajst-31619	115	32	given	give	VERB
ajst-31619	115	33	positions	position	NOUN
ajst-31619	115	34	.	.	PUNCT
ajst-31619	116	1	thus	thus	ADV
ajst-31619	116	2	,	,	PUNCT
ajst-31619	116	3	it	it	PRON
ajst-31619	116	4	is	be	AUX
ajst-31619	116	5	possible	possible	ADJ
ajst-31619	116	6	to	to	PART
ajst-31619	116	7	find	find	VERB
ajst-31619	116	8	more	more	ADJ
ajst-31619	116	9	linkages	linkage	NOUN
ajst-31619	116	10	without	without	ADP
ajst-31619	116	11	defects	defect	NOUN
ajst-31619	116	12	that	that	PRON
ajst-31619	116	13	can	can	AUX
ajst-31619	116	14	meet	meet	VERB
ajst-31619	116	15	design	design	NOUN
ajst-31619	116	16	requirements	requirement	NOUN
ajst-31619	116	17	.	.	PUNCT
ajst-31619	117	1	actually	actually	ADV
ajst-31619	117	2	,	,	PUNCT
ajst-31619	117	3	an	an	DET
ajst-31619	117	4	infinite	infinite	ADJ
ajst-31619	117	5	number	number	NOUN
ajst-31619	117	6	of	of	ADP
ajst-31619	117	7	linkages	linkage	NOUN
ajst-31619	117	8	can	can	AUX
ajst-31619	117	9	be	be	AUX
ajst-31619	117	10	obtained	obtain	VERB
ajst-31619	117	11	by	by	ADP
ajst-31619	117	12	giving	give	VERB
ajst-31619	117	13	different	different	ADJ
ajst-31619	117	14	values	value	NOUN
ajst-31619	117	15	of	of	ADP
ajst-31619	117	16	v2	v2	PROPN
ajst-31619	117	17	,	,	PUNCT
ajst-31619	117	18	v3	v3	PROPN
ajst-31619	117	19	,	,	PUNCT
ajst-31619	117	20	v4	v4	PROPN
ajst-31619	117	21	and	and	CCONJ
ajst-31619	117	22	v5	v5	PROPN
ajst-31619	117	23	.	.	PUNCT
ajst-31619	118	1	in	in	ADP
ajst-31619	118	2	order	order	NOUN
ajst-31619	118	3	to	to	PART
ajst-31619	118	4	facilitate	facilitate	VERB
ajst-31619	118	5	the	the	DET
ajst-31619	118	6	study	study	NOUN
ajst-31619	118	7	,	,	PUNCT
ajst-31619	118	8	the	the	DET
ajst-31619	118	9	solution	solution	NOUN
ajst-31619	118	10	region	region	NOUN
ajst-31619	118	11	for	for	ADP
ajst-31619	118	12	five	five	NUM
ajst-31619	118	13	-	-	PUNCT
ajst-31619	118	14	position	position	NOUN
ajst-31619	118	15	synthesis	synthesis	NOUN
ajst-31619	118	16	of	of	ADP
ajst-31619	118	17	stephenson	stephenson	PROPN
ajst-31619	118	18	ii	ii	PROPN
ajst-31619	118	19	-	-	PUNCT
ajst-31619	118	20	b	b	PROPN
ajst-31619	118	21	six	six	NUM
ajst-31619	118	22	-	-	PUNCT
ajst-31619	118	23	bar	bar	NOUN
ajst-31619	118	24	linkages	linkage	NOUN
ajst-31619	118	25	is	be	AUX
ajst-31619	118	26	established	establish	VERB
ajst-31619	118	27	through	through	ADP
ajst-31619	118	28	giving	give	VERB
ajst-31619	118	29	different	different	ADJ
ajst-31619	118	30	locations	location	NOUN
ajst-31619	118	31	of	of	ADP
ajst-31619	118	32	hinge	hinge	NOUN
ajst-31619	118	33	point	point	NOUN
ajst-31619	118	34	b.	b.	PROPN
ajst-31619	118	35	3	3	X
ajst-31619	118	36	.	.	PUNCT
ajst-31619	118	37	numerical	numerical	PROPN
ajst-31619	118	38	example	example	PROPN
ajst-31619	118	39	a	a	DET
ajst-31619	118	40	five	five	NUM
ajst-31619	118	41	-	-	PUNCT
ajst-31619	118	42	position	position	NOUN
ajst-31619	118	43	synthesis	synthesis	NOUN
ajst-31619	118	44	of	of	ADP
ajst-31619	118	45	stephenson	stephenson	PROPN
ajst-31619	118	46	ii	ii	PROPN
ajst-31619	118	47	-	-	PUNCT
ajst-31619	118	48	b	b	PROPN
ajst-31619	118	49	six	six	NUM
ajst-31619	118	50	-	-	PUNCT
ajst-31619	118	51	bar	bar	NOUN
ajst-31619	118	52	linkages	linkage	NOUN
ajst-31619	118	53	example	example	NOUN
ajst-31619	118	54	based	base	VERB
ajst-31619	118	55	on	on	ADP
ajst-31619	118	56	the	the	DET
ajst-31619	118	57	solution	solution	NOUN
ajst-31619	118	58	region	region	NOUN
ajst-31619	118	59	method	method	NOUN
ajst-31619	118	60	is	be	AUX
ajst-31619	118	61	presented	present	VERB
ajst-31619	118	62	,	,	PUNCT
ajst-31619	118	63	and	and	CCONJ
ajst-31619	118	64	the	the	DET
ajst-31619	118	65	given	give	VERB
ajst-31619	118	66	five	five	NUM
ajst-31619	118	67	positions	position	NOUN
ajst-31619	118	68	are	be	AUX
ajst-31619	118	69	shown	show	VERB
ajst-31619	118	70	in	in	ADP
ajst-31619	118	71	table	table	NOUN
ajst-31619	118	72	1	1	NUM
ajst-31619	118	73	.	.	PUNCT
ajst-31619	118	74	table	table	NOUN
ajst-31619	118	75	1	1	NUM
ajst-31619	118	76	.	.	X
ajst-31619	118	77	five	five	NUM
ajst-31619	118	78	positions	position	NOUN
ajst-31619	118	79	no	no	INTJ
ajst-31619	118	80	.	.	PUNCT
ajst-31619	118	81	r(real	r(real	ADJ
ajst-31619	118	82	)	)	PUNCT
ajst-31619	119	1	i	i	PRON
ajst-31619	119	2	(	(	PUNCT
ajst-31619	119	3	imaginary	imaginary	ADJ
ajst-31619	119	4	)	)	PUNCT
ajst-31619	119	5	position	position	NOUN
ajst-31619	119	6	angle	angle	NOUN
ajst-31619	119	7	(	(	PUNCT
ajst-31619	119	8	rad	rad	NOUN
ajst-31619	119	9	)	)	PUNCT
ajst-31619	119	10	1	1	NUM
ajst-31619	119	11	54.32	54.32	NUM
ajst-31619	119	12	-122.9442	-122.9442	NUM
ajst-31619	119	13	1.65994	1.65994	NUM
ajst-31619	119	14	2	2	NUM
ajst-31619	119	15	70.22	70.22	NUM
ajst-31619	119	16	-93.41596	-93.41596	SYM
ajst-31619	119	17	1.84462	1.84462	NUM
ajst-31619	119	18	3	3	NUM
ajst-31619	119	19	57.31	57.31	NUM
ajst-31619	119	20	-28.08753	-28.08753	NUM
ajst-31619	119	21	1.63798	1.63798	NUM
ajst-31619	119	22	4	4	NUM
ajst-31619	119	23	39.43	39.43	NUM
ajst-31619	119	24	23.51591	23.51591	NUM
ajst-31619	119	25	1.30471	1.30471	NUM
ajst-31619	119	26	5	5	NUM
ajst-31619	119	27	10.95	10.95	NUM
ajst-31619	119	28	42.70563	42.70563	NUM
ajst-31619	119	29	1.01899	1.01899	NUM
ajst-31619	119	30	80	80	NUM
ajst-31619	119	31	for	for	ADP
ajst-31619	119	32	five	five	NUM
ajst-31619	119	33	-	-	PUNCT
ajst-31619	119	34	position	position	NOUN
ajst-31619	119	35	synthesis	synthesis	NOUN
ajst-31619	119	36	,	,	PUNCT
ajst-31619	119	37	the	the	DET
ajst-31619	119	38	set	set	NOUN
ajst-31619	119	39	of	of	ADP
ajst-31619	119	40	synthesis	synthesis	NOUN
ajst-31619	119	41	equations	equation	NOUN
ajst-31619	119	42	contains	contain	VERB
ajst-31619	119	43	a	a	DET
ajst-31619	119	44	total	total	NOUN
ajst-31619	119	45	of	of	ADP
ajst-31619	119	46	12	12	NUM
ajst-31619	119	47	equations	equation	NOUN
ajst-31619	119	48	,	,	PUNCT
ajst-31619	119	49	which	which	PRON
ajst-31619	119	50	include	include	VERB
ajst-31619	119	51	18	18	NUM
ajst-31619	119	52	variables	variable	NOUN
ajst-31619	119	53	.	.	PUNCT
ajst-31619	120	1	because	because	SCONJ
ajst-31619	120	2	the	the	DET
ajst-31619	120	3	number	number	NOUN
ajst-31619	120	4	of	of	ADP
ajst-31619	120	5	equations	equation	NOUN
ajst-31619	120	6	is	be	AUX
ajst-31619	120	7	six	six	NUM
ajst-31619	120	8	lower	low	ADJ
ajst-31619	120	9	than	than	ADP
ajst-31619	120	10	the	the	DET
ajst-31619	120	11	number	number	NOUN
ajst-31619	120	12	of	of	ADP
ajst-31619	120	13	variables	variable	NOUN
ajst-31619	120	14	,	,	PUNCT
ajst-31619	120	15	values	value	NOUN
ajst-31619	120	16	of	of	ADP
ajst-31619	120	17	six	six	NUM
ajst-31619	120	18	variables	variable	NOUN
ajst-31619	120	19	need	need	VERB
ajst-31619	120	20	to	to	PART
ajst-31619	120	21	be	be	AUX
ajst-31619	120	22	given	give	VERB
ajst-31619	120	23	to	to	PART
ajst-31619	120	24	solve	solve	VERB
ajst-31619	120	25	the	the	DET
ajst-31619	120	26	equations	equation	NOUN
ajst-31619	120	27	.	.	PUNCT
ajst-31619	121	1	in	in	ADP
ajst-31619	121	2	this	this	DET
ajst-31619	121	3	paper	paper	NOUN
ajst-31619	121	4	,	,	PUNCT
ajst-31619	121	5	values	value	NOUN
ajst-31619	121	6	of	of	ADP
ajst-31619	121	7	position	position	NOUN
ajst-31619	121	8	variables	variable	NOUN
ajst-31619	121	9	b	b	PROPN
ajst-31619	121	10	,	,	PUNCT
ajst-31619	121	11	b	b	PROPN
ajst-31619	121	12	*	*	ADJ
ajst-31619	121	13	and	and	CCONJ
ajst-31619	121	14	rotation	rotation	NOUN
ajst-31619	121	15	angle	angle	NOUN
ajst-31619	121	16	variables	variable	NOUN
ajst-31619	121	17	v2	v2	PROPN
ajst-31619	121	18	,	,	PUNCT
ajst-31619	121	19	v3	v3	PROPN
ajst-31619	121	20	,	,	PUNCT
ajst-31619	121	21	v4	v4	PROPN
ajst-31619	121	22	and	and	CCONJ
ajst-31619	121	23	v5	v5	PROPN
ajst-31619	121	24	are	be	AUX
ajst-31619	121	25	given	give	VERB
ajst-31619	121	26	.	.	PUNCT
ajst-31619	122	1	if	if	SCONJ
ajst-31619	122	2	the	the	DET
ajst-31619	122	3	step	step	NOUN
ajst-31619	122	4	size	size	NOUN
ajst-31619	122	5	of	of	ADP
ajst-31619	122	6	given	give	VERB
ajst-31619	122	7	values	value	NOUN
ajst-31619	122	8	is	be	AUX
ajst-31619	122	9	infinitesimal	infinitesimal	ADJ
ajst-31619	122	10	or	or	CCONJ
ajst-31619	122	11	the	the	DET
ajst-31619	122	12	value	value	NOUN
ajst-31619	122	13	range	range	NOUN
ajst-31619	122	14	is	be	AUX
ajst-31619	122	15	large	large	ADJ
ajst-31619	122	16	enough	enough	ADV
ajst-31619	122	17	,	,	PUNCT
ajst-31619	122	18	an	an	DET
ajst-31619	122	19	infinite	infinite	ADJ
ajst-31619	122	20	number	number	NOUN
ajst-31619	122	21	of	of	ADP
ajst-31619	122	22	solutions	solution	NOUN
ajst-31619	122	23	can	can	AUX
ajst-31619	122	24	be	be	AUX
ajst-31619	122	25	obtained	obtain	VERB
ajst-31619	122	26	in	in	ADP
ajst-31619	122	27	theory	theory	NOUN
ajst-31619	122	28	.	.	PUNCT
ajst-31619	123	1	in	in	ADP
ajst-31619	123	2	order	order	NOUN
ajst-31619	123	3	to	to	PART
ajst-31619	123	4	facilitate	facilitate	VERB
ajst-31619	123	5	the	the	DET
ajst-31619	123	6	trials	trial	NOUN
ajst-31619	123	7	,	,	PUNCT
ajst-31619	123	8	eleven	eleven	NUM
ajst-31619	123	9	sets	set	NOUN
ajst-31619	123	10	of	of	ADP
ajst-31619	123	11	values	value	NOUN
ajst-31619	123	12	of	of	ADP
ajst-31619	123	13	b	b	NOUN
ajst-31619	123	14	,	,	PUNCT
ajst-31619	123	15	b*and	b*and	ADP
ajst-31619	123	16	a	a	DET
ajst-31619	123	17	set	set	NOUN
ajst-31619	123	18	of	of	ADP
ajst-31619	123	19	values	value	NOUN
ajst-31619	123	20	of	of	ADP
ajst-31619	123	21	v2	v2	PROPN
ajst-31619	123	22	,	,	PUNCT
ajst-31619	123	23	v3	v3	PROPN
ajst-31619	123	24	,	,	PUNCT
ajst-31619	123	25	v4	v4	PROPN
ajst-31619	123	26	,	,	PUNCT
ajst-31619	123	27	v5	v5	PROPN
ajst-31619	123	28	are	be	AUX
ajst-31619	123	29	given	give	VERB
ajst-31619	123	30	,	,	PUNCT
ajst-31619	123	31	as	as	SCONJ
ajst-31619	123	32	shown	show	VERB
ajst-31619	123	33	in	in	ADP
ajst-31619	123	34	table	table	NOUN
ajst-31619	123	35	2	2	NUM
ajst-31619	123	36	.	.	PUNCT
ajst-31619	124	1	the	the	DET
ajst-31619	124	2	conjugate	conjugate	ADJ
ajst-31619	124	3	relationship	relationship	NOUN
ajst-31619	124	4	of	of	ADP
ajst-31619	124	5	values	value	NOUN
ajst-31619	124	6	of	of	ADP
ajst-31619	124	7	b	b	PROPN
ajst-31619	124	8	,	,	PUNCT
ajst-31619	124	9	b	b	X
ajst-31619	124	10	*	*	PUNCT
ajst-31619	124	11	is	be	AUX
ajst-31619	124	12	preserved	preserve	VERB
ajst-31619	124	13	in	in	ADP
ajst-31619	124	14	order	order	NOUN
ajst-31619	124	15	to	to	PART
ajst-31619	124	16	guarantee	guarantee	VERB
ajst-31619	124	17	the	the	DET
ajst-31619	124	18	physical	physical	ADJ
ajst-31619	124	19	meaning	meaning	NOUN
ajst-31619	124	20	.	.	PUNCT
ajst-31619	125	1	in	in	ADP
ajst-31619	125	2	table	table	NOUN
ajst-31619	125	3	2	2	NUM
ajst-31619	125	4	,	,	PUNCT
ajst-31619	125	5	imaginary	imaginary	ADJ
ajst-31619	125	6	parts	part	NOUN
ajst-31619	125	7	of	of	ADP
ajst-31619	125	8	variables	variable	NOUN
ajst-31619	125	9	b	b	PROPN
ajst-31619	125	10	,	,	PUNCT
ajst-31619	125	11	b	b	PROPN
ajst-31619	125	12	*	*	NOUN
ajst-31619	125	13	are	be	AUX
ajst-31619	125	14	zero	zero	NUM
ajst-31619	125	15	.	.	PUNCT
ajst-31619	126	1	vj	vj	X
ajst-31619	126	2	=	=	PUNCT
ajst-31619	126	3	eiφj	eiφj	NOUN
ajst-31619	126	4	(	(	PUNCT
ajst-31619	126	5	j=2	j=2	PROPN
ajst-31619	126	6	,	,	PUNCT
ajst-31619	126	7	3	3	NUM
ajst-31619	126	8	,	,	PUNCT
ajst-31619	126	9	4	4	NUM
ajst-31619	126	10	,	,	PUNCT
ajst-31619	126	11	5	5	NUM
ajst-31619	126	12	)	)	PUNCT
ajst-31619	126	13	are	be	AUX
ajst-31619	126	14	complex	complex	ADJ
ajst-31619	126	15	exponentials	exponential	NOUN
ajst-31619	126	16	,	,	PUNCT
ajst-31619	126	17	and	and	CCONJ
ajst-31619	126	18	the	the	DET
ajst-31619	126	19	values	value	NOUN
ajst-31619	126	20	given	give	VERB
ajst-31619	126	21	in	in	ADP
ajst-31619	126	22	table	table	NOUN
ajst-31619	126	23	2	2	NUM
ajst-31619	126	24	are	be	AUX
ajst-31619	126	25	expressed	express	VERB
ajst-31619	126	26	by	by	ADP
ajst-31619	126	27	trigonometric	trigonometric	ADJ
ajst-31619	126	28	functions	function	NOUN
ajst-31619	126	29	.	.	PUNCT
ajst-31619	127	1	table	table	NOUN
ajst-31619	127	2	2	2	NUM
ajst-31619	127	3	.	.	PUNCT
ajst-31619	128	1	the	the	DET
ajst-31619	128	2	given	give	VERB
ajst-31619	128	3	values	value	NOUN
ajst-31619	128	4	of	of	ADP
ajst-31619	128	5	(	(	PUNCT
ajst-31619	128	6	b	b	PROPN
ajst-31619	128	7	,	,	PUNCT
ajst-31619	128	8	b	b	NOUN
ajst-31619	128	9	*	*	NOUN
ajst-31619	128	10	)	)	PUNCT
ajst-31619	128	11	,	,	PUNCT
ajst-31619	128	12	v2	v2	PROPN
ajst-31619	128	13	,	,	PUNCT
ajst-31619	128	14	v3	v3	PROPN
ajst-31619	128	15	,	,	PUNCT
ajst-31619	128	16	v4	v4	PROPN
ajst-31619	128	17	,	,	PUNCT
ajst-31619	128	18	v5	v5	PROPN
ajst-31619	128	19	variables	variable	NOUN
ajst-31619	128	20	values	value	NOUN
ajst-31619	128	21	(	(	PUNCT
ajst-31619	128	22	b	b	NOUN
ajst-31619	128	23	,	,	PUNCT
ajst-31619	128	24	b	b	NOUN
ajst-31619	128	25	*	*	NOUN
ajst-31619	128	26	)	)	PUNCT
ajst-31619	128	27	(	(	PUNCT
ajst-31619	128	28	300	300	NUM
ajst-31619	128	29	,	,	PUNCT
ajst-31619	128	30	300	300	NUM
ajst-31619	128	31	)	)	PUNCT
ajst-31619	128	32	(	(	PUNCT
ajst-31619	128	33	320	320	NUM
ajst-31619	128	34	,	,	PUNCT
ajst-31619	128	35	320	320	NUM
ajst-31619	128	36	)	)	PUNCT
ajst-31619	128	37	(	(	PUNCT
ajst-31619	128	38	340	340	NUM
ajst-31619	128	39	,	,	PUNCT
ajst-31619	128	40	340	340	NUM
ajst-31619	128	41	)	)	PUNCT
ajst-31619	128	42	(	(	PUNCT
ajst-31619	128	43	360	360	NUM
ajst-31619	128	44	,	,	PUNCT
ajst-31619	128	45	360	360	NUM
ajst-31619	128	46	)	)	PUNCT
ajst-31619	128	47	(	(	PUNCT
ajst-31619	128	48	380	380	NUM
ajst-31619	128	49	,	,	PUNCT
ajst-31619	128	50	380	380	NUM
ajst-31619	128	51	)	)	PUNCT
ajst-31619	128	52	(	(	PUNCT
ajst-31619	128	53	400	400	NUM
ajst-31619	128	54	,	,	PUNCT
ajst-31619	128	55	400	400	NUM
ajst-31619	128	56	)	)	PUNCT
ajst-31619	128	57	(	(	PUNCT
ajst-31619	128	58	420	420	NUM
ajst-31619	128	59	,	,	PUNCT
ajst-31619	128	60	420	420	NUM
ajst-31619	128	61	)	)	PUNCT
ajst-31619	128	62	(	(	PUNCT
ajst-31619	128	63	440	440	NUM
ajst-31619	128	64	,	,	PUNCT
ajst-31619	128	65	440	440	NUM
ajst-31619	128	66	)	)	PUNCT
ajst-31619	128	67	(	(	PUNCT
ajst-31619	128	68	460	460	NUM
ajst-31619	128	69	,	,	PUNCT
ajst-31619	128	70	460	460	NUM
ajst-31619	128	71	)	)	PUNCT
ajst-31619	128	72	(	(	PUNCT
ajst-31619	128	73	480	480	NUM
ajst-31619	128	74	,	,	PUNCT
ajst-31619	128	75	480	480	NUM
ajst-31619	128	76	)	)	PUNCT
ajst-31619	128	77	(	(	PUNCT
ajst-31619	128	78	500	500	NUM
ajst-31619	128	79	,	,	PUNCT
ajst-31619	128	80	500	500	NUM
ajst-31619	128	81	)	)	PUNCT
ajst-31619	128	82	v2	v2	VERB
ajst-31619	128	83	0.990041	0.990041	NUM
ajst-31619	128	84	-	-	PUNCT
ajst-31619	128	85	0.140779i	0.140779i	NOUN
ajst-31619	128	86	v3	v3	PROPN
ajst-31619	128	87	0.945867	0.945867	NUM
ajst-31619	128	88	-	-	PUNCT
ajst-31619	128	89	0.324553i	0.324553i	NOUN
ajst-31619	128	90	v4	v4	NOUN
ajst-31619	128	91	0.914472	0.914472	NUM
ajst-31619	128	92	-	-	PUNCT
ajst-31619	128	93	0.404649i	0.404649i	NOUN
ajst-31619	128	94	v5	v5	VERB
ajst-31619	128	95	0.897412	0.897412	NUM
ajst-31619	128	96	-	-	SYM
ajst-31619	128	97	0.441194i	0.441194i	VERB
ajst-31619	128	98	after	after	ADP
ajst-31619	128	99	preliminary	preliminary	ADJ
ajst-31619	128	100	analysis	analysis	NOUN
ajst-31619	128	101	,	,	PUNCT
ajst-31619	128	102	four	four	NUM
ajst-31619	128	103	defect	defect	NOUN
ajst-31619	128	104	-	-	PUNCT
ajst-31619	128	105	free	free	ADJ
ajst-31619	128	106	six	six	NUM
ajst-31619	128	107	-	-	PUNCT
ajst-31619	128	108	bar	bar	NOUN
ajst-31619	128	109	linkages	linkage	NOUN
ajst-31619	128	110	with	with	ADP
ajst-31619	128	111	cranks	crank	NOUN
ajst-31619	128	112	are	be	AUX
ajst-31619	128	113	obtained	obtain	VERB
ajst-31619	128	114	and	and	CCONJ
ajst-31619	128	115	they	they	PRON
ajst-31619	128	116	are	be	AUX
ajst-31619	128	117	obtained	obtain	VERB
ajst-31619	128	118	when	when	SCONJ
ajst-31619	128	119	the	the	DET
ajst-31619	128	120	given	give	VERB
ajst-31619	128	121	value	value	NOUN
ajst-31619	128	122	of	of	ADP
ajst-31619	128	123	(	(	PUNCT
ajst-31619	128	124	b	b	PROPN
ajst-31619	128	125	,	,	PUNCT
ajst-31619	128	126	b	b	NOUN
ajst-31619	128	127	*	*	PUNCT
ajst-31619	128	128	)	)	PUNCT
ajst-31619	128	129	is	be	AUX
ajst-31619	128	130	(	(	PUNCT
ajst-31619	128	131	400	400	NUM
ajst-31619	128	132	,	,	PUNCT
ajst-31619	128	133	400	400	NUM
ajst-31619	128	134	)	)	PUNCT
ajst-31619	128	135	.	.	PUNCT
ajst-31619	129	1	this	this	PRON
ajst-31619	129	2	means	mean	VERB
ajst-31619	129	3	that	that	SCONJ
ajst-31619	129	4	it	it	PRON
ajst-31619	129	5	may	may	AUX
ajst-31619	129	6	be	be	AUX
ajst-31619	129	7	easier	easy	ADJ
ajst-31619	129	8	to	to	PART
ajst-31619	129	9	obtain	obtain	VERB
ajst-31619	129	10	defect	defect	NOUN
ajst-31619	129	11	-	-	PUNCT
ajst-31619	129	12	free	free	ADJ
ajst-31619	129	13	linkages	linkage	NOUN
ajst-31619	129	14	with	with	ADP
ajst-31619	129	15	cranks	crank	NOUN
ajst-31619	129	16	when	when	SCONJ
ajst-31619	129	17	the	the	DET
ajst-31619	129	18	values	value	NOUN
ajst-31619	129	19	of	of	ADP
ajst-31619	129	20	(	(	PUNCT
ajst-31619	129	21	b	b	PROPN
ajst-31619	129	22	,	,	PUNCT
ajst-31619	129	23	b	b	NOUN
ajst-31619	129	24	*	*	NOUN
ajst-31619	129	25	)	)	PUNCT
ajst-31619	129	26	near	near	ADP
ajst-31619	129	27	to	to	ADP
ajst-31619	129	28	(	(	PUNCT
ajst-31619	129	29	400	400	NUM
ajst-31619	129	30	,	,	PUNCT
ajst-31619	129	31	400	400	NUM
ajst-31619	129	32	)	)	PUNCT
ajst-31619	129	33	.	.	PUNCT
ajst-31619	130	1	therefore	therefore	ADV
ajst-31619	130	2	,	,	PUNCT
ajst-31619	130	3	other	other	ADJ
ajst-31619	130	4	24	24	NUM
ajst-31619	130	5	sets	set	NOUN
ajst-31619	130	6	of	of	ADP
ajst-31619	130	7	values	value	NOUN
ajst-31619	130	8	of	of	ADP
ajst-31619	130	9	(	(	PUNCT
ajst-31619	130	10	b	b	PROPN
ajst-31619	130	11	,	,	PUNCT
ajst-31619	130	12	b	b	NOUN
ajst-31619	130	13	*	*	NOUN
ajst-31619	130	14	)	)	PUNCT
ajst-31619	130	15	are	be	AUX
ajst-31619	130	16	given	give	VERB
ajst-31619	130	17	around	around	ADV
ajst-31619	130	18	(	(	PUNCT
ajst-31619	130	19	400	400	NUM
ajst-31619	130	20	,	,	PUNCT
ajst-31619	130	21	400	400	NUM
ajst-31619	130	22	)	)	PUNCT
ajst-31619	130	23	in	in	ADP
ajst-31619	130	24	an	an	DET
ajst-31619	130	25	attempt	attempt	NOUN
ajst-31619	130	26	to	to	PART
ajst-31619	130	27	find	find	VERB
ajst-31619	130	28	more	more	ADJ
ajst-31619	130	29	linkage	linkage	NOUN
ajst-31619	130	30	solutions	solution	NOUN
ajst-31619	130	31	without	without	ADP
ajst-31619	130	32	defects	defect	NOUN
ajst-31619	130	33	and	and	CCONJ
ajst-31619	130	34	with	with	ADP
ajst-31619	130	35	cranks	crank	NOUN
ajst-31619	130	36	.	.	PUNCT
ajst-31619	131	1	24	24	NUM
ajst-31619	131	2	sets	set	NOUN
ajst-31619	131	3	of	of	ADP
ajst-31619	131	4	values	value	NOUN
ajst-31619	131	5	of	of	ADP
ajst-31619	131	6	(	(	PUNCT
ajst-31619	131	7	b	b	PROPN
ajst-31619	131	8	,	,	PUNCT
ajst-31619	131	9	b	b	NOUN
ajst-31619	131	10	*	*	NOUN
ajst-31619	131	11	)	)	PUNCT
ajst-31619	131	12	are	be	AUX
ajst-31619	131	13	shown	show	VERB
ajst-31619	131	14	in	in	ADP
ajst-31619	131	15	table	table	NOUN
ajst-31619	131	16	3	3	NUM
ajst-31619	131	17	.	.	PUNCT
ajst-31619	131	18	table	table	NOUN
ajst-31619	131	19	3	3	NUM
ajst-31619	131	20	given	give	VERB
ajst-31619	131	21	values	value	NOUN
ajst-31619	131	22	of	of	ADP
ajst-31619	131	23	(	(	PUNCT
ajst-31619	131	24	b	b	PROPN
ajst-31619	131	25	,	,	PUNCT
ajst-31619	131	26	b	b	NOUN
ajst-31619	131	27	*	*	NOUN
ajst-31619	131	28	)	)	PUNCT
ajst-31619	131	29	values	value	NOUN
ajst-31619	131	30	(	(	PUNCT
ajst-31619	131	31	398	398	NUM
ajst-31619	131	32	,	,	PUNCT
ajst-31619	131	33	398	398	NUM
ajst-31619	131	34	)	)	PUNCT
ajst-31619	131	35	(	(	PUNCT
ajst-31619	131	36	398	398	NUM
ajst-31619	131	37	+	+	NOUN
ajst-31619	131	38	1i	1i	NOUN
ajst-31619	131	39	,	,	PUNCT
ajst-31619	131	40	398	398	NUM
ajst-31619	131	41	-	-	SYM
ajst-31619	131	42	1i	1i	NUM
ajst-31619	131	43	)	)	PUNCT
ajst-31619	131	44	(	(	PUNCT
ajst-31619	131	45	398	398	NUM
ajst-31619	131	46	+	+	NOUN
ajst-31619	131	47	2i	2i	NUM
ajst-31619	131	48	,	,	PUNCT
ajst-31619	131	49	398	398	NUM
ajst-31619	131	50	-	-	PUNCT
ajst-31619	131	51	2i	2i	NUM
ajst-31619	131	52	)	)	PUNCT
ajst-31619	131	53	(	(	PUNCT
ajst-31619	131	54	398	398	NUM
ajst-31619	131	55	-	-	PUNCT
ajst-31619	131	56	1i	1i	NUM
ajst-31619	131	57	,	,	PUNCT
ajst-31619	131	58	398	398	NUM
ajst-31619	131	59	+	+	NOUN
ajst-31619	131	60	1i	1i	X
ajst-31619	131	61	)	)	PUNCT
ajst-31619	131	62	(	(	PUNCT
ajst-31619	131	63	398	398	NUM
ajst-31619	131	64	-	-	PUNCT
ajst-31619	131	65	2i	2i	NUM
ajst-31619	131	66	,	,	PUNCT
ajst-31619	131	67	398	398	NUM
ajst-31619	131	68	+	+	NOUN
ajst-31619	131	69	2i	2i	NUM
ajst-31619	131	70	)	)	PUNCT
ajst-31619	131	71	(	(	PUNCT
ajst-31619	131	72	399	399	NUM
ajst-31619	131	73	,	,	PUNCT
ajst-31619	131	74	399	399	NUM
ajst-31619	131	75	)	)	PUNCT
ajst-31619	131	76	(	(	PUNCT
ajst-31619	131	77	399	399	NUM
ajst-31619	131	78	+	+	NUM
ajst-31619	131	79	1i	1i	NOUN
ajst-31619	131	80	,	,	PUNCT
ajst-31619	131	81	399	399	NUM
ajst-31619	131	82	-	-	SYM
ajst-31619	131	83	1i	1i	NUM
ajst-31619	131	84	)	)	PUNCT
ajst-31619	131	85	(	(	PUNCT
ajst-31619	131	86	399	399	NUM
ajst-31619	131	87	+	+	NOUN
ajst-31619	131	88	2i	2i	NUM
ajst-31619	131	89	,	,	PUNCT
ajst-31619	131	90	399	399	NUM
ajst-31619	131	91	-	-	SYM
ajst-31619	131	92	2i	2i	NUM
ajst-31619	131	93	)	)	PUNCT
ajst-31619	131	94	(	(	PUNCT
ajst-31619	131	95	399	399	NUM
ajst-31619	131	96	-	-	PUNCT
ajst-31619	131	97	1i	1i	NUM
ajst-31619	131	98	,	,	PUNCT
ajst-31619	131	99	399	399	NUM
ajst-31619	131	100	+	+	NOUN
ajst-31619	131	101	1i	1i	X
ajst-31619	131	102	)	)	PUNCT
ajst-31619	131	103	(	(	PUNCT
ajst-31619	131	104	399	399	NUM
ajst-31619	131	105	-	-	PUNCT
ajst-31619	131	106	2i	2i	NUM
ajst-31619	131	107	,	,	PUNCT
ajst-31619	131	108	399	399	NUM
ajst-31619	131	109	+	+	NOUN
ajst-31619	131	110	2i	2i	NUM
ajst-31619	131	111	)	)	PUNCT
ajst-31619	131	112	(	(	PUNCT
ajst-31619	131	113	400	400	NUM
ajst-31619	131	114	+	+	NOUN
ajst-31619	131	115	1i	1i	NOUN
ajst-31619	131	116	,	,	PUNCT
ajst-31619	131	117	400	400	NUM
ajst-31619	131	118	-	-	PUNCT
ajst-31619	131	119	1i	1i	NUM
ajst-31619	131	120	)	)	PUNCT
ajst-31619	131	121	(	(	PUNCT
ajst-31619	131	122	400	400	NUM
ajst-31619	131	123	+	+	NOUN
ajst-31619	131	124	2i	2i	NUM
ajst-31619	131	125	,	,	PUNCT
ajst-31619	131	126	400	400	NUM
ajst-31619	131	127	-	-	PUNCT
ajst-31619	131	128	2i	2i	NUM
ajst-31619	131	129	)	)	PUNCT
ajst-31619	131	130	(	(	PUNCT
ajst-31619	131	131	400	400	NUM
ajst-31619	131	132	-	-	PUNCT
ajst-31619	131	133	1i	1i	NUM
ajst-31619	131	134	,	,	PUNCT
ajst-31619	131	135	400	400	NUM
ajst-31619	131	136	+	+	NOUN
ajst-31619	131	137	1i	1i	X
ajst-31619	131	138	)	)	PUNCT
ajst-31619	131	139	(	(	PUNCT
ajst-31619	131	140	400	400	NUM
ajst-31619	131	141	-	-	PUNCT
ajst-31619	131	142	2i	2i	NUM
ajst-31619	131	143	,	,	PUNCT
ajst-31619	131	144	400	400	NUM
ajst-31619	131	145	+	+	NOUN
ajst-31619	131	146	2i	2i	NUM
ajst-31619	131	147	)	)	PUNCT
ajst-31619	131	148	(	(	PUNCT
ajst-31619	131	149	401	401	NUM
ajst-31619	131	150	,	,	PUNCT
ajst-31619	131	151	401	401	NUM
ajst-31619	131	152	)	)	PUNCT
ajst-31619	131	153	(	(	PUNCT
ajst-31619	131	154	401	401	NUM
ajst-31619	131	155	+	+	NOUN
ajst-31619	131	156	1i	1i	NOUN
ajst-31619	131	157	,	,	PUNCT
ajst-31619	131	158	401	401	NUM
ajst-31619	131	159	-	-	PUNCT
ajst-31619	131	160	1i	1i	NUM
ajst-31619	131	161	)	)	PUNCT
ajst-31619	131	162	(	(	PUNCT
ajst-31619	131	163	401	401	NUM
ajst-31619	131	164	+	+	NOUN
ajst-31619	131	165	2i	2i	NUM
ajst-31619	131	166	,	,	PUNCT
ajst-31619	131	167	401	401	NUM
ajst-31619	131	168	-	-	PUNCT
ajst-31619	131	169	2i	2i	NUM
ajst-31619	131	170	)	)	PUNCT
ajst-31619	131	171	(	(	PUNCT
ajst-31619	131	172	401	401	NUM
ajst-31619	131	173	-	-	PUNCT
ajst-31619	131	174	1i	1i	NUM
ajst-31619	131	175	,	,	PUNCT
ajst-31619	131	176	401	401	NUM
ajst-31619	131	177	+	+	NOUN
ajst-31619	131	178	1i	1i	X
ajst-31619	131	179	)	)	PUNCT
ajst-31619	131	180	(	(	PUNCT
ajst-31619	131	181	401	401	NUM
ajst-31619	131	182	-	-	PUNCT
ajst-31619	131	183	2i	2i	NUM
ajst-31619	131	184	,	,	PUNCT
ajst-31619	131	185	401	401	NUM
ajst-31619	131	186	+	+	NOUN
ajst-31619	131	187	2i	2i	NUM
ajst-31619	131	188	)	)	PUNCT
ajst-31619	131	189	(	(	PUNCT
ajst-31619	131	190	402	402	NUM
ajst-31619	131	191	,	,	PUNCT
ajst-31619	131	192	402	402	NUM
ajst-31619	131	193	)	)	PUNCT
ajst-31619	131	194	(	(	PUNCT
ajst-31619	131	195	402	402	NUM
ajst-31619	131	196	+	+	NOUN
ajst-31619	131	197	1i	1i	NOUN
ajst-31619	131	198	,	,	PUNCT
ajst-31619	131	199	402	402	NUM
ajst-31619	131	200	-	-	SYM
ajst-31619	131	201	1i	1i	NUM
ajst-31619	131	202	)	)	PUNCT
ajst-31619	131	203	(	(	PUNCT
ajst-31619	131	204	402	402	NUM
ajst-31619	131	205	+	+	NOUN
ajst-31619	131	206	2i	2i	NUM
ajst-31619	131	207	,	,	PUNCT
ajst-31619	131	208	402	402	NUM
ajst-31619	131	209	-	-	PUNCT
ajst-31619	131	210	2i	2i	NUM
ajst-31619	131	211	)	)	PUNCT
ajst-31619	131	212	(	(	PUNCT
ajst-31619	131	213	402	402	NUM
ajst-31619	131	214	-	-	SYM
ajst-31619	131	215	1i	1i	NUM
ajst-31619	131	216	,	,	PUNCT
ajst-31619	131	217	402	402	NUM
ajst-31619	131	218	+	+	NOUN
ajst-31619	131	219	1i	1i	X
ajst-31619	131	220	)	)	PUNCT
ajst-31619	131	221	(	(	PUNCT
ajst-31619	131	222	402	402	NUM
ajst-31619	131	223	-	-	NUM
ajst-31619	131	224	2i	2i	NUM
ajst-31619	131	225	,	,	PUNCT
ajst-31619	131	226	402	402	NUM
ajst-31619	131	227	+	+	NOUN
ajst-31619	131	228	2i	2i	NUM
ajst-31619	131	229	)	)	PUNCT
ajst-31619	131	230	after	after	ADP
ajst-31619	131	231	eliminating	eliminate	VERB
ajst-31619	131	232	linkages	linkage	NOUN
ajst-31619	131	233	with	with	ADP
ajst-31619	131	234	circuit	circuit	NOUN
ajst-31619	131	235	defects	defect	NOUN
ajst-31619	131	236	suing	sue	VERB
ajst-31619	131	237	the	the	DET
ajst-31619	131	238	defect	defect	ADJ
ajst-31619	131	239	determinant	determinant	ADJ
ajst-31619	131	240	method	method	NOUN
ajst-31619	131	241	proposed	propose	VERB
ajst-31619	131	242	,	,	PUNCT
ajst-31619	131	243	the	the	DET
ajst-31619	131	244	solution	solution	NOUN
ajst-31619	131	245	region	region	NOUN
ajst-31619	131	246	containing	contain	VERB
ajst-31619	131	247	107	107	NUM
ajst-31619	131	248	linkages	linkage	NOUN
ajst-31619	131	249	without	without	ADP
ajst-31619	131	250	circuit	circuit	NOUN
ajst-31619	131	251	defects	defect	NOUN
ajst-31619	131	252	is	be	AUX
ajst-31619	131	253	obtained	obtain	VERB
ajst-31619	131	254	.	.	PUNCT
ajst-31619	132	1	then	then	ADV
ajst-31619	132	2	the	the	DET
ajst-31619	132	3	solution	solution	NOUN
ajst-31619	132	4	region	region	NOUN
ajst-31619	132	5	containing	contain	VERB
ajst-31619	132	6	40	40	NUM
ajst-31619	132	7	linkages	linkage	NOUN
ajst-31619	132	8	without	without	ADP
ajst-31619	132	9	circuit	circuit	NOUN
ajst-31619	132	10	defects	defect	NOUN
ajst-31619	132	11	and	and	CCONJ
ajst-31619	132	12	branch	branch	NOUN
ajst-31619	132	13	defects	defect	NOUN
ajst-31619	132	14	is	be	AUX
ajst-31619	132	15	obtained	obtain	VERB
ajst-31619	132	16	after	after	ADP
ajst-31619	132	17	eliminating	eliminate	VERB
ajst-31619	132	18	linkages	linkage	NOUN
ajst-31619	132	19	with	with	ADP
ajst-31619	132	20	branch	branch	NOUN
ajst-31619	132	21	defects	defect	NOUN
ajst-31619	132	22	,	,	PUNCT
ajst-31619	132	23	as	as	SCONJ
ajst-31619	132	24	shown	show	VERB
ajst-31619	132	25	in	in	ADP
ajst-31619	132	26	fig	fig	NOUN
ajst-31619	132	27	.	.	PUNCT
ajst-31619	133	1	8	8	NUM
ajst-31619	133	2	.	.	PUNCT
ajst-31619	134	1	since	since	SCONJ
ajst-31619	134	2	branch	branch	NOUN
ajst-31619	134	3	defects	defect	NOUN
ajst-31619	134	4	are	be	AUX
ajst-31619	134	5	not	not	PART
ajst-31619	134	6	fatal	fatal	ADJ
ajst-31619	134	7	to	to	ADP
ajst-31619	134	8	the	the	DET
ajst-31619	134	9	movement	movement	NOUN
ajst-31619	134	10	of	of	ADP
ajst-31619	134	11	linkages	linkage	NOUN
ajst-31619	134	12	,	,	PUNCT
ajst-31619	134	13	linkages	linkage	NOUN
ajst-31619	134	14	with	with	ADP
ajst-31619	134	15	branch	branch	NOUN
ajst-31619	134	16	defects	defect	NOUN
ajst-31619	134	17	but	but	CCONJ
ajst-31619	134	18	no	no	DET
ajst-31619	134	19	circuit	circuit	NOUN
ajst-31619	134	20	defects	defect	NOUN
ajst-31619	134	21	can	can	AUX
ajst-31619	134	22	also	also	ADV
ajst-31619	134	23	be	be	AUX
ajst-31619	134	24	used	use	VERB
ajst-31619	134	25	as	as	ADP
ajst-31619	134	26	alternative	alternative	ADJ
ajst-31619	134	27	design	design	NOUN
ajst-31619	134	28	.	.	PUNCT
ajst-31619	135	1	among	among	ADP
ajst-31619	135	2	40	40	NUM
ajst-31619	135	3	defect	defect	NOUN
ajst-31619	135	4	-	-	PUNCT
ajst-31619	135	5	free	free	ADJ
ajst-31619	135	6	linkages	linkage	NOUN
ajst-31619	135	7	,	,	PUNCT
ajst-31619	135	8	there	there	PRON
ajst-31619	135	9	are	be	VERB
ajst-31619	135	10	24	24	NUM
ajst-31619	135	11	linkages	linkage	NOUN
ajst-31619	135	12	with	with	ADP
ajst-31619	135	13	cranks	crank	NOUN
ajst-31619	135	14	as	as	SCONJ
ajst-31619	135	15	shown	show	VERB
ajst-31619	135	16	by	by	ADP
ajst-31619	135	17	red	red	ADJ
ajst-31619	135	18	points	point	NOUN
ajst-31619	135	19	in	in	ADP
ajst-31619	135	20	fig	fig	NOUN
ajst-31619	135	21	.	.	PUNCT
ajst-31619	136	1	8	8	NUM
ajst-31619	136	2	.	.	X
ajst-31619	136	3	81	81	NUM
ajst-31619	136	4	figure	figure	NOUN
ajst-31619	136	5	8	8	NUM
ajst-31619	136	6	.	.	PUNCT
ajst-31619	137	1	the	the	DET
ajst-31619	137	2	solution	solution	NOUN
ajst-31619	137	3	region	region	NOUN
ajst-31619	137	4	with	with	ADP
ajst-31619	137	5	linkages	linkage	NOUN
ajst-31619	137	6	without	without	ADP
ajst-31619	137	7	defects	defect	NOUN
ajst-31619	137	8	figure	figure	VERB
ajst-31619	137	9	9.the	9.the	DET
ajst-31619	137	10	linkage	linkage	NOUN
ajst-31619	137	11	corresponding	correspond	VERB
ajst-31619	137	12	to	to	PART
ajst-31619	137	13	point	point	VERB
ajst-31619	137	14	m3	m3	PROPN
ajst-31619	137	15	figure	figure	NOUN
ajst-31619	137	16	10	10	NUM
ajst-31619	137	17	.	.	PUNCT
ajst-31619	138	1	angle	angle	NOUN
ajst-31619	138	2	displacement	displacement	ADJ
ajst-31619	138	3	curves	curve	NOUN
ajst-31619	138	4	of	of	ADP
ajst-31619	138	5	point	point	NOUN
ajst-31619	138	6	m3	m3	PROPN
ajst-31619	138	7	0	0	NUM
ajst-31619	138	8	60	60	NUM
ajst-31619	138	9	120	120	NUM
ajst-31619	138	10	180	180	NUM
ajst-31619	138	11	240	240	NUM
ajst-31619	138	12	300	300	NUM
ajst-31619	138	13	360	360	NUM
ajst-31619	138	14	0	0	NUM
ajst-31619	138	15	60	60	NUM
ajst-31619	138	16	120	120	NUM
ajst-31619	138	17	180	180	NUM
ajst-31619	138	18	240	240	NUM
ajst-31619	138	19	300	300	NUM
ajst-31619	138	20	360	360	NUM
ajst-31619	138	21	82	82	NUM
ajst-31619	138	22	(	(	PUNCT
ajst-31619	138	23	a	a	NOUN
ajst-31619	138	24	)	)	PUNCT
ajst-31619	138	25	(	(	PUNCT
ajst-31619	138	26	b	b	X
ajst-31619	138	27	)	)	PUNCT
ajst-31619	138	28	(	(	PUNCT
ajst-31619	138	29	c	c	X
ajst-31619	138	30	)	)	PUNCT
ajst-31619	138	31	figure	figure	NOUN
ajst-31619	138	32	11	11	NUM
ajst-31619	138	33	.	.	PUNCT
ajst-31619	139	1	(	(	PUNCT
ajst-31619	139	2	a	a	X
ajst-31619	139	3	)	)	PUNCT
ajst-31619	139	4	the	the	DET
ajst-31619	139	5	linkage	linkage	NOUN
ajst-31619	139	6	corresponding	correspond	VERB
ajst-31619	139	7	to	to	ADP
ajst-31619	139	8	the	the	DET
ajst-31619	139	9	point	point	NOUN
ajst-31619	139	10	m4	m4	PROPN
ajst-31619	139	11	;	;	PUNCT
ajst-31619	139	12	(	(	PUNCT
ajst-31619	139	13	b	b	X
ajst-31619	139	14	)	)	PUNCT
ajst-31619	139	15	the	the	DET
ajst-31619	139	16	linkage	linkage	NOUN
ajst-31619	139	17	corresponding	correspond	VERB
ajst-31619	139	18	to	to	ADP
ajst-31619	139	19	the	the	DET
ajst-31619	139	20	point	point	NOUN
ajst-31619	139	21	m5	m5	NOUN
ajst-31619	139	22	;	;	PUNCT
ajst-31619	139	23	(	(	PUNCT
ajst-31619	139	24	c	c	X
ajst-31619	139	25	)	)	PUNCT
ajst-31619	139	26	the	the	DET
ajst-31619	139	27	linkage	linkage	NOUN
ajst-31619	139	28	corresponding	correspond	VERB
ajst-31619	139	29	to	to	ADP
ajst-31619	139	30	the	the	DET
ajst-31619	139	31	point	point	NOUN
ajst-31619	139	32	m6	m6	PROPN
ajst-31619	139	33	.	.	PUNCT
ajst-31619	140	1	the	the	DET
ajst-31619	140	2	linkage	linkage	NOUN
ajst-31619	140	3	corresponding	correspond	VERB
ajst-31619	140	4	to	to	PART
ajst-31619	140	5	point	point	VERB
ajst-31619	140	6	m3	m3	PROPN
ajst-31619	140	7	is	be	AUX
ajst-31619	140	8	shown	show	VERB
ajst-31619	140	9	in	in	ADP
ajst-31619	140	10	fig	fig	NOUN
ajst-31619	140	11	.	.	PUNCT
ajst-31619	141	1	9	9	X
ajst-31619	141	2	.	.	PUNCT
ajst-31619	141	3	based	base	VERB
ajst-31619	141	4	on	on	ADP
ajst-31619	141	5	the	the	DET
ajst-31619	141	6	continuity	continuity	NOUN
ajst-31619	141	7	analysis	analysis	NOUN
ajst-31619	141	8	method	method	NOUN
ajst-31619	141	9	,	,	PUNCT
ajst-31619	141	10	the	the	DET
ajst-31619	141	11	angle	angle	NOUN
ajst-31619	141	12	displacement	displacement	NOUN
ajst-31619	141	13	curve	curve	NOUN
ajst-31619	141	14	of	of	ADP
ajst-31619	141	15	the	the	DET
ajst-31619	141	16	position	position	NOUN
ajst-31619	141	17	angle	angle	NOUN
ajst-31619	141	18	φ	φ	PROPN
ajst-31619	141	19	relative	relative	ADJ
ajst-31619	141	20	to	to	ADP
ajst-31619	141	21	the	the	DET
ajst-31619	141	22	angle	angle	NOUN
ajst-31619	141	23	β	β	NOUN
ajst-31619	141	24	of	of	ADP
ajst-31619	141	25	the	the	DET
ajst-31619	141	26	driving	drive	VERB
ajst-31619	141	27	link	link	NOUN
ajst-31619	141	28	can	can	AUX
ajst-31619	141	29	be	be	AUX
ajst-31619	141	30	obtained	obtain	VERB
ajst-31619	141	31	,	,	PUNCT
ajst-31619	141	32	as	as	SCONJ
ajst-31619	141	33	shown	show	VERB
ajst-31619	141	34	in	in	ADP
ajst-31619	141	35	fig	fig	NOUN
ajst-31619	141	36	.	.	PUNCT
ajst-31619	142	1	10	10	NUM
ajst-31619	142	2	.	.	PUNCT
ajst-31619	143	1	the	the	DET
ajst-31619	143	2	six	six	NUM
ajst-31619	143	3	-	-	PUNCT
ajst-31619	143	4	bar	bar	NOUN
ajst-31619	143	5	linkage	linkage	NOUN
ajst-31619	143	6	has	have	VERB
ajst-31619	143	7	four	four	NUM
ajst-31619	143	8	different	different	ADJ
ajst-31619	143	9	circuits	circuit	NOUN
ajst-31619	143	10	as	as	SCONJ
ajst-31619	143	11	shown	show	VERB
ajst-31619	143	12	in	in	ADP
ajst-31619	143	13	fig	fig	NOUN
ajst-31619	143	14	.	.	PUNCT
ajst-31619	144	1	10	10	NUM
ajst-31619	144	2	,	,	PUNCT
ajst-31619	144	3	and	and	CCONJ
ajst-31619	144	4	three	three	NUM
ajst-31619	144	5	of	of	ADP
ajst-31619	144	6	them	they	PRON
ajst-31619	144	7	where	where	SCONJ
ajst-31619	144	8	the	the	DET
ajst-31619	144	9	linkage	linkage	NOUN
ajst-31619	144	10	has	have	VERB
ajst-31619	144	11	a	a	DET
ajst-31619	144	12	crank	crank	NOUN
ajst-31619	144	13	.	.	PUNCT
ajst-31619	145	1	since	since	SCONJ
ajst-31619	145	2	p1φ	p1φ	PROPN
ajst-31619	145	3	,	,	PUNCT
ajst-31619	145	4	p2φ	p2φ	NOUN
ajst-31619	145	5	,	,	PUNCT
ajst-31619	145	6	p3φ	p3φ	PROPN
ajst-31619	145	7	,	,	PUNCT
ajst-31619	145	8	p4φ	p4φ	PROPN
ajst-31619	145	9	,	,	PUNCT
ajst-31619	145	10	p5φ	p5φ	NOUN
ajst-31619	145	11	are	be	AUX
ajst-31619	145	12	located	locate	VERB
ajst-31619	145	13	in	in	ADP
ajst-31619	145	14	the	the	DET
ajst-31619	145	15	same	same	ADJ
ajst-31619	145	16	circuit	circuit	NOUN
ajst-31619	145	17	and	and	CCONJ
ajst-31619	145	18	the	the	DET
ajst-31619	145	19	linkage	linkage	NOUN
ajst-31619	145	20	has	have	VERB
ajst-31619	145	21	a	a	DET
ajst-31619	145	22	crank	crank	NOUN
ajst-31619	145	23	when	when	SCONJ
ajst-31619	145	24	the	the	DET
ajst-31619	145	25	linkage	linkage	NOUN
ajst-31619	145	26	moves	move	VERB
ajst-31619	145	27	in	in	ADP
ajst-31619	145	28	this	this	DET
ajst-31619	145	29	circuit	circuit	NOUN
ajst-31619	145	30	,	,	PUNCT
ajst-31619	145	31	the	the	DET
ajst-31619	145	32	six	six	NUM
ajst-31619	145	33	-	-	PUNCT
ajst-31619	145	34	bar	bar	NOUN
ajst-31619	145	35	linkage	linkage	NOUN
ajst-31619	145	36	is	be	AUX
ajst-31619	145	37	a	a	DET
ajst-31619	145	38	defect	defect	NOUN
ajst-31619	145	39	-	-	PUNCT
ajst-31619	145	40	free	free	ADJ
ajst-31619	145	41	linkage	linkage	NOUN
ajst-31619	145	42	for	for	ADP
ajst-31619	145	43	the	the	DET
ajst-31619	145	44	given	give	VERB
ajst-31619	145	45	five	five	NUM
ajst-31619	145	46	positions	position	NOUN
ajst-31619	145	47	.	.	PUNCT
ajst-31619	146	1	other	other	ADJ
ajst-31619	146	2	three	three	NUM
ajst-31619	146	3	defect	defect	NOUN
ajst-31619	146	4	-	-	PUNCT
ajst-31619	146	5	free	free	ADJ
ajst-31619	146	6	linkages	linkage	NOUN
ajst-31619	146	7	with	with	ADP
ajst-31619	146	8	cranks	crank	NOUN
ajst-31619	146	9	are	be	AUX
ajst-31619	146	10	displayed	display	VERB
ajst-31619	146	11	in	in	ADP
ajst-31619	146	12	fig	fig	NOUN
ajst-31619	146	13	.	.	PUNCT
ajst-31619	147	1	11	11	NUM
ajst-31619	147	2	.	.	PUNCT
ajst-31619	148	1	the	the	DET
ajst-31619	148	2	results	result	NOUN
ajst-31619	148	3	show	show	VERB
ajst-31619	148	4	that	that	SCONJ
ajst-31619	148	5	fiveposition	fiveposition	NOUN
ajst-31619	148	6	synthesis	synthesis	NOUN
ajst-31619	148	7	of	of	ADP
ajst-31619	148	8	six	six	NUM
ajst-31619	148	9	-	-	PUNCT
ajst-31619	148	10	bar	bar	NOUN
ajst-31619	148	11	linkages	linkage	NOUN
ajst-31619	148	12	can	can	AUX
ajst-31619	148	13	obtain	obtain	VERB
ajst-31619	148	14	a	a	DET
ajst-31619	148	15	large	large	ADJ
ajst-31619	148	16	number	number	NOUN
ajst-31619	148	17	of	of	ADP
ajst-31619	148	18	linkages	linkage	NOUN
ajst-31619	148	19	without	without	ADP
ajst-31619	148	20	defects	defect	NOUN
ajst-31619	148	21	and	and	CCONJ
ajst-31619	148	22	with	with	ADP
ajst-31619	148	23	cranks	crank	NOUN
ajst-31619	148	24	,	,	PUNCT
ajst-31619	148	25	which	which	PRON
ajst-31619	148	26	can	can	AUX
ajst-31619	148	27	provide	provide	VERB
ajst-31619	148	28	a	a	DET
ajst-31619	148	29	broader	broad	ADJ
ajst-31619	148	30	choice	choice	NOUN
ajst-31619	148	31	space	space	NOUN
ajst-31619	148	32	for	for	ADP
ajst-31619	148	33	the	the	DET
ajst-31619	148	34	design	design	NOUN
ajst-31619	148	35	.	.	PUNCT
ajst-31619	149	1	a	a	DET
ajst-31619	149	2	c	c	NOUN
ajst-31619	149	3	b	b	PROPN
ajst-31619	149	4	f	f	PROPN
ajst-31619	149	5	g	g	PROPN
ajst-31619	149	6	e	e	PROPN
ajst-31619	149	7	d	d	PROPN
ajst-31619	149	8	β	β	X
ajst-31619	149	9	p3	p3	PROPN
ajst-31619	149	10	φ	φ	PROPN
ajst-31619	149	11	p4	p4	ADJ
ajst-31619	149	12	p2	p2	PROPN
ajst-31619	149	13	p1	p1	NOUN
ajst-31619	149	14	p0	p0	NOUN
ajst-31619	149	15	a=100	a=100	PROPN
ajst-31619	149	16	-	-	PUNCT
ajst-31619	149	17	100i	100i	PROPN
ajst-31619	149	18	b=400	b=400	NOUN
ajst-31619	149	19	c=151.19	c=151.19	NOUN
ajst-31619	149	20	-	-	PUNCT
ajst-31619	149	21	147.7i	147.7i	NUM
ajst-31619	149	22	d=376.24	d=376.24	NOUN
ajst-31619	149	23	-	-	PUNCT
ajst-31619	149	24	148.50i	148.50i	NUM
ajst-31619	149	25	e=266.18	e=266.18	X
ajst-31619	149	26	-	-	PUNCT
ajst-31619	149	27	40.57i	40.57i	NUM
ajst-31619	149	28	f=141.90	f=141.90	PROPN
ajst-31619	149	29	-	-	PUNCT
ajst-31619	149	30	47.78i	47.78i	PROPN
ajst-31619	149	31	g=6.61	g=6.61	NOUN
ajst-31619	149	32	-	-	PUNCT
ajst-31619	149	33	7.801i	7.801i	NOUN
ajst-31619	149	34	p3	p3	NOUN
ajst-31619	149	35	p4	p4	ADJ
ajst-31619	149	36	p2	p2	NOUN
ajst-31619	149	37	p1	p1	NOUN
ajst-31619	149	38	p0	p0	NOUN
ajst-31619	149	39	a=235.33	a=235.33	VERB
ajst-31619	150	1	+	+	PROPN
ajst-31619	151	1	149.30i	149.30i	PROPN
ajst-31619	151	2	b=399	b=399	PROPN
ajst-31619	151	3	+	+	PROPN
ajst-31619	151	4	1i	1i	NOUN
ajst-31619	151	5	c=217.55	c=217.55	NOUN
ajst-31619	151	6	+	+	ADJ
ajst-31619	151	7	104.90i	104.90i	NUM
ajst-31619	151	8	d=299.10	d=299.10	ADJ
ajst-31619	151	9	-	-	PUNCT
ajst-31619	151	10	121.30i	121.30i	NUM
ajst-31619	151	11	e=109.12	e=109.12	NOUN
ajst-31619	151	12	-	-	PUNCT
ajst-31619	151	13	175.31i	175.31i	NUM
ajst-31619	151	14	f=141.87	f=141.87	VERB
ajst-31619	151	15	-	-	PUNCT
ajst-31619	151	16	48.78i	48.78i	INTJ
ajst-31619	151	17	g=95.58	g=95.58	NOUN
ajst-31619	151	18	-	-	PUNCT
ajst-31619	151	19	130.90i	130.90i	NUM
ajst-31619	151	20	a	a	PRON
ajst-31619	151	21	β	β	X
ajst-31619	151	22	b	b	PROPN
ajst-31619	151	23	φ	φ	PROPN
ajst-31619	151	24	g	g	PROPN
ajst-31619	151	25	e	e	PROPN
ajst-31619	151	26	d	d	X
ajst-31619	151	27	c	c	PROPN
ajst-31619	151	28	f	f	PROPN
ajst-31619	151	29	b	b	PROPN
ajst-31619	152	1	a	a	DET
ajst-31619	152	2	c	c	NOUN
ajst-31619	152	3	f	f	NOUN
ajst-31619	152	4	g	g	PROPN
ajst-31619	152	5	e	e	PROPN
ajst-31619	152	6	d	d	PROPN
ajst-31619	152	7	β	β	X
ajst-31619	152	8	p3	p3	PROPN
ajst-31619	152	9	φ	φ	PROPN
ajst-31619	152	10	p4	p4	ADJ
ajst-31619	152	11	p2	p2	PROPN
ajst-31619	152	12	p1	p1	NOUN
ajst-31619	152	13	p0	p0	NOUN
ajst-31619	152	14	a=235.33	a=235.33	PROPN
ajst-31619	153	1	+	+	PROPN
ajst-31619	153	2	149.30i	149.30i	PROPN
ajst-31619	153	3	b=400	b=400	PROPN
ajst-31619	153	4	c=217.55	c=217.55	NOUN
ajst-31619	153	5	+	+	NOUN
ajst-31619	153	6	104.90i	104.90i	NUM
ajst-31619	153	7	d=376.24	d=376.24	NOUN
ajst-31619	153	8	-	-	PUNCT
ajst-31619	153	9	148.50i	148.50i	NUM
ajst-31619	153	10	e=266.18	e=266.18	X
ajst-31619	153	11	-	-	PUNCT
ajst-31619	153	12	40.57i	40.57i	NUM
ajst-31619	154	1	f=141.9	f=141.9	PROPN
ajst-31619	154	2	-	-	PUNCT
ajst-31619	154	3	47.78i	47.78i	PROPN
ajst-31619	154	4	g=6.6117	g=6.6117	NOUN
ajst-31619	154	5	-	-	PUNCT
ajst-31619	154	6	7.801i	7.801i	NOUN
ajst-31619	154	7	83	83	NUM
ajst-31619	154	8	4	4	NUM
ajst-31619	154	9	.	.	PUNCT
ajst-31619	154	10	conclusions	conclusion	NOUN
ajst-31619	154	11	in	in	ADP
ajst-31619	154	12	this	this	DET
ajst-31619	154	13	paper	paper	NOUN
ajst-31619	154	14	,	,	PUNCT
ajst-31619	154	15	the	the	DET
ajst-31619	154	16	five	five	NUM
ajst-31619	154	17	-	-	PUNCT
ajst-31619	154	18	position	position	NOUN
ajst-31619	154	19	synthesis	synthesis	NOUN
ajst-31619	154	20	equations	equation	NOUN
ajst-31619	154	21	of	of	ADP
ajst-31619	154	22	stephenson	stephenson	PROPN
ajst-31619	154	23	ii	ii	PROPN
ajst-31619	154	24	-	-	PUNCT
ajst-31619	154	25	b	b	PROPN
ajst-31619	154	26	six	six	NUM
ajst-31619	154	27	-	-	PUNCT
ajst-31619	154	28	bar	bar	NOUN
ajst-31619	154	29	linkages	linkage	NOUN
ajst-31619	154	30	are	be	AUX
ajst-31619	154	31	established	establish	VERB
ajst-31619	154	32	,	,	PUNCT
ajst-31619	154	33	and	and	CCONJ
ajst-31619	154	34	the	the	DET
ajst-31619	154	35	five	five	NUM
ajst-31619	154	36	-	-	PUNCT
ajst-31619	154	37	position	position	NOUN
ajst-31619	154	38	of	of	ADP
ajst-31619	154	39	four	four	NUM
ajst-31619	154	40	-	-	PUNCT
ajst-31619	154	41	bar	bar	NOUN
ajst-31619	154	42	linkages	linkage	NOUN
ajst-31619	154	43	can	can	AUX
ajst-31619	154	44	be	be	AUX
ajst-31619	154	45	solved	solve	VERB
ajst-31619	154	46	using	use	VERB
ajst-31619	154	47	eq	eq	ADP
ajst-31619	154	48	.	.	PUNCT
ajst-31619	155	1	(	(	PUNCT
ajst-31619	155	2	7	7	NUM
ajst-31619	155	3	)	)	PUNCT
ajst-31619	155	4	alone	alone	ADV
ajst-31619	155	5	.	.	PUNCT
ajst-31619	156	1	a	a	DET
ajst-31619	156	2	universal	universal	ADJ
ajst-31619	156	3	and	and	CCONJ
ajst-31619	156	4	effective	effective	ADJ
ajst-31619	156	5	defect	defect	ADJ
ajst-31619	156	6	determinant	determinant	ADJ
ajst-31619	156	7	method	method	NOUN
ajst-31619	156	8	for	for	ADP
ajst-31619	156	9	position	position	NOUN
ajst-31619	156	10	synthesis	synthesis	NOUN
ajst-31619	156	11	of	of	ADP
ajst-31619	156	12	six	six	NUM
ajst-31619	156	13	-	-	PUNCT
ajst-31619	156	14	bar	bar	NOUN
ajst-31619	156	15	linkages	linkage	NOUN
ajst-31619	156	16	is	be	AUX
ajst-31619	156	17	proposed	propose	VERB
ajst-31619	156	18	,	,	PUNCT
ajst-31619	156	19	and	and	CCONJ
ajst-31619	156	20	24	24	NUM
ajst-31619	156	21	defect	defect	NOUN
ajst-31619	156	22	-	-	PUNCT
ajst-31619	156	23	free	free	ADJ
ajst-31619	156	24	linkages	linkage	NOUN
ajst-31619	156	25	with	with	ADP
ajst-31619	156	26	cranks	crank	NOUN
ajst-31619	156	27	are	be	AUX
ajst-31619	156	28	obtained	obtain	VERB
ajst-31619	156	29	using	use	VERB
ajst-31619	156	30	this	this	DET
ajst-31619	156	31	method	method	NOUN
ajst-31619	156	32	.	.	PUNCT
ajst-31619	157	1	these	these	DET
ajst-31619	157	2	24	24	NUM
ajst-31619	157	3	six	six	NUM
ajst-31619	157	4	-	-	PUNCT
ajst-31619	157	5	bar	bar	NOUN
ajst-31619	157	6	linkages	linkage	NOUN
ajst-31619	157	7	are	be	AUX
ajst-31619	157	8	obtained	obtain	VERB
ajst-31619	157	9	under	under	ADP
ajst-31619	157	10	the	the	DET
ajst-31619	157	11	given	give	VERB
ajst-31619	157	12	values	value	NOUN
ajst-31619	157	13	of	of	ADP
ajst-31619	157	14	(	(	PUNCT
ajst-31619	157	15	b	b	PROPN
ajst-31619	157	16	,	,	PUNCT
ajst-31619	157	17	b	b	NOUN
ajst-31619	157	18	*	*	NOUN
ajst-31619	157	19	)	)	PUNCT
ajst-31619	157	20	and	and	CCONJ
ajst-31619	157	21	v1	v1	NOUN
ajst-31619	157	22	,	,	PUNCT
ajst-31619	157	23	v2	v2	PROPN
ajst-31619	157	24	,	,	PUNCT
ajst-31619	157	25	v3	v3	PROPN
ajst-31619	157	26	,	,	PUNCT
ajst-31619	157	27	v4	v4	PROPN
ajst-31619	157	28	.	.	PUNCT
ajst-31619	158	1	however	however	ADV
ajst-31619	158	2	,	,	PUNCT
ajst-31619	158	3	these	these	DET
ajst-31619	158	4	variables	variable	NOUN
ajst-31619	158	5	can	can	AUX
ajst-31619	158	6	be	be	AUX
ajst-31619	158	7	given	give	VERB
ajst-31619	158	8	infinite	infinite	ADJ
ajst-31619	158	9	number	number	NOUN
ajst-31619	158	10	of	of	ADP
ajst-31619	158	11	values	value	NOUN
ajst-31619	158	12	.	.	PUNCT
ajst-31619	159	1	therefore	therefore	ADV
ajst-31619	159	2	,	,	PUNCT
ajst-31619	159	3	an	an	DET
ajst-31619	159	4	infinite	infinite	ADJ
ajst-31619	159	5	number	number	NOUN
ajst-31619	159	6	of	of	ADP
ajst-31619	159	7	linkages	linkage	NOUN
ajst-31619	159	8	without	without	ADP
ajst-31619	159	9	motion	motion	NOUN
ajst-31619	159	10	defects	defect	NOUN
ajst-31619	159	11	can	can	AUX
ajst-31619	159	12	be	be	AUX
ajst-31619	159	13	obtained	obtain	VERB
ajst-31619	159	14	for	for	ADP
ajst-31619	159	15	the	the	DET
ajst-31619	159	16	five	five	NUM
ajst-31619	159	17	-	-	PUNCT
ajst-31619	159	18	position	position	NOUN
ajst-31619	159	19	synthesis	synthesis	NOUN
ajst-31619	159	20	of	of	ADP
ajst-31619	159	21	six	six	NUM
ajst-31619	159	22	-	-	PUNCT
ajst-31619	159	23	bar	bar	NOUN
ajst-31619	159	24	linkages	linkage	NOUN
ajst-31619	159	25	in	in	ADP
ajst-31619	159	26	theory	theory	NOUN
ajst-31619	159	27	,	,	PUNCT
ajst-31619	159	28	which	which	PRON
ajst-31619	159	29	can	can	AUX
ajst-31619	159	30	provide	provide	VERB
ajst-31619	159	31	a	a	DET
ajst-31619	159	32	very	very	ADV
ajst-31619	159	33	broad	broad	ADJ
ajst-31619	159	34	choice	choice	NOUN
ajst-31619	159	35	space	space	NOUN
ajst-31619	159	36	for	for	ADP
ajst-31619	159	37	the	the	DET
ajst-31619	159	38	design	design	NOUN
ajst-31619	159	39	of	of	ADP
ajst-31619	159	40	linkages	linkage	NOUN
ajst-31619	159	41	.	.	PUNCT
ajst-31619	160	1	this	this	PRON
ajst-31619	160	2	is	be	AUX
ajst-31619	160	3	five	five	NUM
ajst-31619	160	4	-	-	PUNCT
ajst-31619	160	5	position	position	NOUN
ajst-31619	160	6	synthesis	synthesis	NOUN
ajst-31619	160	7	of	of	ADP
ajst-31619	160	8	four	four	NUM
ajst-31619	160	9	-	-	PUNCT
ajst-31619	160	10	bar	bar	NOUN
ajst-31619	160	11	linkages	linkage	NOUN
ajst-31619	160	12	can	can	AUX
ajst-31619	160	13	not	not	PART
ajst-31619	160	14	be	be	AUX
ajst-31619	160	15	achieved	achieve	VERB
ajst-31619	160	16	.	.	PUNCT
ajst-31619	161	1	references	reference	NOUN
ajst-31619	161	2	[	[	X
ajst-31619	161	3	1	1	NUM
ajst-31619	161	4	]	]	PUNCT
ajst-31619	161	5	li	li	PROPN
ajst-31619	161	6	f	f	PROPN
ajst-31619	161	7	,	,	PUNCT
ajst-31619	161	8	liu	liu	PROPN
ajst-31619	161	9	w	w	PROPN
ajst-31619	161	10	,	,	PUNCT
ajst-31619	161	11	fu	fu	PROPN
ajst-31619	161	12	x	x	NOUN
ajst-31619	161	13	,	,	PUNCT
ajst-31619	161	14	et	et	PROPN
ajst-31619	161	15	al	al	PROPN
ajst-31619	161	16	.	.	PROPN
ajst-31619	161	17	jumping	jump	VERB
ajst-31619	161	18	like	like	ADP
ajst-31619	161	19	an	an	DET
ajst-31619	161	20	insect	insect	NOUN
ajst-31619	161	21	:	:	PUNCT
ajst-31619	161	22	design	design	NOUN
ajst-31619	161	23	and	and	CCONJ
ajst-31619	161	24	dynamic	dynamic	ADJ
ajst-31619	161	25	optimization	optimization	NOUN
ajst-31619	161	26	of	of	ADP
ajst-31619	161	27	a	a	DET
ajst-31619	161	28	jumping	jump	VERB
ajst-31619	161	29	mini	mini	NOUN
ajst-31619	161	30	robot	robot	NOUN
ajst-31619	161	31	based	base	VERB
ajst-31619	161	32	on	on	ADP
ajst-31619	161	33	bio	bio	ADJ
ajst-31619	161	34	-	-	ADJ
ajst-31619	161	35	mimetic	mimetic	ADJ
ajst-31619	161	36	inspiration[j	inspiration[j	PROPN
ajst-31619	161	37	]	]	PUNCT
ajst-31619	161	38	.	.	PUNCT
ajst-31619	162	1	mechatronics	mechatronic	NOUN
ajst-31619	162	2	,	,	PUNCT
ajst-31619	162	3	2012	2012	NUM
ajst-31619	162	4	,	,	PUNCT
ajst-31619	162	5	22(2	22(2	NUM
ajst-31619	162	6	):	):	PUNCT
ajst-31619	162	7	167	167	NUM
ajst-31619	162	8	-	-	SYM
ajst-31619	162	9	176	176	NUM
ajst-31619	162	10	.	.	PUNCT
ajst-31619	163	1	[	[	X
ajst-31619	163	2	2	2	NUM
ajst-31619	163	3	]	]	X
ajst-31619	163	4	zhang	zhang	PROPN
ajst-31619	163	5	z	z	PROPN
ajst-31619	163	6	,	,	PUNCT
ajst-31619	163	7	yang	yang	PROPN
ajst-31619	163	8	q	q	PROPN
ajst-31619	163	9	,	,	PUNCT
ajst-31619	163	10	gui	gui	NOUN
ajst-31619	163	11	s	s	PROPN
ajst-31619	163	12	,	,	PUNCT
ajst-31619	163	13	et	et	PROPN
ajst-31619	163	14	al	al	PROPN
ajst-31619	163	15	.	.	PUNCT
ajst-31619	163	16	mechanism	mechanism	NOUN
ajst-31619	163	17	design	design	NOUN
ajst-31619	163	18	for	for	ADP
ajst-31619	163	19	locust	locust	NOUN
ajst-31619	163	20	-	-	PUNCT
ajst-31619	163	21	inspired	inspire	VERB
ajst-31619	163	22	robot	robot	NOUN
ajst-31619	163	23	with	with	ADP
ajst-31619	163	24	one	one	NUM
ajst-31619	163	25	-	-	PUNCT
ajst-31619	163	26	dof	dof	NOUN
ajst-31619	163	27	leg	leg	NOUN
ajst-31619	163	28	based	base	VERB
ajst-31619	163	29	on	on	ADP
ajst-31619	163	30	jumping	jump	VERB
ajst-31619	163	31	stability[j	stability[j	PROPN
ajst-31619	163	32	]	]	PUNCT
ajst-31619	163	33	.	.	PUNCT
ajst-31619	164	1	mechanism	mechanism	NOUN
ajst-31619	164	2	and	and	CCONJ
ajst-31619	164	3	machine	machine	NOUN
ajst-31619	164	4	theory	theory	NOUN
ajst-31619	164	5	,	,	PUNCT
ajst-31619	164	6	2019	2019	NUM
ajst-31619	164	7	,	,	PUNCT
ajst-31619	164	8	133	133	NUM
ajst-31619	164	9	:	:	PUNCT
ajst-31619	164	10	584	584	NUM
ajst-31619	164	11	-	-	SYM
ajst-31619	164	12	605	605	NUM
ajst-31619	164	13	.	.	PUNCT
ajst-31619	165	1	[	[	X
ajst-31619	165	2	3	3	NUM
ajst-31619	165	3	]	]	X
ajst-31619	165	4	guo	guo	PROPN
ajst-31619	165	5	g	g	PROPN
ajst-31619	165	6	,	,	PUNCT
ajst-31619	165	7	zhang	zhang	PROPN
ajst-31619	165	8	j	j	PROPN
ajst-31619	165	9	,	,	PUNCT
ajst-31619	165	10	gruver	gruver	VERB
ajst-31619	165	11	w	w	NOUN
ajst-31619	165	12	a.	a.	NOUN
ajst-31619	165	13	optimal	optimal	ADJ
ajst-31619	165	14	design	design	NOUN
ajst-31619	165	15	of	of	ADP
ajst-31619	165	16	a	a	DET
ajst-31619	165	17	six	six	NUM
ajst-31619	165	18	-	-	PUNCT
ajst-31619	165	19	bar	bar	NOUN
ajst-31619	165	20	linkage	linkage	NOUN
ajst-31619	165	21	with	with	ADP
ajst-31619	165	22	one	one	NUM
ajst-31619	165	23	degree	degree	NOUN
ajst-31619	165	24	of	of	ADP
ajst-31619	165	25	freedom	freedom	NOUN
ajst-31619	165	26	for	for	ADP
ajst-31619	165	27	an	an	DET
ajst-31619	165	28	anthropomorphic	anthropomorphic	ADJ
ajst-31619	165	29	three	three	NUM
ajst-31619	165	30	-	-	PUNCT
ajst-31619	165	31	jointed	jointed	ADJ
ajst-31619	165	32	finger	finger	NOUN
ajst-31619	165	33	mechanism[j	mechanism[j	PROPN
ajst-31619	165	34	]	]	PUNCT
ajst-31619	165	35	.	.	PUNCT
ajst-31619	166	1	proceedings	proceeding	NOUN
ajst-31619	166	2	of	of	ADP
ajst-31619	166	3	the	the	DET
ajst-31619	166	4	institution	institution	NOUN
ajst-31619	166	5	of	of	ADP
ajst-31619	166	6	mechanical	mechanical	ADJ
ajst-31619	166	7	engineers	engineer	NOUN
ajst-31619	166	8	,	,	PUNCT
ajst-31619	166	9	part	part	NOUN
ajst-31619	166	10	h	h	NOUN
ajst-31619	166	11	:	:	PUNCT
ajst-31619	166	12	journal	journal	NOUN
ajst-31619	166	13	of	of	ADP
ajst-31619	166	14	engineering	engineering	NOUN
ajst-31619	166	15	in	in	ADP
ajst-31619	166	16	medicine	medicine	NOUN
ajst-31619	166	17	,	,	PUNCT
ajst-31619	166	18	1993	1993	NUM
ajst-31619	166	19	,	,	PUNCT
ajst-31619	166	20	207(3	207(3	NUM
ajst-31619	166	21	):	):	PUNCT
ajst-31619	166	22	185	185	NUM
ajst-31619	166	23	-	-	SYM
ajst-31619	166	24	190	190	NUM
ajst-31619	166	25	.	.	PUNCT
ajst-31619	167	1	[	[	X
ajst-31619	167	2	4	4	NUM
ajst-31619	167	3	]	]	X
ajst-31619	167	4	ceccarelli	ceccarelli	PROPN
ajst-31619	167	5	m	m	PROPN
ajst-31619	167	6	,	,	PUNCT
ajst-31619	167	7	rodríguez	rodríguez	NOUN
ajst-31619	167	8	n	n	PRON
ajst-31619	167	9	,	,	PUNCT
ajst-31619	167	10	carbone	carbone	PROPN
ajst-31619	167	11	g	g	PROPN
ajst-31619	167	12	,	,	PUNCT
ajst-31619	167	13	et	et	PROPN
ajst-31619	167	14	al	al	PROPN
ajst-31619	167	15	.	.	PUNCT
ajst-31619	168	1	an	an	DET
ajst-31619	168	2	optimal	optimal	ADJ
ajst-31619	168	3	design	design	NOUN
ajst-31619	168	4	of	of	ADP
ajst-31619	168	5	driving	driving	NOUN
ajst-31619	168	6	mechanism	mechanism	NOUN
ajst-31619	168	7	in	in	ADP
ajst-31619	168	8	a	a	DET
ajst-31619	168	9	1	1	NUM
ajst-31619	168	10	degree	degree	NOUN
ajst-31619	168	11	of	of	ADP
ajst-31619	168	12	freedom	freedom	NOUN
ajst-31619	168	13	(	(	PUNCT
ajst-31619	168	14	dof	dof	ADJ
ajst-31619	168	15	)	)	PUNCT
ajst-31619	168	16	anthropomorphic	anthropomorphic	ADJ
ajst-31619	168	17	finger[j	finger[j	NOUN
ajst-31619	168	18	]	]	PUNCT
ajst-31619	168	19	.	.	PUNCT
ajst-31619	169	1	applied	apply	VERB
ajst-31619	169	2	bionics	bionic	NOUN
ajst-31619	169	3	and	and	CCONJ
ajst-31619	169	4	biomechanics	biomechanic	NOUN
ajst-31619	169	5	,	,	PUNCT
ajst-31619	169	6	2005	2005	NUM
ajst-31619	169	7	,	,	PUNCT
ajst-31619	169	8	2(2	2(2	NUM
ajst-31619	169	9	):	):	PUNCT
ajst-31619	169	10	103	103	NUM
ajst-31619	169	11	-	-	SYM
ajst-31619	169	12	110	110	NUM
ajst-31619	169	13	.	.	PUNCT
ajst-31619	170	1	[	[	X
ajst-31619	170	2	5	5	NUM
ajst-31619	170	3	]	]	X
ajst-31619	170	4	rodriguez	rodriguez	NOUN
ajst-31619	170	5	n	n	PROPN
ajst-31619	170	6	e	e	PROPN
ajst-31619	170	7	n	n	X
ajst-31619	170	8	,	,	PUNCT
ajst-31619	170	9	carbone	carbone	PROPN
ajst-31619	170	10	g	g	PROPN
ajst-31619	170	11	,	,	PUNCT
ajst-31619	170	12	ceccarelli	ceccarelli	ADJ
ajst-31619	170	13	m.	m.	NOUN
ajst-31619	170	14	optimal	optimal	ADJ
ajst-31619	170	15	design	design	NOUN
ajst-31619	170	16	of	of	ADP
ajst-31619	170	17	driving	driving	NOUN
ajst-31619	170	18	mechanism	mechanism	NOUN
ajst-31619	170	19	in	in	ADP
ajst-31619	170	20	a	a	DET
ajst-31619	170	21	1	1	NUM
ajst-31619	170	22	-	-	PUNCT
ajst-31619	170	23	dof	dof	NOUN
ajst-31619	170	24	anthropomorphic	anthropomorphic	ADJ
ajst-31619	170	25	finger[j	finger[j	NOUN
ajst-31619	170	26	]	]	PUNCT
ajst-31619	170	27	.	.	PUNCT
ajst-31619	171	1	mechanism	mechanism	NOUN
ajst-31619	171	2	and	and	CCONJ
ajst-31619	171	3	machine	machine	NOUN
ajst-31619	171	4	theory	theory	NOUN
ajst-31619	171	5	,	,	PUNCT
ajst-31619	171	6	2006	2006	NUM
ajst-31619	171	7	,	,	PUNCT
ajst-31619	171	8	41(8	41(8	NUM
ajst-31619	171	9	):	):	PUNCT
ajst-31619	171	10	897	897	NUM
ajst-31619	171	11	-	-	SYM
ajst-31619	171	12	911	911	NUM
ajst-31619	171	13	.	.	PUNCT
ajst-31619	172	1	[	[	X
ajst-31619	172	2	6	6	NUM
ajst-31619	172	3	]	]	X
ajst-31619	172	4	ceccarelli	ceccarelli	PROPN
ajst-31619	172	5	m	m	PROPN
ajst-31619	172	6	,	,	PUNCT
ajst-31619	172	7	tavolieri	tavolieri	PROPN
ajst-31619	172	8	c	c	X
ajst-31619	172	9	,	,	PUNCT
ajst-31619	172	10	lu	lu	PROPN
ajst-31619	172	11	z.	z.	PROPN
ajst-31619	172	12	design	design	NOUN
ajst-31619	172	13	considerations	consideration	NOUN
ajst-31619	172	14	for	for	ADP
ajst-31619	172	15	underactuated	underactuated	ADJ
ajst-31619	172	16	grasp	grasp	NOUN
ajst-31619	172	17	with	with	ADP
ajst-31619	172	18	a	a	DET
ajst-31619	172	19	one	one	NUM
ajst-31619	172	20	dof	dof	NOUN
ajst-31619	172	21	anthropomorphic	anthropomorphic	ADJ
ajst-31619	172	22	finger	finger	NOUN
ajst-31619	172	23	mechanism[c	mechanism[c	NOUN
ajst-31619	172	24	]	]	PUNCT
ajst-31619	172	25	.	.	PUNCT
ajst-31619	172	26	2006	2006	NUM
ajst-31619	172	27	ieee	ieee	NOUN
ajst-31619	172	28	/	/	SYM
ajst-31619	172	29	rsj	rsj	NOUN
ajst-31619	172	30	international	international	ADJ
ajst-31619	172	31	conference	conference	NOUN
ajst-31619	172	32	on	on	ADP
ajst-31619	172	33	intelligent	intelligent	ADJ
ajst-31619	172	34	robots	robot	NOUN
ajst-31619	172	35	and	and	CCONJ
ajst-31619	172	36	systems	system	NOUN
ajst-31619	172	37	,	,	PUNCT
ajst-31619	172	38	2006	2006	NUM
ajst-31619	172	39	:	:	PUNCT
ajst-31619	172	40	1611	1611	NUM
ajst-31619	172	41	-	-	SYM
ajst-31619	172	42	1616	1616	NUM
ajst-31619	172	43	.	.	PUNCT
ajst-31619	173	1	[	[	X
ajst-31619	173	2	7	7	NUM
ajst-31619	173	3	]	]	X
ajst-31619	173	4	wu	wu	PROPN
ajst-31619	173	5	l	l	PROPN
ajst-31619	173	6	,	,	PUNCT
ajst-31619	173	7	carbone	carbone	PROPN
ajst-31619	173	8	g	g	PROPN
ajst-31619	173	9	,	,	PUNCT
ajst-31619	173	10	ceccarelli	ceccarelli	ADJ
ajst-31619	173	11	m.	m.	NOUN
ajst-31619	173	12	designing	design	VERB
ajst-31619	173	13	an	an	DET
ajst-31619	173	14	underactuated	underactuated	ADJ
ajst-31619	173	15	mechanism	mechanism	NOUN
ajst-31619	173	16	for	for	ADP
ajst-31619	173	17	a	a	DET
ajst-31619	173	18	1	1	NUM
ajst-31619	173	19	active	active	ADJ
ajst-31619	173	20	dof	dof	NOUN
ajst-31619	173	21	finger	finger	NOUN
ajst-31619	173	22	operation[j	operation[j	PROPN
ajst-31619	173	23	]	]	PUNCT
ajst-31619	173	24	.	.	PUNCT
ajst-31619	173	25	mechanism	mechanism	NOUN
ajst-31619	173	26	and	and	CCONJ
ajst-31619	173	27	machine	machine	NOUN
ajst-31619	173	28	theory	theory	NOUN
ajst-31619	173	29	,	,	PUNCT
ajst-31619	173	30	2009	2009	NUM
ajst-31619	173	31	,	,	PUNCT
ajst-31619	173	32	44(2	44(2	NUM
ajst-31619	173	33	):	):	PUNCT
ajst-31619	173	34	336	336	NUM
ajst-31619	173	35	-	-	SYM
ajst-31619	173	36	348	348	NUM
ajst-31619	173	37	.	.	PUNCT
ajst-31619	174	1	[	[	X
ajst-31619	174	2	8	8	NUM
ajst-31619	174	3	]	]	X
ajst-31619	174	4	zhang	zhang	PROPN
ajst-31619	174	5	f	f	PROPN
ajst-31619	174	6	,	,	PUNCT
ajst-31619	174	7	hua	hua	PROPN
ajst-31619	174	8	l	l	PROPN
ajst-31619	174	9	,	,	PUNCT
ajst-31619	174	10	fu	fu	PROPN
ajst-31619	174	11	y	y	PROPN
ajst-31619	174	12	,	,	PUNCT
ajst-31619	174	13	et	et	PROPN
ajst-31619	174	14	al	al	PROPN
ajst-31619	174	15	.	.	PROPN
ajst-31619	174	16	design	design	NOUN
ajst-31619	174	17	and	and	CCONJ
ajst-31619	174	18	development	development	NOUN
ajst-31619	174	19	of	of	ADP
ajst-31619	174	20	a	a	DET
ajst-31619	174	21	hand	hand	NOUN
ajst-31619	174	22	exoskeleton	exoskeleton	NOUN
ajst-31619	174	23	for	for	ADP
ajst-31619	174	24	rehabilitation	rehabilitation	NOUN
ajst-31619	174	25	of	of	ADP
ajst-31619	174	26	hand	hand	NOUN
ajst-31619	174	27	injuries[j	injuries[j	PROPN
ajst-31619	174	28	]	]	PUNCT
ajst-31619	174	29	.	.	PUNCT
ajst-31619	175	1	mechanism	mechanism	NOUN
ajst-31619	175	2	and	and	CCONJ
ajst-31619	175	3	machine	machine	NOUN
ajst-31619	175	4	theory	theory	NOUN
ajst-31619	175	5	,	,	PUNCT
ajst-31619	175	6	2014	2014	NUM
ajst-31619	175	7	,	,	PUNCT
ajst-31619	175	8	73	73	NUM
ajst-31619	175	9	:	:	PUNCT
ajst-31619	175	10	103	103	NUM
ajst-31619	175	11	-	-	SYM
ajst-31619	175	12	116	116	NUM
ajst-31619	175	13	.	.	PUNCT
ajst-31619	176	1	[	[	X
ajst-31619	176	2	9	9	NUM
ajst-31619	176	3	]	]	SYM
ajst-31619	176	4	bataller	bataller	NOUN
ajst-31619	176	5	a	a	NOUN
ajst-31619	176	6	,	,	PUNCT
ajst-31619	176	7	cabrera	cabrera	PROPN
ajst-31619	176	8	j	j	PROPN
ajst-31619	176	9	,	,	PUNCT
ajst-31619	176	10	clavijo	clavijo	PROPN
ajst-31619	176	11	m	m	PROPN
ajst-31619	176	12	,	,	PUNCT
ajst-31619	176	13	et	et	PROPN
ajst-31619	176	14	al	al	PROPN
ajst-31619	176	15	.	.	PROPN
ajst-31619	177	1	evolutionary	evolutionary	ADJ
ajst-31619	177	2	synthesis	synthesis	NOUN
ajst-31619	177	3	of	of	ADP
ajst-31619	177	4	mechanisms	mechanism	NOUN
ajst-31619	177	5	applied	apply	VERB
ajst-31619	177	6	to	to	ADP
ajst-31619	177	7	the	the	DET
ajst-31619	177	8	design	design	NOUN
ajst-31619	177	9	of	of	ADP
ajst-31619	177	10	an	an	DET
ajst-31619	177	11	exoskeleton	exoskeleton	NOUN
ajst-31619	177	12	for	for	ADP
ajst-31619	177	13	finger	finger	NOUN
ajst-31619	177	14	rehabilitation[j	rehabilitation[j	NOUN
ajst-31619	177	15	]	]	PUNCT
ajst-31619	177	16	.	.	PUNCT
ajst-31619	178	1	mechanism	mechanism	NOUN
ajst-31619	178	2	and	and	CCONJ
ajst-31619	178	3	machine	machine	NOUN
ajst-31619	178	4	theory	theory	NOUN
ajst-31619	178	5	,	,	PUNCT
ajst-31619	178	6	2016	2016	NUM
ajst-31619	178	7	,	,	PUNCT
ajst-31619	178	8	105	105	NUM
ajst-31619	178	9	:	:	SYM
ajst-31619	178	10	31	31	NUM
ajst-31619	178	11	-	-	SYM
ajst-31619	178	12	43	43	NUM
ajst-31619	178	13	.	.	PUNCT
ajst-31619	179	1	[	[	X
ajst-31619	179	2	10	10	NUM
ajst-31619	179	3	]	]	X
ajst-31619	179	4	haldane	haldane	PROPN
ajst-31619	179	5	d	d	PROPN
ajst-31619	179	6	w	w	PROPN
ajst-31619	179	7	,	,	PUNCT
ajst-31619	179	8	plecnik	plecnik	X
ajst-31619	179	9	m	m	NOUN
ajst-31619	179	10	m	m	PROPN
ajst-31619	179	11	,	,	PUNCT
ajst-31619	179	12	yim	yim	PROPN
ajst-31619	179	13	j	j	PROPN
ajst-31619	179	14	k	k	PROPN
ajst-31619	179	15	,	,	PUNCT
ajst-31619	179	16	et	et	PROPN
ajst-31619	179	17	al	al	PROPN
ajst-31619	179	18	.	.	PUNCT
ajst-31619	179	19	robotic	robotic	ADJ
ajst-31619	179	20	vertical	vertical	ADJ
ajst-31619	179	21	jumping	jump	VERB
ajst-31619	179	22	agility	agility	NOUN
ajst-31619	179	23	via	via	ADP
ajst-31619	179	24	series	series	NOUN
ajst-31619	179	25	-	-	PUNCT
ajst-31619	179	26	elastic	elastic	ADJ
ajst-31619	179	27	power	power	NOUN
ajst-31619	179	28	modulation[j	modulation[j	PROPN
ajst-31619	179	29	]	]	PUNCT
ajst-31619	179	30	.	.	PUNCT
ajst-31619	180	1	science	science	NOUN
ajst-31619	180	2	robotics	robotic	NOUN
ajst-31619	180	3	,	,	PUNCT
ajst-31619	180	4	2016	2016	NUM
ajst-31619	180	5	,	,	PUNCT
ajst-31619	180	6	1(1	1(1	NUM
ajst-31619	180	7	):	):	PUNCT
ajst-31619	180	8	eaag2048	eaag2048	PROPN
ajst-31619	180	9	.	.	PUNCT
ajst-31619	181	1	[	[	X
ajst-31619	181	2	11	11	NUM
ajst-31619	181	3	]	]	PUNCT
ajst-31619	181	4	plecnik	plecnik	X
ajst-31619	181	5	m	m	VERB
ajst-31619	181	6	m	m	PROPN
ajst-31619	181	7	,	,	PUNCT
ajst-31619	181	8	haldane	haldane	PROPN
ajst-31619	181	9	d	d	PROPN
ajst-31619	181	10	w	w	PROPN
ajst-31619	181	11	,	,	PUNCT
ajst-31619	181	12	yim	yim	PROPN
ajst-31619	181	13	j	j	PROPN
ajst-31619	181	14	k	k	PROPN
ajst-31619	181	15	,	,	PUNCT
ajst-31619	181	16	et	et	PROPN
ajst-31619	181	17	al	al	PROPN
ajst-31619	181	18	.	.	PROPN
ajst-31619	181	19	design	design	NOUN
ajst-31619	181	20	exploration	exploration	NOUN
ajst-31619	181	21	and	and	CCONJ
ajst-31619	181	22	kinematic	kinematic	ADJ
ajst-31619	181	23	tuning	tuning	NOUN
ajst-31619	181	24	of	of	ADP
ajst-31619	181	25	a	a	DET
ajst-31619	181	26	power	power	NOUN
ajst-31619	181	27	modulating	modulate	VERB
ajst-31619	181	28	jumping	jumping	NOUN
ajst-31619	181	29	monopod[j	monopod[j	NOUN
ajst-31619	181	30	]	]	PUNCT
ajst-31619	181	31	.	.	PUNCT
ajst-31619	182	1	journal	journal	PROPN
ajst-31619	182	2	of	of	ADP
ajst-31619	182	3	mechanisms	mechanism	NOUN
ajst-31619	182	4	and	and	CCONJ
ajst-31619	182	5	robotics	robotic	NOUN
ajst-31619	182	6	,	,	PUNCT
ajst-31619	182	7	2017	2017	NUM
ajst-31619	182	8	,	,	PUNCT
ajst-31619	182	9	9(1	9(1	NUM
ajst-31619	182	10	):	):	PUNCT
ajst-31619	182	11	011009	011009	NUM
ajst-31619	182	12	.	.	PUNCT
ajst-31619	183	1	[	[	X
ajst-31619	183	2	12	12	NUM
ajst-31619	183	3	]	]	PUNCT
ajst-31619	183	4	park	park	NOUN
ajst-31619	183	5	s	s	PROPN
ajst-31619	183	6	,	,	PUNCT
ajst-31619	183	7	bae	bae	PROPN
ajst-31619	183	8	j	j	PROPN
ajst-31619	183	9	,	,	PUNCT
ajst-31619	183	10	jeon	jeon	PROPN
ajst-31619	183	11	y	y	PROPN
ajst-31619	183	12	,	,	PUNCT
ajst-31619	183	13	et	et	PROPN
ajst-31619	183	14	al	al	PROPN
ajst-31619	183	15	.	.	PUNCT
ajst-31619	184	1	optimal	optimal	ADJ
ajst-31619	184	2	design	design	NOUN
ajst-31619	184	3	of	of	ADP
ajst-31619	184	4	toggle	toggle	ADJ
ajst-31619	184	5	-	-	PUNCT
ajst-31619	184	6	linkage	linkage	NOUN
ajst-31619	184	7	mechanism	mechanism	NOUN
ajst-31619	184	8	for	for	ADP
ajst-31619	184	9	clamping	clamp	VERB
ajst-31619	184	10	applications[j	applications[j	NOUN
ajst-31619	184	11	]	]	PUNCT
ajst-31619	184	12	.	.	PUNCT
ajst-31619	185	1	mechanism	mechanism	NOUN
ajst-31619	185	2	and	and	CCONJ
ajst-31619	185	3	machine	machine	NOUN
ajst-31619	185	4	theory	theory	NOUN
ajst-31619	185	5	,	,	PUNCT
ajst-31619	185	6	2018	2018	NUM
ajst-31619	185	7	,	,	PUNCT
ajst-31619	185	8	120	120	NUM
ajst-31619	185	9	:	:	SYM
ajst-31619	185	10	203	203	NUM
ajst-31619	185	11	-	-	SYM
ajst-31619	185	12	212	212	NUM
ajst-31619	185	13	.	.	PUNCT
ajst-31619	186	1	[	[	X
ajst-31619	186	2	13	13	NUM
ajst-31619	186	3	]	]	X
ajst-31619	186	4	jeon	jeon	PROPN
ajst-31619	186	5	y	y	PROPN
ajst-31619	186	6	,	,	PUNCT
ajst-31619	186	7	chu	chu	PROPN
ajst-31619	186	8	k	k	PROPN
ajst-31619	186	9	,	,	PUNCT
ajst-31619	186	10	kim	kim	PROPN
ajst-31619	186	11	j	j	PROPN
ajst-31619	186	12	,	,	PUNCT
ajst-31619	186	13	et	et	PROPN
ajst-31619	186	14	al	al	PROPN
ajst-31619	186	15	.	.	PUNCT
ajst-31619	186	16	singularity	singularity	NOUN
ajst-31619	186	17	-	-	PUNCT
ajst-31619	186	18	inducing	induce	VERB
ajst-31619	186	19	compliant	compliant	ADJ
ajst-31619	186	20	toggle	toggle	NOUN
ajst-31619	186	21	linkage	linkage	NOUN
ajst-31619	186	22	mechanism	mechanism	NOUN
ajst-31619	186	23	for	for	ADP
ajst-31619	186	24	large	large	ADJ
ajst-31619	186	25	clamping	clamp	VERB
ajst-31619	186	26	range[j	range[j	NOUN
ajst-31619	186	27	]	]	PUNCT
ajst-31619	186	28	.	.	PUNCT
ajst-31619	187	1	mechanism	mechanism	NOUN
ajst-31619	187	2	and	and	CCONJ
ajst-31619	187	3	machine	machine	NOUN
ajst-31619	187	4	theory	theory	NOUN
ajst-31619	187	5	,	,	PUNCT
ajst-31619	187	6	2019	2019	NUM
ajst-31619	187	7	,	,	PUNCT
ajst-31619	187	8	135	135	NUM
ajst-31619	187	9	:	:	SYM
ajst-31619	187	10	40	40	NUM
ajst-31619	187	11	-	-	SYM
ajst-31619	187	12	53	53	NUM
ajst-31619	187	13	.	.	PUNCT
ajst-31619	188	1	[	[	X
ajst-31619	188	2	14	14	NUM
ajst-31619	188	3	]	]	X
ajst-31619	188	4	jeon	jeon	PROPN
ajst-31619	188	5	y	y	PROPN
ajst-31619	188	6	,	,	PUNCT
ajst-31619	188	7	oh	oh	INTJ
ajst-31619	188	8	j	j	PROPN
ajst-31619	188	9	,	,	PUNCT
ajst-31619	188	10	kim	kim	PROPN
ajst-31619	188	11	j	j	PROPN
ajst-31619	188	12	,	,	PUNCT
ajst-31619	188	13	et	et	PROPN
ajst-31619	188	14	al	al	PROPN
ajst-31619	188	15	.	.	PUNCT
ajst-31619	189	1	finger	finger	NOUN
ajst-31619	189	2	clamping	clamp	VERB
ajst-31619	189	3	unit	unit	NOUN
ajst-31619	189	4	:	:	PUNCT
ajst-31619	189	5	a	a	DET
ajst-31619	189	6	clamping	clamp	VERB
ajst-31619	189	7	device	device	NOUN
ajst-31619	189	8	with	with	ADP
ajst-31619	189	9	a	a	DET
ajst-31619	189	10	large	large	ADJ
ajst-31619	189	11	clamping	clamp	VERB
ajst-31619	189	12	range[j	range[j	NOUN
ajst-31619	189	13	]	]	PUNCT
ajst-31619	189	14	.	.	PUNCT
ajst-31619	190	1	international	international	ADJ
ajst-31619	190	2	journal	journal	PROPN
ajst-31619	190	3	of	of	ADP
ajst-31619	190	4	precision	precision	NOUN
ajst-31619	190	5	engineering	engineering	NOUN
ajst-31619	190	6	and	and	CCONJ
ajst-31619	190	7	manufacturing	manufacturing	NOUN
ajst-31619	190	8	,	,	PUNCT
ajst-31619	190	9	2021	2021	NUM
ajst-31619	190	10	,	,	PUNCT
ajst-31619	190	11	22(2	22(2	NUM
ajst-31619	190	12	):	):	PUNCT
ajst-31619	190	13	313	313	NUM
ajst-31619	190	14	-	-	SYM
ajst-31619	190	15	327	327	NUM
ajst-31619	190	16	.	.	PUNCT
ajst-31619	191	1	[	[	X
ajst-31619	191	2	15	15	NUM
ajst-31619	191	3	]	]	X
ajst-31619	191	4	han	han	PROPN
ajst-31619	191	5	j	j	PROPN
ajst-31619	191	6	,	,	PUNCT
ajst-31619	191	7	qian	qian	PROPN
ajst-31619	191	8	w	w	PROPN
ajst-31619	191	9	,	,	PUNCT
ajst-31619	191	10	zhao	zhao	PROPN
ajst-31619	191	11	h.	h.	PROPN
ajst-31619	191	12	study	study	PROPN
ajst-31619	191	13	on	on	ADP
ajst-31619	191	14	synthesis	synthesis	NOUN
ajst-31619	191	15	method	method	NOUN
ajst-31619	191	16	of	of	ADP
ajst-31619	191	17	λ	λ	NOUN
ajst-31619	191	18	-	-	PUNCT
ajst-31619	191	19	formed	form	VERB
ajst-31619	191	20	4	4	NUM
ajst-31619	191	21	-	-	PUNCT
ajst-31619	191	22	bar	bar	NOUN
ajst-31619	191	23	linkages	linkage	NOUN
ajst-31619	191	24	approximating	approximate	VERB
ajst-31619	191	25	a	a	DET
ajst-31619	191	26	straight	straight	ADJ
ajst-31619	191	27	line[j	line[j	NOUN
ajst-31619	191	28	]	]	PUNCT
ajst-31619	191	29	.	.	PUNCT
ajst-31619	191	30	mechanism	mechanism	NOUN
ajst-31619	191	31	and	and	CCONJ
ajst-31619	191	32	machine	machine	NOUN
ajst-31619	191	33	theory	theory	NOUN
ajst-31619	191	34	,	,	PUNCT
ajst-31619	191	35	2009	2009	NUM
ajst-31619	191	36	,	,	PUNCT
ajst-31619	191	37	44(1	44(1	PROPN
ajst-31619	191	38	):	):	PUNCT
ajst-31619	191	39	57	57	NUM
ajst-31619	191	40	-	-	SYM
ajst-31619	191	41	65	65	NUM
ajst-31619	191	42	.	.	PUNCT
ajst-31619	192	1	[	[	X
ajst-31619	192	2	16	16	NUM
ajst-31619	192	3	]	]	X
ajst-31619	192	4	han	han	PROPN
ajst-31619	192	5	j	j	PROPN
ajst-31619	192	6	,	,	PUNCT
ajst-31619	192	7	qian	qian	PROPN
ajst-31619	192	8	w.	w.	PROPN
ajst-31619	192	9	on	on	ADP
ajst-31619	192	10	the	the	DET
ajst-31619	192	11	solution	solution	NOUN
ajst-31619	192	12	of	of	ADP
ajst-31619	192	13	region	region	NOUN
ajst-31619	192	14	-	-	PUNCT
ajst-31619	192	15	based	base	VERB
ajst-31619	192	16	planar	planar	ADJ
ajst-31619	192	17	four	four	NUM
ajst-31619	192	18	-	-	PUNCT
ajst-31619	192	19	bar	bar	NOUN
ajst-31619	192	20	motion	motion	NOUN
ajst-31619	192	21	generation[j	generation[j	NOUN
ajst-31619	192	22	]	]	X
ajst-31619	192	23	.	.	PUNCT
ajst-31619	193	1	mechanism	mechanism	NOUN
ajst-31619	193	2	and	and	CCONJ
ajst-31619	193	3	machine	machine	NOUN
ajst-31619	193	4	theory	theory	NOUN
ajst-31619	193	5	,	,	PUNCT
ajst-31619	193	6	2009	2009	NUM
ajst-31619	193	7	,	,	PUNCT
ajst-31619	193	8	44(2	44(2	NUM
ajst-31619	193	9	):	):	PUNCT
ajst-31619	193	10	457	457	NUM
ajst-31619	193	11	-	-	SYM
ajst-31619	193	12	465	465	NUM
ajst-31619	193	13	.	.	PUNCT
ajst-31619	194	1	[	[	X
ajst-31619	194	2	17	17	NUM
ajst-31619	194	3	]	]	X
ajst-31619	194	4	yang	yang	PROPN
ajst-31619	194	5	t	t	PROPN
ajst-31619	194	6	,	,	PUNCT
ajst-31619	194	7	han	han	PROPN
ajst-31619	194	8	j	j	PROPN
ajst-31619	194	9	,	,	PUNCT
ajst-31619	194	10	yin	yin	PROPN
ajst-31619	194	11	l.	l.	PROPN
ajst-31619	194	12	a	a	DET
ajst-31619	194	13	unified	unified	ADJ
ajst-31619	194	14	synthesis	synthesis	NOUN
ajst-31619	194	15	method	method	NOUN
ajst-31619	194	16	based	base	VERB
ajst-31619	194	17	on	on	ADP
ajst-31619	194	18	solution	solution	NOUN
ajst-31619	194	19	regions	region	NOUN
ajst-31619	194	20	for	for	ADP
ajst-31619	194	21	four	four	NUM
ajst-31619	194	22	finitely	finitely	ADV
ajst-31619	194	23	separated	separate	VERB
ajst-31619	194	24	and	and	CCONJ
ajst-31619	194	25	mixed	mixed	ADJ
ajst-31619	194	26	“	"	PUNCT
ajst-31619	194	27	point	point	NOUN
ajst-31619	194	28	-	-	PUNCT
ajst-31619	194	29	order	order	NOUN
ajst-31619	194	30	”	"	PUNCT
ajst-31619	194	31	positions[j	positions[j	PROPN
ajst-31619	194	32	]	]	PUNCT
ajst-31619	194	33	.	.	PUNCT
ajst-31619	195	1	mechanism	mechanism	NOUN
ajst-31619	195	2	and	and	CCONJ
ajst-31619	195	3	machine	machine	NOUN
ajst-31619	195	4	theory	theory	NOUN
ajst-31619	195	5	,	,	PUNCT
ajst-31619	195	6	2011	2011	NUM
ajst-31619	195	7	,	,	PUNCT
ajst-31619	195	8	46(11	46(11	NUM
ajst-31619	195	9	):	):	PUNCT
ajst-31619	195	10	1719	1719	NUM
ajst-31619	195	11	-	-	SYM
ajst-31619	195	12	1731	1731	NUM
ajst-31619	195	13	.	.	PUNCT
ajst-31619	196	1	84	84	NUM
ajst-31619	197	1	[	[	SYM
ajst-31619	197	2	18	18	NUM
ajst-31619	197	3	]	]	X
ajst-31619	197	4	yin	yin	PROPN
ajst-31619	197	5	l	l	PROPN
ajst-31619	197	6	,	,	PUNCT
ajst-31619	197	7	han	han	PROPN
ajst-31619	197	8	j	j	PROPN
ajst-31619	197	9	,	,	PUNCT
ajst-31619	197	10	mao	mao	X
ajst-31619	198	1	c	c	X
ajst-31619	198	2	,	,	PUNCT
ajst-31619	198	3	et	et	PROPN
ajst-31619	198	4	al	al	PROPN
ajst-31619	198	5	.	.	PROPN
ajst-31619	198	6	synthesis	synthesis	NOUN
ajst-31619	198	7	method	method	NOUN
ajst-31619	198	8	based	base	VERB
ajst-31619	198	9	on	on	ADP
ajst-31619	198	10	solution	solution	NOUN
ajst-31619	198	11	regions	region	NOUN
ajst-31619	198	12	for	for	ADP
ajst-31619	198	13	planar	planar	ADJ
ajst-31619	198	14	four	four	NUM
ajst-31619	198	15	-	-	PUNCT
ajst-31619	198	16	bar	bar	NOUN
ajst-31619	198	17	straight	straight	ADJ
ajst-31619	198	18	-	-	PUNCT
ajst-31619	198	19	line	line	NOUN
ajst-31619	198	20	linkages[j	linkages[j	PROPN
ajst-31619	198	21	]	]	PUNCT
ajst-31619	198	22	.	.	PUNCT
ajst-31619	199	1	journal	journal	PROPN
ajst-31619	199	2	of	of	ADP
ajst-31619	199	3	mechanical	mechanical	ADJ
ajst-31619	199	4	science	science	NOUN
ajst-31619	199	5	and	and	CCONJ
ajst-31619	199	6	technology	technology	NOUN
ajst-31619	199	7	,	,	PUNCT
ajst-31619	199	8	2012	2012	NUM
ajst-31619	199	9	,	,	PUNCT
ajst-31619	199	10	26(10	26(10	NUM
ajst-31619	199	11	):	):	PUNCT
ajst-31619	199	12	3159	3159	NUM
ajst-31619	199	13	-	-	SYM
ajst-31619	199	14	3167	3167	NUM
ajst-31619	199	15	.	.	PUNCT
ajst-31619	200	1	[	[	X
ajst-31619	200	2	19	19	NUM
ajst-31619	200	3	]	]	X
ajst-31619	200	4	yin	yin	PROPN
ajst-31619	200	5	l	l	PROPN
ajst-31619	200	6	,	,	PUNCT
ajst-31619	200	7	huang	huang	PROPN
ajst-31619	200	8	l	l	PROPN
ajst-31619	200	9	,	,	PUNCT
ajst-31619	200	10	huang	huang	PROPN
ajst-31619	200	11	j	j	PROPN
ajst-31619	200	12	,	,	PUNCT
ajst-31619	200	13	et	et	PROPN
ajst-31619	200	14	al	al	PROPN
ajst-31619	200	15	.	.	PUNCT
ajst-31619	200	16	solution	solution	NOUN
ajst-31619	200	17	-	-	PUNCT
ajst-31619	200	18	region	region	NOUN
ajst-31619	200	19	-	-	PUNCT
ajst-31619	200	20	based	base	VERB
ajst-31619	200	21	synthesis	synthesis	NOUN
ajst-31619	200	22	approach	approach	NOUN
ajst-31619	200	23	for	for	ADP
ajst-31619	200	24	selecting	select	VERB
ajst-31619	200	25	optimal	optimal	ADJ
ajst-31619	200	26	four	four	NUM
ajst-31619	200	27	-	-	PUNCT
ajst-31619	200	28	bar	bar	NOUN
ajst-31619	200	29	linkages	linkage	NOUN
ajst-31619	200	30	with	with	ADP
ajst-31619	200	31	the	the	DET
ajst-31619	200	32	ball	ball	NOUN
ajst-31619	200	33	–	–	PUNCT
ajst-31619	200	34	burmester	burmester	NOUN
ajst-31619	200	35	point[j	point[j	NOUN
ajst-31619	200	36	]	]	PUNCT
ajst-31619	200	37	.	.	PUNCT
ajst-31619	201	1	mechanical	mechanical	ADJ
ajst-31619	201	2	sciences	sciences	PROPN
ajst-31619	201	3	,	,	PUNCT
ajst-31619	201	4	2019	2019	NUM
ajst-31619	201	5	,	,	PUNCT
ajst-31619	201	6	10(1	10(1	NUM
ajst-31619	201	7	):	):	PUNCT
ajst-31619	201	8	25	25	NUM
ajst-31619	201	9	-	-	SYM
ajst-31619	201	10	33	33	NUM
ajst-31619	201	11	.	.	PUNCT
ajst-31619	202	1	[	[	X
ajst-31619	202	2	20	20	NUM
ajst-31619	202	3	]	]	X
ajst-31619	202	4	han	han	PROPN
ajst-31619	202	5	j	j	PROPN
ajst-31619	202	6	,	,	PUNCT
ajst-31619	202	7	yang	yang	PROPN
ajst-31619	202	8	t.	t.	PROPN
ajst-31619	202	9	a	a	DET
ajst-31619	202	10	novel	novel	ADJ
ajst-31619	202	11	synthesis	synthesis	NOUN
ajst-31619	202	12	method	method	NOUN
ajst-31619	202	13	for	for	ADP
ajst-31619	202	14	three	three	NUM
ajst-31619	202	15	-	-	PUNCT
ajst-31619	202	16	position	position	NOUN
ajst-31619	202	17	motion	motion	NOUN
ajst-31619	202	18	generation	generation	NOUN
ajst-31619	202	19	with	with	ADP
ajst-31619	202	20	planar	planar	ADJ
ajst-31619	202	21	four	four	NUM
ajst-31619	202	22	-	-	PUNCT
ajst-31619	202	23	bar	bar	NOUN
ajst-31619	202	24	mechanisms[c	mechanisms[c	NOUN
ajst-31619	202	25	]	]	PUNCT
ajst-31619	202	26	.	.	PUNCT
ajst-31619	203	1	international	international	ADJ
ajst-31619	203	2	design	design	NOUN
ajst-31619	203	3	engineering	engineering	NOUN
ajst-31619	203	4	technical	technical	ADJ
ajst-31619	203	5	conferences	conference	NOUN
ajst-31619	203	6	and	and	CCONJ
ajst-31619	203	7	computers	computer	NOUN
ajst-31619	203	8	and	and	CCONJ
ajst-31619	203	9	information	information	NOUN
ajst-31619	203	10	in	in	ADP
ajst-31619	203	11	engineering	engineering	NOUN
ajst-31619	203	12	conference	conference	NOUN
ajst-31619	203	13	,	,	PUNCT
ajst-31619	203	14	2012	2012	NUM
ajst-31619	203	15	:	:	PUNCT
ajst-31619	203	16	419	419	NUM
ajst-31619	203	17	-	-	SYM
ajst-31619	203	18	426	426	NUM
ajst-31619	203	19	.	.	PUNCT
ajst-31619	204	1	[	[	X
ajst-31619	204	2	21	21	NUM
ajst-31619	204	3	]	]	X
ajst-31619	204	4	han	han	PROPN
ajst-31619	204	5	j	j	PROPN
ajst-31619	204	6	,	,	PUNCT
ajst-31619	204	7	yang	yang	PROPN
ajst-31619	204	8	t.	t.	PROPN
ajst-31619	204	9	on	on	ADP
ajst-31619	204	10	the	the	DET
ajst-31619	204	11	solution	solution	NOUN
ajst-31619	204	12	of	of	ADP
ajst-31619	204	13	region	region	NOUN
ajst-31619	204	14	-	-	PUNCT
ajst-31619	204	15	based	base	VERB
ajst-31619	204	16	planar	planar	ADJ
ajst-31619	204	17	six	six	NUM
ajst-31619	204	18	-	-	PUNCT
ajst-31619	204	19	bar	bar	NOUN
ajst-31619	204	20	motion	motion	NOUN
ajst-31619	204	21	generation	generation	NOUN
ajst-31619	204	22	for	for	ADP
ajst-31619	204	23	four	four	NUM
ajst-31619	204	24	finitely	finitely	ADV
ajst-31619	204	25	separated	separate	VERB
ajst-31619	204	26	position[c	position[c	ADV
ajst-31619	204	27	]	]	PUNCT
ajst-31619	204	28	.	.	PUNCT
ajst-31619	205	1	international	international	ADJ
ajst-31619	205	2	design	design	NOUN
ajst-31619	205	3	engineering	engineering	NOUN
ajst-31619	205	4	technical	technical	ADJ
ajst-31619	205	5	conferences	conference	NOUN
ajst-31619	205	6	and	and	CCONJ
ajst-31619	205	7	computers	computer	NOUN
ajst-31619	205	8	and	and	CCONJ
ajst-31619	205	9	information	information	NOUN
ajst-31619	205	10	in	in	ADP
ajst-31619	205	11	engineering	engineering	NOUN
ajst-31619	205	12	conference	conference	NOUN
ajst-31619	205	13	,	,	PUNCT
ajst-31619	205	14	2012	2012	NUM
ajst-31619	205	15	:	:	PUNCT
ajst-31619	205	16	441	441	NUM
ajst-31619	205	17	-	-	SYM
ajst-31619	205	18	449	449	NUM
ajst-31619	205	19	.	.	PUNCT
ajst-31619	206	1	[	[	X
ajst-31619	206	2	22	22	NUM
ajst-31619	206	3	]	]	PUNCT
ajst-31619	206	4	yang	yang	PROPN
ajst-31619	206	5	t	t	PROPN
ajst-31619	206	6	,	,	PUNCT
ajst-31619	206	7	han	han	PROPN
ajst-31619	206	8	j.	j.	PROPN
ajst-31619	206	9	solution	solution	PROPN
ajst-31619	206	10	region	region	NOUN
ajst-31619	206	11	synthesis	synthesis	NOUN
ajst-31619	206	12	method	method	NOUN
ajst-31619	206	13	of	of	ADP
ajst-31619	206	14	planar	planar	ADJ
ajst-31619	206	15	one	one	NUM
ajst-31619	206	16	-	-	PUNCT
ajst-31619	206	17	dof	dof	NOUN
ajst-31619	206	18	six	six	NUM
ajst-31619	206	19	-	-	PUNCT
ajst-31619	206	20	bar	bar	NOUN
ajst-31619	206	21	linkages	linkage	NOUN
ajst-31619	206	22	for	for	ADP
ajst-31619	206	23	specifying	specify	VERB
ajst-31619	206	24	4positions	4positions	PROPN
ajst-31619	206	25	of	of	ADP
ajst-31619	206	26	a	a	DET
ajst-31619	206	27	3r	3r	NUM
ajst-31619	206	28	open	open	NOUN
ajst-31619	206	29	chain[j	chain[j	PROPN
ajst-31619	206	30	]	]	PUNCT
ajst-31619	206	31	.	.	PUNCT
ajst-31619	207	1	journal	journal	PROPN
ajst-31619	207	2	of	of	ADP
ajst-31619	207	3	mechanical	mechanical	ADJ
ajst-31619	207	4	science	science	NOUN
ajst-31619	207	5	and	and	CCONJ
ajst-31619	207	6	technology	technology	NOUN
ajst-31619	207	7	,	,	PUNCT
ajst-31619	207	8	2016	2016	NUM
ajst-31619	207	9	,	,	PUNCT
ajst-31619	207	10	30(7	30(7	NUM
ajst-31619	207	11	):	):	PUNCT
ajst-31619	207	12	3069	3069	NUM
ajst-31619	207	13	-	-	SYM
ajst-31619	207	14	3077	3077	NUM
ajst-31619	207	15	.	.	PUNCT