id	sid	tid	token	lemma	pos
ajst-3975	1	1	academic	academic	ADJ
ajst-3975	1	2	journal	journal	NOUN
ajst-3975	1	3	of	of	ADP
ajst-3975	1	4	science	science	NOUN
ajst-3975	1	5	and	and	CCONJ
ajst-3975	1	6	technology	technology	NOUN
ajst-3975	1	7	issn	issn	NOUN
ajst-3975	1	8	:	:	PUNCT
ajst-3975	1	9	2771	2771	NUM
ajst-3975	1	10	-	-	SYM
ajst-3975	1	11	3032	3032	NUM
ajst-3975	1	12	|	|	NOUN
ajst-3975	1	13	vol	vol	NOUN
ajst-3975	1	14	.	.	PROPN
ajst-3975	2	1	4	4	NUM
ajst-3975	2	2	,	,	PUNCT
ajst-3975	2	3	no	no	INTJ
ajst-3975	2	4	.	.	NOUN
ajst-3975	2	5	2	2	NUM
ajst-3975	2	6	,	,	PUNCT
ajst-3975	2	7	2022	2022	NUM
ajst-3975	2	8	83	83	NUM
ajst-3975	2	9	design	design	NOUN
ajst-3975	2	10	and	and	CCONJ
ajst-3975	2	11	analysis	analysis	NOUN
ajst-3975	2	12	of	of	ADP
ajst-3975	2	13	transformable	transformable	ADJ
ajst-3975	2	14	wheel	wheel	NOUN
ajst-3975	2	15	-	-	PUNCT
ajst-3975	2	16	legged	legged	ADJ
ajst-3975	2	17	mobile	mobile	ADJ
ajst-3975	2	18	robot	robot	NOUN
ajst-3975	2	19	zhizhong	zhizhong	PROPN
ajst-3975	2	20	lv	lv	PROPN
ajst-3975	2	21	,	,	PUNCT
ajst-3975	2	22	bao	bao	PROPN
ajst-3975	2	23	yuan	yuan	PROPN
ajst-3975	2	24	school	school	NOUN
ajst-3975	2	25	of	of	ADP
ajst-3975	2	26	mechatronic	mechatronic	ADJ
ajst-3975	2	27	engineering	engineering	NOUN
ajst-3975	2	28	,	,	PUNCT
ajst-3975	2	29	southwest	southwest	ADJ
ajst-3975	2	30	petroleum	petroleum	PROPN
ajst-3975	2	31	university	university	PROPN
ajst-3975	2	32	,	,	PUNCT
ajst-3975	2	33	chengdu	chengdu	PROPN
ajst-3975	2	34	610500	610500	NUM
ajst-3975	2	35	,	,	PUNCT
ajst-3975	2	36	china	china	PROPN
ajst-3975	2	37	abstract	abstract	NOUN
ajst-3975	2	38	:	:	PUNCT
ajst-3975	2	39	wheeled	wheel	VERB
ajst-3975	2	40	mobile	mobile	ADJ
ajst-3975	2	41	robot	robot	NOUN
ajst-3975	2	42	has	have	VERB
ajst-3975	2	43	good	good	ADJ
ajst-3975	2	44	ground	ground	NOUN
ajst-3975	2	45	motion	motion	NOUN
ajst-3975	2	46	ability	ability	NOUN
ajst-3975	2	47	,	,	PUNCT
ajst-3975	2	48	fast	fast	ADV
ajst-3975	2	49	moving	move	VERB
ajst-3975	2	50	speed	speed	NOUN
ajst-3975	2	51	and	and	CCONJ
ajst-3975	2	52	low	low	ADJ
ajst-3975	2	53	energy	energy	NOUN
ajst-3975	2	54	consumption	consumption	NOUN
ajst-3975	2	55	,	,	PUNCT
ajst-3975	2	56	but	but	CCONJ
ajst-3975	2	57	poor	poor	ADJ
ajst-3975	2	58	obstacle	obstacle	NOUN
ajst-3975	2	59	surmounting	surmount	VERB
ajst-3975	2	60	performance	performance	NOUN
ajst-3975	2	61	.	.	PUNCT
ajst-3975	3	1	in	in	ADP
ajst-3975	3	2	order	order	NOUN
ajst-3975	3	3	to	to	PART
ajst-3975	3	4	make	make	VERB
ajst-3975	3	5	the	the	DET
ajst-3975	3	6	mobile	mobile	ADJ
ajst-3975	3	7	robot	robot	NOUN
ajst-3975	3	8	have	have	VERB
ajst-3975	3	9	the	the	DET
ajst-3975	3	10	motion	motion	NOUN
ajst-3975	3	11	performance	performance	NOUN
ajst-3975	3	12	in	in	ADP
ajst-3975	3	13	complex	complex	ADJ
ajst-3975	3	14	environments	environment	NOUN
ajst-3975	3	15	,	,	PUNCT
ajst-3975	3	16	the	the	DET
ajst-3975	3	17	wheel	wheel	NOUN
ajst-3975	3	18	mechanism	mechanism	NOUN
ajst-3975	3	19	and	and	CCONJ
ajst-3975	3	20	the	the	DET
ajst-3975	3	21	wheel	wheel	NOUN
ajst-3975	3	22	-	-	PUNCT
ajst-3975	3	23	leg	leg	NOUN
ajst-3975	3	24	mechanism	mechanism	NOUN
ajst-3975	3	25	are	be	AUX
ajst-3975	3	26	coupled	couple	VERB
ajst-3975	3	27	and	and	CCONJ
ajst-3975	3	28	designed	design	VERB
ajst-3975	3	29	,	,	PUNCT
ajst-3975	3	30	and	and	CCONJ
ajst-3975	3	31	a	a	DET
ajst-3975	3	32	deformable	deformable	ADJ
ajst-3975	3	33	wheel	wheel	NOUN
ajst-3975	3	34	-	-	PUNCT
ajst-3975	3	35	leg	leg	NOUN
ajst-3975	3	36	structure	structure	NOUN
ajst-3975	3	37	is	be	AUX
ajst-3975	3	38	designed	design	VERB
ajst-3975	3	39	.	.	PUNCT
ajst-3975	4	1	the	the	DET
ajst-3975	4	2	mobile	mobile	NOUN
ajst-3975	4	3	robot	robot	NOUN
ajst-3975	4	4	can	can	AUX
ajst-3975	4	5	not	not	PART
ajst-3975	4	6	only	only	ADV
ajst-3975	4	7	move	move	VERB
ajst-3975	4	8	in	in	ADP
ajst-3975	4	9	the	the	DET
ajst-3975	4	10	wheel	wheel	NOUN
ajst-3975	4	11	mode	mode	NOUN
ajst-3975	4	12	,	,	PUNCT
ajst-3975	4	13	but	but	CCONJ
ajst-3975	4	14	also	also	ADV
ajst-3975	4	15	switch	switch	VERB
ajst-3975	4	16	to	to	ADP
ajst-3975	4	17	the	the	DET
ajst-3975	4	18	wheel	wheel	NOUN
ajst-3975	4	19	-	-	PUNCT
ajst-3975	4	20	leg	leg	NOUN
ajst-3975	4	21	mode	mode	NOUN
ajst-3975	4	22	to	to	PART
ajst-3975	4	23	adapt	adapt	VERB
ajst-3975	4	24	to	to	ADP
ajst-3975	4	25	the	the	DET
ajst-3975	4	26	complex	complex	ADJ
ajst-3975	4	27	motion	motion	NOUN
ajst-3975	4	28	environment	environment	NOUN
ajst-3975	4	29	.	.	PUNCT
ajst-3975	5	1	the	the	DET
ajst-3975	5	2	deformable	deformable	ADJ
ajst-3975	5	3	wheel	wheel	NOUN
ajst-3975	5	4	-	-	PUNCT
ajst-3975	5	5	leg	leg	NOUN
ajst-3975	5	6	mechanism	mechanism	NOUN
ajst-3975	5	7	is	be	AUX
ajst-3975	5	8	composed	compose	VERB
ajst-3975	5	9	of	of	ADP
ajst-3975	5	10	a	a	DET
ajst-3975	5	11	four	four	NUM
ajst-3975	5	12	-	-	PUNCT
ajst-3975	5	13	bar	bar	NOUN
ajst-3975	5	14	linkage	linkage	NOUN
ajst-3975	5	15	,	,	PUNCT
ajst-3975	5	16	and	and	CCONJ
ajst-3975	5	17	the	the	DET
ajst-3975	5	18	static	static	ADJ
ajst-3975	5	19	analysis	analysis	NOUN
ajst-3975	5	20	of	of	ADP
ajst-3975	5	21	key	key	ADJ
ajst-3975	5	22	components	component	NOUN
ajst-3975	5	23	is	be	AUX
ajst-3975	5	24	carried	carry	VERB
ajst-3975	5	25	out	out	ADP
ajst-3975	5	26	in	in	ADP
ajst-3975	5	27	ansys	ansys	PROPN
ajst-3975	5	28	.	.	PUNCT
ajst-3975	6	1	keywords	keyword	NOUN
ajst-3975	6	2	:	:	PUNCT
ajst-3975	6	3	mobile	mobile	ADJ
ajst-3975	6	4	robot	robot	NOUN
ajst-3975	6	5	,	,	PUNCT
ajst-3975	6	6	deformable	deformable	ADJ
ajst-3975	6	7	wheel	wheel	NOUN
ajst-3975	6	8	-	-	PUNCT
ajst-3975	6	9	leg	leg	NOUN
ajst-3975	6	10	mechanism	mechanism	NOUN
ajst-3975	6	11	,	,	PUNCT
ajst-3975	6	12	link	link	NOUN
ajst-3975	6	13	mechanism	mechanism	NOUN
ajst-3975	6	14	,	,	PUNCT
ajst-3975	6	15	finite	finite	VERB
ajst-3975	6	16	element	element	NOUN
ajst-3975	6	17	analysis	analysis	NOUN
ajst-3975	6	18	.	.	PUNCT
ajst-3975	7	1	1	1	X
ajst-3975	7	2	.	.	X
ajst-3975	7	3	introduction	introduction	NOUN
ajst-3975	7	4	small	small	ADJ
ajst-3975	7	5	mobile	mobile	ADJ
ajst-3975	7	6	robots	robot	NOUN
ajst-3975	7	7	have	have	VERB
ajst-3975	7	8	strong	strong	ADJ
ajst-3975	7	9	environmental	environmental	ADJ
ajst-3975	7	10	adaptability	adaptability	NOUN
ajst-3975	7	11	and	and	CCONJ
ajst-3975	7	12	are	be	AUX
ajst-3975	7	13	widely	widely	ADV
ajst-3975	7	14	used	use	VERB
ajst-3975	7	15	in	in	ADP
ajst-3975	7	16	information	information	NOUN
ajst-3975	7	17	reconnaissance	reconnaissance	NOUN
ajst-3975	7	18	,	,	PUNCT
ajst-3975	7	19	disaster	disaster	NOUN
ajst-3975	7	20	rescue	rescue	NOUN
ajst-3975	7	21	and	and	CCONJ
ajst-3975	7	22	other	other	ADJ
ajst-3975	7	23	places	place	NOUN
ajst-3975	7	24	.	.	PUNCT
ajst-3975	8	1	due	due	ADP
ajst-3975	8	2	to	to	ADP
ajst-3975	8	3	the	the	DET
ajst-3975	8	4	complexity	complexity	NOUN
ajst-3975	8	5	of	of	ADP
ajst-3975	8	6	the	the	DET
ajst-3975	8	7	real	real	ADJ
ajst-3975	8	8	environment	environment	NOUN
ajst-3975	8	9	,	,	PUNCT
ajst-3975	8	10	higher	high	ADJ
ajst-3975	8	11	requirements	requirement	NOUN
ajst-3975	8	12	are	be	AUX
ajst-3975	8	13	put	put	VERB
ajst-3975	8	14	forward	forward	ADV
ajst-3975	8	15	for	for	ADP
ajst-3975	8	16	the	the	DET
ajst-3975	8	17	size	size	NOUN
ajst-3975	8	18	and	and	CCONJ
ajst-3975	8	19	environmental	environmental	ADJ
ajst-3975	8	20	adaptability	adaptability	NOUN
ajst-3975	8	21	of	of	ADP
ajst-3975	8	22	mobile	mobile	ADJ
ajst-3975	8	23	robots	robot	NOUN
ajst-3975	8	24	.	.	PUNCT
ajst-3975	9	1	therefore	therefore	ADV
ajst-3975	9	2	,	,	PUNCT
ajst-3975	9	3	the	the	DET
ajst-3975	9	4	design	design	NOUN
ajst-3975	9	5	of	of	ADP
ajst-3975	9	6	mobile	mobile	ADJ
ajst-3975	9	7	robots	robot	NOUN
ajst-3975	9	8	with	with	ADP
ajst-3975	9	9	adaptability	adaptability	NOUN
ajst-3975	9	10	to	to	ADP
ajst-3975	9	11	complex	complex	ADJ
ajst-3975	9	12	environments	environment	NOUN
ajst-3975	9	13	has	have	VERB
ajst-3975	9	14	important	important	ADJ
ajst-3975	9	15	application	application	NOUN
ajst-3975	9	16	value	value	NOUN
ajst-3975	9	17	,	,	PUNCT
ajst-3975	9	18	and	and	CCONJ
ajst-3975	9	19	at	at	ADP
ajst-3975	9	20	the	the	DET
ajst-3975	9	21	same	same	ADJ
ajst-3975	9	22	time	time	NOUN
ajst-3975	9	23	,	,	PUNCT
ajst-3975	9	24	the	the	DET
ajst-3975	9	25	robots	robot	NOUN
ajst-3975	9	26	are	be	AUX
ajst-3975	9	27	required	require	VERB
ajst-3975	9	28	to	to	PART
ajst-3975	9	29	have	have	VERB
ajst-3975	9	30	the	the	DET
ajst-3975	9	31	advantages	advantage	NOUN
ajst-3975	9	32	of	of	ADP
ajst-3975	9	33	light	light	ADJ
ajst-3975	9	34	weight	weight	NOUN
ajst-3975	9	35	,	,	PUNCT
ajst-3975	9	36	small	small	ADJ
ajst-3975	9	37	size	size	NOUN
ajst-3975	9	38	,	,	PUNCT
ajst-3975	9	39	good	good	ADJ
ajst-3975	9	40	maneuverability	maneuverability	NOUN
ajst-3975	9	41	,	,	PUNCT
ajst-3975	9	42	and	and	CCONJ
ajst-3975	9	43	long	long	ADV
ajst-3975	9	44	working	working	NOUN
ajst-3975	9	45	hours	hour	NOUN
ajst-3975	9	46	.	.	PUNCT
ajst-3975	10	1	the	the	DET
ajst-3975	10	2	wheel	wheel	NOUN
ajst-3975	10	3	mechanism	mechanism	NOUN
ajst-3975	10	4	has	have	VERB
ajst-3975	10	5	good	good	ADJ
ajst-3975	10	6	ground	ground	NOUN
ajst-3975	10	7	movement	movement	NOUN
ajst-3975	10	8	ability	ability	NOUN
ajst-3975	10	9	,	,	PUNCT
ajst-3975	10	10	fast	fast	ADV
ajst-3975	10	11	moving	move	VERB
ajst-3975	10	12	speed	speed	NOUN
ajst-3975	10	13	and	and	CCONJ
ajst-3975	10	14	low	low	ADJ
ajst-3975	10	15	energy	energy	NOUN
ajst-3975	10	16	consumption	consumption	NOUN
ajst-3975	10	17	,	,	PUNCT
ajst-3975	10	18	but	but	CCONJ
ajst-3975	10	19	its	its	PRON
ajst-3975	10	20	obstaclesurmounting	obstaclesurmounting	NOUN
ajst-3975	10	21	ability	ability	NOUN
ajst-3975	10	22	is	be	AUX
ajst-3975	10	23	restricted	restrict	VERB
ajst-3975	10	24	by	by	ADP
ajst-3975	10	25	the	the	DET
ajst-3975	10	26	radius	radius	NOUN
ajst-3975	10	27	of	of	ADP
ajst-3975	10	28	the	the	DET
ajst-3975	10	29	wheel	wheel	NOUN
ajst-3975	10	30	,	,	PUNCT
ajst-3975	10	31	and	and	CCONJ
ajst-3975	10	32	its	its	PRON
ajst-3975	10	33	maximum	maximum	ADJ
ajst-3975	10	34	obstacle	obstacle	NOUN
ajst-3975	10	35	-	-	PUNCT
ajst-3975	10	36	breaking	break	VERB
ajst-3975	10	37	height	height	NOUN
ajst-3975	10	38	is	be	AUX
ajst-3975	10	39	about	about	ADV
ajst-3975	10	40	one	one	NUM
ajst-3975	10	41	-	-	PUNCT
ajst-3975	10	42	third	third	NOUN
ajst-3975	10	43	of	of	ADP
ajst-3975	10	44	the	the	DET
ajst-3975	10	45	wheel	wheel	NOUN
ajst-3975	10	46	diameter	diameter	NOUN
ajst-3975	10	47	.	.	PUNCT
ajst-3975	11	1	the	the	DET
ajst-3975	11	2	footed	footed	ADJ
ajst-3975	11	3	structure	structure	NOUN
ajst-3975	11	4	has	have	VERB
ajst-3975	11	5	excellent	excellent	ADJ
ajst-3975	11	6	obstacle	obstacle	NOUN
ajst-3975	11	7	-	-	PUNCT
ajst-3975	11	8	crossing	crossing	NOUN
ajst-3975	11	9	performance	performance	NOUN
ajst-3975	11	10	,	,	PUNCT
ajst-3975	11	11	but	but	CCONJ
ajst-3975	11	12	the	the	DET
ajst-3975	11	13	control	control	NOUN
ajst-3975	11	14	is	be	AUX
ajst-3975	11	15	more	more	ADV
ajst-3975	11	16	complicated	complicated	ADJ
ajst-3975	11	17	,	,	PUNCT
ajst-3975	11	18	and	and	CCONJ
ajst-3975	11	19	the	the	DET
ajst-3975	11	20	red	red	ADJ
ajst-3975	11	21	energy	energy	NOUN
ajst-3975	11	22	consumption	consumption	NOUN
ajst-3975	11	23	is	be	AUX
ajst-3975	11	24	relatively	relatively	ADV
ajst-3975	11	25	large	large	ADJ
ajst-3975	11	26	during	during	ADP
ajst-3975	11	27	the	the	DET
ajst-3975	11	28	movement	movement	NOUN
ajst-3975	11	29	process	process	NOUN
ajst-3975	11	30	.	.	PUNCT
ajst-3975	12	1	in	in	ADP
ajst-3975	12	2	order	order	NOUN
ajst-3975	12	3	to	to	PART
ajst-3975	12	4	reduce	reduce	VERB
ajst-3975	12	5	the	the	DET
ajst-3975	12	6	overall	overall	ADJ
ajst-3975	12	7	mass	mass	NOUN
ajst-3975	12	8	of	of	ADP
ajst-3975	12	9	the	the	DET
ajst-3975	12	10	robot	robot	NOUN
ajst-3975	12	11	as	as	ADV
ajst-3975	12	12	much	much	ADV
ajst-3975	12	13	as	as	ADP
ajst-3975	12	14	possible	possible	ADJ
ajst-3975	12	15	,	,	PUNCT
ajst-3975	12	16	so	so	SCONJ
ajst-3975	12	17	that	that	SCONJ
ajst-3975	12	18	the	the	DET
ajst-3975	12	19	robot	robot	NOUN
ajst-3975	12	20	has	have	VERB
ajst-3975	12	21	good	good	ADJ
ajst-3975	12	22	ground	ground	NOUN
ajst-3975	12	23	motion	motion	NOUN
ajst-3975	12	24	performance	performance	NOUN
ajst-3975	12	25	,	,	PUNCT
ajst-3975	12	26	the	the	DET
ajst-3975	12	27	wheel	wheel	NOUN
ajst-3975	12	28	-	-	PUNCT
ajst-3975	12	29	leg	leg	NOUN
ajst-3975	12	30	coupling	coupling	NOUN
ajst-3975	12	31	design	design	NOUN
ajst-3975	12	32	is	be	AUX
ajst-3975	12	33	adopted	adopt	VERB
ajst-3975	12	34	,	,	PUNCT
ajst-3975	12	35	which	which	PRON
ajst-3975	12	36	can	can	AUX
ajst-3975	12	37	not	not	PART
ajst-3975	12	38	only	only	ADV
ajst-3975	12	39	move	move	VERB
ajst-3975	12	40	in	in	ADP
ajst-3975	12	41	the	the	DET
ajst-3975	12	42	wheel	wheel	NOUN
ajst-3975	12	43	state	state	NOUN
ajst-3975	12	44	,	,	PUNCT
ajst-3975	12	45	but	but	CCONJ
ajst-3975	12	46	also	also	ADV
ajst-3975	12	47	switch	switch	VERB
ajst-3975	12	48	to	to	ADP
ajst-3975	12	49	foot	foot	NOUN
ajst-3975	12	50	movement	movement	NOUN
ajst-3975	12	51	for	for	ADP
ajst-3975	12	52	obstacle	obstacle	NOUN
ajst-3975	12	53	surmounting[1,2	surmounting[1,2	PROPN
ajst-3975	12	54	]	]	PUNCT
ajst-3975	12	55	.	.	PUNCT
ajst-3975	13	1	2	2	X
ajst-3975	13	2	.	.	X
ajst-3975	13	3	structural	structural	ADJ
ajst-3975	13	4	design	design	NOUN
ajst-3975	13	5	and	and	CCONJ
ajst-3975	13	6	force	force	VERB
ajst-3975	13	7	analysis	analysis	NOUN
ajst-3975	13	8	of	of	ADP
ajst-3975	13	9	deformable	deformable	ADJ
ajst-3975	13	10	wheel	wheel	NOUN
ajst-3975	13	11	legs	leg	NOUN
ajst-3975	13	12	2.1	2.1	NUM
ajst-3975	13	13	.	.	PUNCT
ajst-3975	13	14	structure	structure	NOUN
ajst-3975	13	15	design	design	NOUN
ajst-3975	13	16	of	of	ADP
ajst-3975	13	17	deformable	deformable	ADJ
ajst-3975	13	18	wheel	wheel	NOUN
ajst-3975	13	19	legs	leg	NOUN
ajst-3975	13	20	the	the	DET
ajst-3975	13	21	connecting	connect	VERB
ajst-3975	13	22	rod	rod	NOUN
ajst-3975	13	23	mechanism	mechanism	NOUN
ajst-3975	13	24	is	be	AUX
ajst-3975	13	25	widely	widely	ADV
ajst-3975	13	26	used	use	VERB
ajst-3975	13	27	in	in	ADP
ajst-3975	13	28	construction	construction	NOUN
ajst-3975	13	29	machinery	machinery	NOUN
ajst-3975	13	30	.	.	PUNCT
ajst-3975	14	1	the	the	DET
ajst-3975	14	2	kinematic	kinematic	ADJ
ajst-3975	14	3	pair	pair	NOUN
ajst-3975	14	4	of	of	ADP
ajst-3975	14	5	the	the	DET
ajst-3975	14	6	connecting	connect	VERB
ajst-3975	14	7	rod	rod	NOUN
ajst-3975	14	8	mechanism	mechanism	NOUN
ajst-3975	14	9	is	be	AUX
ajst-3975	14	10	generally	generally	ADV
ajst-3975	14	11	a	a	DET
ajst-3975	14	12	low	low	ADJ
ajst-3975	14	13	pair	pair	NOUN
ajst-3975	14	14	,	,	PUNCT
ajst-3975	14	15	and	and	CCONJ
ajst-3975	14	16	its	its	PRON
ajst-3975	14	17	kinematic	kinematic	ADJ
ajst-3975	14	18	pair	pair	NOUN
ajst-3975	14	19	elements	element	NOUN
ajst-3975	14	20	are	be	AUX
ajst-3975	14	21	in	in	ADP
ajst-3975	14	22	surface	surface	NOUN
ajst-3975	14	23	contact	contact	NOUN
ajst-3975	14	24	,	,	PUNCT
ajst-3975	14	25	which	which	PRON
ajst-3975	14	26	has	have	VERB
ajst-3975	14	27	the	the	DET
ajst-3975	14	28	advantages	advantage	NOUN
ajst-3975	14	29	of	of	ADP
ajst-3975	14	30	large	large	ADJ
ajst-3975	14	31	bearing	bearing	NOUN
ajst-3975	14	32	capacity	capacity	NOUN
ajst-3975	14	33	,	,	PUNCT
ajst-3975	14	34	low	low	ADJ
ajst-3975	14	35	pressure	pressure	NOUN
ajst-3975	14	36	,	,	PUNCT
ajst-3975	14	37	small	small	ADJ
ajst-3975	14	38	wear	wear	NOUN
ajst-3975	14	39	,	,	PUNCT
ajst-3975	14	40	and	and	CCONJ
ajst-3975	14	41	easy	easy	ADJ
ajst-3975	14	42	processing	processing	NOUN
ajst-3975	14	43	and	and	CCONJ
ajst-3975	14	44	manufacturing	manufacturing	NOUN
ajst-3975	14	45	[	[	X
ajst-3975	14	46	3	3	NUM
ajst-3975	14	47	]	]	PUNCT
ajst-3975	14	48	.	.	PUNCT
ajst-3975	15	1	combined	combine	VERB
ajst-3975	15	2	with	with	ADP
ajst-3975	15	3	the	the	DET
ajst-3975	15	4	existing	exist	VERB
ajst-3975	15	5	research	research	NOUN
ajst-3975	15	6	on	on	ADP
ajst-3975	15	7	deformable	deformable	ADJ
ajst-3975	15	8	wheel	wheel	NOUN
ajst-3975	15	9	-	-	PUNCT
ajst-3975	15	10	legged	legged	ADJ
ajst-3975	15	11	robots	robot	NOUN
ajst-3975	15	12	,	,	PUNCT
ajst-3975	15	13	a	a	DET
ajst-3975	15	14	fourbar	fourbar	NOUN
ajst-3975	15	15	linkage	linkage	NOUN
ajst-3975	15	16	mechanism	mechanism	NOUN
ajst-3975	15	17	is	be	AUX
ajst-3975	15	18	often	often	ADV
ajst-3975	15	19	used	use	VERB
ajst-3975	15	20	to	to	PART
ajst-3975	15	21	realize	realize	VERB
ajst-3975	15	22	the	the	DET
ajst-3975	15	23	overall	overall	ADJ
ajst-3975	15	24	deformation	deformation	NOUN
ajst-3975	15	25	of	of	ADP
ajst-3975	15	26	the	the	DET
ajst-3975	15	27	roller	roller	NOUN
ajst-3975	15	28	arc	arc	NOUN
ajst-3975	15	29	,	,	PUNCT
ajst-3975	15	30	which	which	PRON
ajst-3975	15	31	improves	improve	VERB
ajst-3975	15	32	the	the	DET
ajst-3975	15	33	robot	robot	NOUN
ajst-3975	15	34	's	's	PART
ajst-3975	15	35	ability	ability	NOUN
ajst-3975	15	36	to	to	PART
ajst-3975	15	37	overcome	overcome	VERB
ajst-3975	15	38	obstacles	obstacle	NOUN
ajst-3975	15	39	,	,	PUNCT
ajst-3975	15	40	but	but	CCONJ
ajst-3975	15	41	the	the	DET
ajst-3975	15	42	impact	impact	NOUN
ajst-3975	15	43	and	and	CCONJ
ajst-3975	15	44	vibration	vibration	NOUN
ajst-3975	15	45	on	on	ADP
ajst-3975	15	46	the	the	DET
ajst-3975	15	47	body	body	NOUN
ajst-3975	15	48	during	during	ADP
ajst-3975	15	49	the	the	DET
ajst-3975	15	50	obstacle	obstacle	NOUN
ajst-3975	15	51	course	course	NOUN
ajst-3975	15	52	is	be	AUX
ajst-3975	15	53	relatively	relatively	ADV
ajst-3975	15	54	large	large	ADJ
ajst-3975	15	55	.	.	PUNCT
ajst-3975	16	1	the	the	DET
ajst-3975	16	2	mobile	mobile	ADJ
ajst-3975	16	3	robot	robot	NOUN
ajst-3975	16	4	needs	need	VERB
ajst-3975	16	5	to	to	PART
ajst-3975	16	6	have	have	VERB
ajst-3975	16	7	good	good	ADJ
ajst-3975	16	8	environmental	environmental	ADJ
ajst-3975	16	9	adaptability	adaptability	NOUN
ajst-3975	16	10	on	on	ADP
ajst-3975	16	11	the	the	DET
ajst-3975	16	12	ground	ground	NOUN
ajst-3975	16	13	and	and	CCONJ
ajst-3975	16	14	minimize	minimize	VERB
ajst-3975	16	15	the	the	DET
ajst-3975	16	16	impact	impact	NOUN
ajst-3975	16	17	and	and	CCONJ
ajst-3975	16	18	vibration	vibration	NOUN
ajst-3975	16	19	during	during	ADP
ajst-3975	16	20	the	the	DET
ajst-3975	16	21	movement	movement	NOUN
ajst-3975	16	22	.	.	PUNCT
ajst-3975	17	1	therefore	therefore	ADV
ajst-3975	17	2	,	,	PUNCT
ajst-3975	17	3	the	the	DET
ajst-3975	17	4	planar	planar	ADJ
ajst-3975	17	5	four	four	NUM
ajst-3975	17	6	-	-	PUNCT
ajst-3975	17	7	bar	bar	NOUN
ajst-3975	17	8	linkage	linkage	NOUN
ajst-3975	17	9	mechanism	mechanism	NOUN
ajst-3975	17	10	is	be	AUX
ajst-3975	17	11	also	also	ADV
ajst-3975	17	12	used	use	VERB
ajst-3975	17	13	to	to	PART
ajst-3975	17	14	realize	realize	VERB
ajst-3975	17	15	the	the	DET
ajst-3975	17	16	local	local	ADJ
ajst-3975	17	17	deformation	deformation	NOUN
ajst-3975	17	18	of	of	ADP
ajst-3975	17	19	the	the	DET
ajst-3975	17	20	roller	roller	NOUN
ajst-3975	17	21	arc	arc	NOUN
ajst-3975	17	22	to	to	PART
ajst-3975	17	23	improve	improve	VERB
ajst-3975	17	24	the	the	DET
ajst-3975	17	25	environmental	environmental	ADJ
ajst-3975	17	26	adaptability	adaptability	NOUN
ajst-3975	17	27	of	of	ADP
ajst-3975	17	28	the	the	DET
ajst-3975	17	29	robot	robot	NOUN
ajst-3975	17	30	.	.	PUNCT
ajst-3975	18	1	the	the	DET
ajst-3975	18	2	deformable	deformable	ADJ
ajst-3975	18	3	wheel	wheel	NOUN
ajst-3975	18	4	leg	leg	NOUN
ajst-3975	18	5	structure	structure	NOUN
ajst-3975	18	6	includes	include	VERB
ajst-3975	18	7	a	a	DET
ajst-3975	18	8	driving	drive	VERB
ajst-3975	18	9	wheel	wheel	NOUN
ajst-3975	18	10	frame	frame	NOUN
ajst-3975	18	11	,	,	PUNCT
ajst-3975	18	12	an	an	DET
ajst-3975	18	13	inner	inner	ADJ
ajst-3975	18	14	cage	cage	NOUN
ajst-3975	18	15	,	,	PUNCT
ajst-3975	18	16	an	an	DET
ajst-3975	18	17	outer	outer	ADJ
ajst-3975	18	18	cage	cage	NOUN
ajst-3975	18	19	,	,	PUNCT
ajst-3975	18	20	a	a	DET
ajst-3975	18	21	spoke	speak	VERB
ajst-3975	18	22	connecting	connect	VERB
ajst-3975	18	23	rod	rod	NOUN
ajst-3975	18	24	,	,	PUNCT
ajst-3975	18	25	and	and	CCONJ
ajst-3975	18	26	an	an	DET
ajst-3975	18	27	extended	extended	ADJ
ajst-3975	18	28	arc	arc	NOUN
ajst-3975	18	29	leg	leg	NOUN
ajst-3975	18	30	.	.	PUNCT
ajst-3975	19	1	the	the	DET
ajst-3975	19	2	driving	drive	VERB
ajst-3975	19	3	wheel	wheel	NOUN
ajst-3975	19	4	frame	frame	NOUN
ajst-3975	19	5	is	be	AUX
ajst-3975	19	6	located	locate	VERB
ajst-3975	19	7	between	between	ADP
ajst-3975	19	8	the	the	DET
ajst-3975	19	9	outer	outer	ADJ
ajst-3975	19	10	cages	cage	NOUN
ajst-3975	19	11	and	and	CCONJ
ajst-3975	19	12	the	the	DET
ajst-3975	19	13	inner	inner	ADJ
ajst-3975	19	14	cage	cage	NOUN
ajst-3975	19	15	,	,	PUNCT
ajst-3975	19	16	and	and	CCONJ
ajst-3975	19	17	is	be	AUX
ajst-3975	19	18	installed	instal	VERB
ajst-3975	19	19	on	on	ADP
ajst-3975	19	20	the	the	DET
ajst-3975	19	21	d	d	ADV
ajst-3975	19	22	-	-	PUNCT
ajst-3975	19	23	shaped	shape	VERB
ajst-3975	19	24	shaft	shaft	NOUN
ajst-3975	19	25	to	to	PART
ajst-3975	19	26	rotate	rotate	VERB
ajst-3975	19	27	together	together	ADV
ajst-3975	19	28	.	.	PUNCT
ajst-3975	20	1	one	one	NUM
ajst-3975	20	2	end	end	NOUN
ajst-3975	20	3	of	of	ADP
ajst-3975	20	4	the	the	DET
ajst-3975	20	5	stretched	stretch	VERB
ajst-3975	20	6	arc	arc	NOUN
ajst-3975	20	7	leg	leg	NOUN
ajst-3975	20	8	is	be	AUX
ajst-3975	20	9	connected	connect	VERB
ajst-3975	20	10	with	with	ADP
ajst-3975	20	11	the	the	DET
ajst-3975	20	12	driving	drive	VERB
ajst-3975	20	13	wheel	wheel	NOUN
ajst-3975	20	14	frame	frame	NOUN
ajst-3975	20	15	,	,	PUNCT
ajst-3975	20	16	one	one	NUM
ajst-3975	20	17	end	end	NOUN
ajst-3975	20	18	of	of	ADP
ajst-3975	20	19	the	the	DET
ajst-3975	20	20	spoke	speak	VERB
ajst-3975	20	21	connecting	connect	VERB
ajst-3975	20	22	rod	rod	NOUN
ajst-3975	20	23	is	be	AUX
ajst-3975	20	24	connected	connect	VERB
ajst-3975	20	25	with	with	ADP
ajst-3975	20	26	the	the	DET
ajst-3975	20	27	inner	inner	ADJ
ajst-3975	20	28	and	and	CCONJ
ajst-3975	20	29	outer	outer	ADJ
ajst-3975	20	30	cages	cage	NOUN
ajst-3975	20	31	,	,	PUNCT
ajst-3975	20	32	and	and	CCONJ
ajst-3975	20	33	the	the	DET
ajst-3975	20	34	other	other	ADJ
ajst-3975	20	35	end	end	NOUN
ajst-3975	20	36	is	be	AUX
ajst-3975	20	37	connected	connect	VERB
ajst-3975	20	38	with	with	ADP
ajst-3975	20	39	the	the	DET
ajst-3975	20	40	stretched	stretch	VERB
ajst-3975	20	41	arc	arc	NOUN
ajst-3975	20	42	leg	leg	NOUN
ajst-3975	20	43	,	,	PUNCT
ajst-3975	20	44	forming	form	VERB
ajst-3975	20	45	a	a	DET
ajst-3975	20	46	planar	planar	ADJ
ajst-3975	20	47	four	four	NUM
ajst-3975	20	48	-	-	PUNCT
ajst-3975	20	49	bar	bar	NOUN
ajst-3975	20	50	linkage	linkage	NOUN
ajst-3975	20	51	mechanism	mechanism	NOUN
ajst-3975	20	52	together	together	ADV
ajst-3975	20	53	.	.	PUNCT
ajst-3975	21	1	the	the	DET
ajst-3975	21	2	deformable	deformable	ADJ
ajst-3975	21	3	wheel	wheel	NOUN
ajst-3975	21	4	leg	leg	NOUN
ajst-3975	21	5	structure	structure	NOUN
ajst-3975	21	6	can	can	AUX
ajst-3975	21	7	be	be	AUX
ajst-3975	21	8	regarded	regard	VERB
ajst-3975	21	9	as	as	ADP
ajst-3975	21	10	a	a	DET
ajst-3975	21	11	deformable	deformable	ADJ
ajst-3975	21	12	wheel	wheel	NOUN
ajst-3975	21	13	leg	leg	NOUN
ajst-3975	21	14	composed	compose	VERB
ajst-3975	21	15	of	of	ADP
ajst-3975	21	16	three	three	NUM
ajst-3975	21	17	groups	group	NOUN
ajst-3975	21	18	of	of	ADP
ajst-3975	21	19	such	such	ADJ
ajst-3975	21	20	planar	planar	ADJ
ajst-3975	21	21	four	four	NUM
ajst-3975	21	22	-	-	PUNCT
ajst-3975	21	23	bar	bar	NOUN
ajst-3975	21	24	linkages	linkage	NOUN
ajst-3975	21	25	.	.	PUNCT
ajst-3975	22	1	the	the	DET
ajst-3975	22	2	contraction	contraction	NOUN
ajst-3975	22	3	direction	direction	NOUN
ajst-3975	22	4	of	of	ADP
ajst-3975	22	5	the	the	DET
ajst-3975	22	6	stretching	stretch	VERB
ajst-3975	22	7	wheel	wheel	NOUN
ajst-3975	22	8	legs	leg	NOUN
ajst-3975	22	9	can	can	AUX
ajst-3975	22	10	be	be	AUX
ajst-3975	22	11	limited	limit	VERB
ajst-3975	22	12	by	by	ADP
ajst-3975	22	13	the	the	DET
ajst-3975	22	14	driving	drive	VERB
ajst-3975	22	15	wheel	wheel	NOUN
ajst-3975	22	16	frame	frame	NOUN
ajst-3975	22	17	,	,	PUNCT
ajst-3975	22	18	and	and	CCONJ
ajst-3975	22	19	the	the	DET
ajst-3975	22	20	direction	direction	NOUN
ajst-3975	22	21	of	of	ADP
ajst-3975	22	22	expansion	expansion	NOUN
ajst-3975	22	23	of	of	ADP
ajst-3975	22	24	the	the	DET
ajst-3975	22	25	stretching	stretch	VERB
ajst-3975	22	26	wheel	wheel	NOUN
ajst-3975	22	27	legs	leg	NOUN
ajst-3975	22	28	can	can	AUX
ajst-3975	22	29	be	be	AUX
ajst-3975	22	30	limited	limit	VERB
ajst-3975	22	31	by	by	ADP
ajst-3975	22	32	its	its	PRON
ajst-3975	22	33	own	own	ADJ
ajst-3975	22	34	limit	limit	NOUN
ajst-3975	22	35	block	block	NOUN
ajst-3975	22	36	to	to	PART
ajst-3975	22	37	avoid	avoid	VERB
ajst-3975	22	38	excessive	excessive	ADJ
ajst-3975	22	39	deformation	deformation	NOUN
ajst-3975	23	1	[	[	X
ajst-3975	23	2	4	4	NUM
ajst-3975	23	3	]	]	PUNCT
ajst-3975	23	4	.	.	PUNCT
ajst-3975	24	1	1	1	NUM
ajst-3975	24	2	-	-	PUNCT
ajst-3975	24	3	driving	drive	VERB
ajst-3975	24	4	wheel	wheel	NOUN
ajst-3975	24	5	frame	frame	NOUN
ajst-3975	24	6	;	;	PUNCT
ajst-3975	24	7	2telescopic	2telescopic	NUM
ajst-3975	24	8	arc	arc	NOUN
ajst-3975	24	9	leg	leg	NOUN
ajst-3975	24	10	;	;	PUNCT
ajst-3975	24	11	3spoke	3spoke	NUM
ajst-3975	24	12	link	link	NOUN
ajst-3975	24	13	;	;	PUNCT
ajst-3975	24	14	4external	4external	NUM
ajst-3975	24	15	frame	frame	NOUN
ajst-3975	24	16	;	;	PUNCT
ajst-3975	24	17	5internal	5internal	NUM
ajst-3975	24	18	frame	frame	NOUN
ajst-3975	24	19	figure	figure	NOUN
ajst-3975	24	20	1	1	NUM
ajst-3975	24	21	.	.	PUNCT
ajst-3975	24	22	deformable	deformable	ADJ
ajst-3975	24	23	wheel	wheel	NOUN
ajst-3975	24	24	leg	leg	NOUN
ajst-3975	24	25	structure	structure	NOUN
ajst-3975	24	26	2.2	2.2	NUM
ajst-3975	24	27	.	.	PUNCT
ajst-3975	25	1	active	active	ADJ
ajst-3975	25	2	deformation	deformation	NOUN
ajst-3975	25	3	mechanism	mechanism	NOUN
ajst-3975	25	4	of	of	ADP
ajst-3975	25	5	wheel	wheel	NOUN
ajst-3975	25	6	legs	leg	NOUN
ajst-3975	25	7	commonly	commonly	ADV
ajst-3975	25	8	used	use	VERB
ajst-3975	25	9	switching	switching	NOUN
ajst-3975	25	10	methods	method	NOUN
ajst-3975	25	11	for	for	ADP
ajst-3975	25	12	deformed	deformed	ADJ
ajst-3975	25	13	wheels	wheel	NOUN
ajst-3975	25	14	include	include	VERB
ajst-3975	25	15	passively	passively	ADV
ajst-3975	25	16	triggering	trigger	VERB
ajst-3975	25	17	deformation	deformation	NOUN
ajst-3975	25	18	through	through	ADP
ajst-3975	25	19	friction	friction	NOUN
ajst-3975	25	20	between	between	ADP
ajst-3975	25	21	the	the	DET
ajst-3975	25	22	spokes	spoke	NOUN
ajst-3975	25	23	and	and	CCONJ
ajst-3975	25	24	the	the	DET
ajst-3975	25	25	ground	ground	NOUN
ajst-3975	25	26	,	,	PUNCT
ajst-3975	25	27	or	or	CCONJ
ajst-3975	25	28	switching	switch	VERB
ajst-3975	25	29	between	between	ADP
ajst-3975	25	30	wheel	wheel	NOUN
ajst-3975	25	31	and	and	CCONJ
ajst-3975	25	32	leg	leg	NOUN
ajst-3975	25	33	modes	mode	NOUN
ajst-3975	25	34	through	through	ADP
ajst-3975	25	35	active	active	ADJ
ajst-3975	25	36	deformation	deformation	NOUN
ajst-3975	25	37	devices	device	NOUN
ajst-3975	25	38	.	.	PUNCT
ajst-3975	26	1	since	since	SCONJ
ajst-3975	26	2	the	the	DET
ajst-3975	26	3	conditions	condition	NOUN
ajst-3975	26	4	for	for	ADP
ajst-3975	26	5	passively	passively	ADV
ajst-3975	26	6	triggering	trigger	VERB
ajst-3975	26	7	the	the	DET
ajst-3975	26	8	wheel	wheel	NOUN
ajst-3975	26	9	-	-	PUNCT
ajst-3975	26	10	leg	leg	NOUN
ajst-3975	26	11	84	84	NUM
ajst-3975	26	12	deformation	deformation	NOUN
ajst-3975	26	13	are	be	AUX
ajst-3975	26	14	unstable	unstable	ADJ
ajst-3975	26	15	,	,	PUNCT
ajst-3975	26	16	the	the	DET
ajst-3975	26	17	switching	switch	VERB
ajst-3975	26	18	efficiency	efficiency	NOUN
ajst-3975	26	19	of	of	ADP
ajst-3975	26	20	the	the	DET
ajst-3975	26	21	wheel	wheel	NOUN
ajst-3975	26	22	-	-	PUNCT
ajst-3975	26	23	leg	leg	NOUN
ajst-3975	26	24	is	be	AUX
ajst-3975	26	25	not	not	PART
ajst-3975	26	26	high	high	ADJ
ajst-3975	26	27	,	,	PUNCT
ajst-3975	26	28	so	so	SCONJ
ajst-3975	26	29	this	this	DET
ajst-3975	26	30	paper	paper	NOUN
ajst-3975	26	31	adopts	adopt	VERB
ajst-3975	26	32	the	the	DET
ajst-3975	26	33	active	active	ADJ
ajst-3975	26	34	deformation	deformation	NOUN
ajst-3975	26	35	structure	structure	NOUN
ajst-3975	26	36	to	to	PART
ajst-3975	26	37	realize	realize	VERB
ajst-3975	26	38	the	the	DET
ajst-3975	26	39	switching	switching	NOUN
ajst-3975	26	40	of	of	ADP
ajst-3975	26	41	the	the	DET
ajst-3975	26	42	wheelleg	wheelleg	NOUN
ajst-3975	26	43	mode	mode	PROPN
ajst-3975	26	44	.	.	PUNCT
ajst-3975	27	1	the	the	DET
ajst-3975	27	2	key	key	NOUN
ajst-3975	27	3	to	to	ADP
ajst-3975	27	4	whether	whether	SCONJ
ajst-3975	27	5	the	the	DET
ajst-3975	27	6	deformable	deformable	ADJ
ajst-3975	27	7	wheel	wheel	NOUN
ajst-3975	27	8	legs	leg	NOUN
ajst-3975	27	9	can	can	AUX
ajst-3975	27	10	switch	switch	VERB
ajst-3975	27	11	between	between	ADP
ajst-3975	27	12	wheel	wheel	NOUN
ajst-3975	27	13	and	and	CCONJ
ajst-3975	27	14	leg	leg	NOUN
ajst-3975	27	15	modes	mode	NOUN
ajst-3975	27	16	is	be	AUX
ajst-3975	27	17	to	to	PART
ajst-3975	27	18	control	control	VERB
ajst-3975	27	19	the	the	DET
ajst-3975	27	20	relative	relative	ADJ
ajst-3975	27	21	rotation	rotation	NOUN
ajst-3975	27	22	state	state	NOUN
ajst-3975	27	23	between	between	ADP
ajst-3975	27	24	the	the	DET
ajst-3975	27	25	inner	inner	ADJ
ajst-3975	27	26	and	and	CCONJ
ajst-3975	27	27	outer	outer	ADJ
ajst-3975	27	28	frames	frame	NOUN
ajst-3975	27	29	and	and	CCONJ
ajst-3975	27	30	the	the	DET
ajst-3975	27	31	active	active	ADJ
ajst-3975	27	32	wheel	wheel	NOUN
ajst-3975	27	33	frame	frame	NOUN
ajst-3975	27	34	.	.	PUNCT
ajst-3975	28	1	in	in	ADP
ajst-3975	28	2	the	the	DET
ajst-3975	28	3	wheel	wheel	NOUN
ajst-3975	28	4	mode	mode	NOUN
ajst-3975	28	5	and	and	CCONJ
ajst-3975	28	6	the	the	DET
ajst-3975	28	7	wheel	wheel	NOUN
ajst-3975	28	8	-	-	PUNCT
ajst-3975	28	9	leg	leg	NOUN
ajst-3975	28	10	mode	mode	NOUN
ajst-3975	28	11	,	,	PUNCT
ajst-3975	28	12	the	the	DET
ajst-3975	28	13	inner	inner	ADJ
ajst-3975	28	14	and	and	CCONJ
ajst-3975	28	15	outer	outer	ADJ
ajst-3975	28	16	cages	cage	NOUN
ajst-3975	28	17	can	can	AUX
ajst-3975	28	18	be	be	AUX
ajst-3975	28	19	integrated	integrate	VERB
ajst-3975	28	20	with	with	ADP
ajst-3975	28	21	the	the	DET
ajst-3975	28	22	driving	drive	VERB
ajst-3975	28	23	wheel	wheel	NOUN
ajst-3975	28	24	frame	frame	NOUN
ajst-3975	28	25	to	to	PART
ajst-3975	28	26	perform	perform	VERB
ajst-3975	28	27	overall	overall	ADJ
ajst-3975	28	28	rotation	rotation	NOUN
ajst-3975	28	29	.	.	PUNCT
ajst-3975	29	1	when	when	SCONJ
ajst-3975	29	2	deformation	deformation	NOUN
ajst-3975	29	3	is	be	AUX
ajst-3975	29	4	required	require	VERB
ajst-3975	29	5	,	,	PUNCT
ajst-3975	29	6	the	the	DET
ajst-3975	29	7	inner	inner	ADJ
ajst-3975	29	8	and	and	CCONJ
ajst-3975	29	9	outer	outer	ADJ
ajst-3975	29	10	frames	frame	NOUN
ajst-3975	29	11	can	can	AUX
ajst-3975	29	12	rotate	rotate	VERB
ajst-3975	29	13	relative	relative	ADV
ajst-3975	29	14	to	to	ADP
ajst-3975	29	15	the	the	DET
ajst-3975	29	16	driving	drive	VERB
ajst-3975	29	17	wheel	wheel	NOUN
ajst-3975	29	18	frame	frame	NOUN
ajst-3975	29	19	.	.	PUNCT
ajst-3975	30	1	in	in	ADP
ajst-3975	30	2	order	order	NOUN
ajst-3975	30	3	to	to	PART
ajst-3975	30	4	achieve	achieve	VERB
ajst-3975	30	5	the	the	DET
ajst-3975	30	6	above	above	ADJ
ajst-3975	30	7	actions	action	NOUN
ajst-3975	30	8	,	,	PUNCT
ajst-3975	30	9	electromagnetic	electromagnetic	ADJ
ajst-3975	30	10	clutches	clutch	NOUN
ajst-3975	30	11	are	be	AUX
ajst-3975	30	12	often	often	ADV
ajst-3975	30	13	used	use	VERB
ajst-3975	30	14	as	as	ADP
ajst-3975	30	15	actuators	actuator	NOUN
ajst-3975	30	16	.	.	PUNCT
ajst-3975	31	1	electromagnetic	electromagnetic	ADJ
ajst-3975	31	2	clutch	clutch	NOUN
ajst-3975	31	3	is	be	AUX
ajst-3975	31	4	a	a	DET
ajst-3975	31	5	widely	widely	ADV
ajst-3975	31	6	used	use	VERB
ajst-3975	31	7	clutch	clutch	NOUN
ajst-3975	31	8	.	.	PUNCT
ajst-3975	32	1	it	it	PRON
ajst-3975	32	2	is	be	AUX
ajst-3975	32	3	a	a	DET
ajst-3975	32	4	friction	friction	NOUN
ajst-3975	32	5	clutch	clutch	NOUN
ajst-3975	32	6	that	that	PRON
ajst-3975	32	7	generates	generate	VERB
ajst-3975	32	8	a	a	DET
ajst-3975	32	9	pressing	press	VERB
ajst-3975	32	10	force	force	NOUN
ajst-3975	32	11	by	by	ADP
ajst-3975	32	12	electromagnetic	electromagnetic	ADJ
ajst-3975	32	13	force	force	NOUN
ajst-3975	32	14	.	.	PUNCT
ajst-3975	33	1	it	it	PRON
ajst-3975	33	2	has	have	VERB
ajst-3975	33	3	two	two	NUM
ajst-3975	33	4	types	type	NOUN
ajst-3975	33	5	:	:	PUNCT
ajst-3975	33	6	fixed	fix	VERB
ajst-3975	33	7	coil	coil	NOUN
ajst-3975	33	8	and	and	CCONJ
ajst-3975	33	9	rotating	rotate	VERB
ajst-3975	33	10	coil	coil	NOUN
ajst-3975	33	11	,	,	PUNCT
ajst-3975	33	12	and	and	CCONJ
ajst-3975	33	13	has	have	VERB
ajst-3975	33	14	functions	function	NOUN
ajst-3975	33	15	such	such	ADJ
ajst-3975	33	16	as	as	ADP
ajst-3975	33	17	quick	quick	ADJ
ajst-3975	33	18	start	start	NOUN
ajst-3975	33	19	,	,	PUNCT
ajst-3975	33	20	forward	forward	ADV
ajst-3975	33	21	and	and	CCONJ
ajst-3975	33	22	reverse	reverse	VERB
ajst-3975	33	23	.	.	PUNCT
ajst-3975	34	1	during	during	ADP
ajst-3975	34	2	the	the	DET
ajst-3975	34	3	deformation	deformation	NOUN
ajst-3975	34	4	process	process	NOUN
ajst-3975	34	5	of	of	ADP
ajst-3975	34	6	the	the	DET
ajst-3975	34	7	wheel	wheel	NOUN
ajst-3975	34	8	leg	leg	NOUN
ajst-3975	34	9	,	,	PUNCT
ajst-3975	34	10	avoid	avoid	VERB
ajst-3975	34	11	driving	drive	VERB
ajst-3975	34	12	the	the	DET
ajst-3975	34	13	driven	driven	ADJ
ajst-3975	34	14	part	part	NOUN
ajst-3975	34	15	to	to	PART
ajst-3975	34	16	rotate	rotate	VERB
ajst-3975	34	17	during	during	ADP
ajst-3975	34	18	the	the	DET
ajst-3975	34	19	rotation	rotation	NOUN
ajst-3975	34	20	of	of	ADP
ajst-3975	34	21	the	the	DET
ajst-3975	34	22	driving	drive	VERB
ajst-3975	34	23	wheel	wheel	NOUN
ajst-3975	34	24	frame	frame	NOUN
ajst-3975	34	25	or	or	CCONJ
ajst-3975	34	26	the	the	DET
ajst-3975	34	27	inner	inner	ADJ
ajst-3975	34	28	and	and	CCONJ
ajst-3975	34	29	outer	outer	ADJ
ajst-3975	34	30	cages	cage	NOUN
ajst-3975	34	31	,	,	PUNCT
ajst-3975	34	32	so	so	SCONJ
ajst-3975	34	33	it	it	PRON
ajst-3975	34	34	is	be	AUX
ajst-3975	34	35	necessary	necessary	ADJ
ajst-3975	34	36	to	to	PART
ajst-3975	34	37	brake	brake	VERB
ajst-3975	34	38	the	the	DET
ajst-3975	34	39	driven	drive	VERB
ajst-3975	34	40	part	part	NOUN
ajst-3975	34	41	during	during	ADP
ajst-3975	34	42	the	the	DET
ajst-3975	34	43	deformation	deformation	NOUN
ajst-3975	34	44	process	process	NOUN
ajst-3975	34	45	,	,	PUNCT
ajst-3975	34	46	or	or	CCONJ
ajst-3975	34	47	provide	provide	VERB
ajst-3975	34	48	additional	additional	ADJ
ajst-3975	34	49	driving	driving	NOUN
ajst-3975	34	50	force	force	NOUN
ajst-3975	34	51	for	for	ADP
ajst-3975	34	52	the	the	DET
ajst-3975	34	53	driven	drive	VERB
ajst-3975	34	54	part	part	NOUN
ajst-3975	34	55	.	.	PUNCT
ajst-3975	35	1	the	the	DET
ajst-3975	35	2	d	d	ADV
ajst-3975	35	3	-	-	PUNCT
ajst-3975	35	4	shaped	shape	VERB
ajst-3975	35	5	shaft	shaft	NOUN
ajst-3975	35	6	drives	drive	VERB
ajst-3975	35	7	the	the	DET
ajst-3975	35	8	driving	drive	VERB
ajst-3975	35	9	wheel	wheel	NOUN
ajst-3975	35	10	frame	frame	NOUN
ajst-3975	35	11	to	to	PART
ajst-3975	35	12	rotate	rotate	VERB
ajst-3975	35	13	,	,	PUNCT
ajst-3975	35	14	the	the	DET
ajst-3975	35	15	electromagnetic	electromagnetic	ADJ
ajst-3975	35	16	clutch	clutch	NOUN
ajst-3975	35	17	and	and	CCONJ
ajst-3975	35	18	the	the	DET
ajst-3975	35	19	d	d	NOUN
ajst-3975	35	20	-	-	PUNCT
ajst-3975	35	21	shaft	shaft	NOUN
ajst-3975	35	22	rotate	rotate	VERB
ajst-3975	35	23	coaxially	coaxially	ADV
ajst-3975	35	24	,	,	PUNCT
ajst-3975	35	25	and	and	CCONJ
ajst-3975	35	26	the	the	DET
ajst-3975	35	27	clutch	clutch	ADJ
ajst-3975	35	28	friction	friction	NOUN
ajst-3975	35	29	plate	plate	NOUN
ajst-3975	35	30	is	be	AUX
ajst-3975	35	31	installed	instal	VERB
ajst-3975	35	32	on	on	ADP
ajst-3975	35	33	the	the	DET
ajst-3975	35	34	inner	inner	ADJ
ajst-3975	35	35	cage	cage	NOUN
ajst-3975	35	36	.	.	PUNCT
ajst-3975	36	1	when	when	SCONJ
ajst-3975	36	2	the	the	DET
ajst-3975	36	3	electromagnetic	electromagnetic	ADJ
ajst-3975	36	4	clutch	clutch	NOUN
ajst-3975	36	5	is	be	AUX
ajst-3975	36	6	energized	energize	VERB
ajst-3975	36	7	and	and	CCONJ
ajst-3975	36	8	combined	combine	VERB
ajst-3975	36	9	with	with	ADP
ajst-3975	36	10	the	the	DET
ajst-3975	36	11	friction	friction	NOUN
ajst-3975	36	12	plate	plate	NOUN
ajst-3975	36	13	,	,	PUNCT
ajst-3975	36	14	the	the	DET
ajst-3975	36	15	driving	drive	VERB
ajst-3975	36	16	wheel	wheel	NOUN
ajst-3975	36	17	frame	frame	NOUN
ajst-3975	36	18	and	and	CCONJ
ajst-3975	36	19	the	the	DET
ajst-3975	36	20	inner	inner	ADJ
ajst-3975	36	21	and	and	CCONJ
ajst-3975	36	22	outer	outer	ADJ
ajst-3975	36	23	cages	cage	NOUN
ajst-3975	36	24	rotate	rotate	VERB
ajst-3975	36	25	as	as	ADP
ajst-3975	36	26	a	a	DET
ajst-3975	36	27	whole	whole	NOUN
ajst-3975	36	28	.	.	PUNCT
ajst-3975	37	1	when	when	SCONJ
ajst-3975	37	2	the	the	DET
ajst-3975	37	3	electromagnetic	electromagnetic	ADJ
ajst-3975	37	4	clutch	clutch	NOUN
ajst-3975	37	5	is	be	AUX
ajst-3975	37	6	powered	power	VERB
ajst-3975	37	7	off	off	ADP
ajst-3975	37	8	and	and	CCONJ
ajst-3975	37	9	separated	separate	VERB
ajst-3975	37	10	,	,	PUNCT
ajst-3975	37	11	the	the	DET
ajst-3975	37	12	inner	inner	ADJ
ajst-3975	37	13	and	and	CCONJ
ajst-3975	37	14	outer	outer	ADJ
ajst-3975	37	15	cages	cage	NOUN
ajst-3975	37	16	and	and	CCONJ
ajst-3975	37	17	the	the	DET
ajst-3975	37	18	driving	drive	VERB
ajst-3975	37	19	wheel	wheel	NOUN
ajst-3975	37	20	frame	frame	NOUN
ajst-3975	37	21	can	can	AUX
ajst-3975	37	22	rotate	rotate	VERB
ajst-3975	37	23	relatively	relatively	ADV
ajst-3975	37	24	,	,	PUNCT
ajst-3975	37	25	and	and	CCONJ
ajst-3975	37	26	the	the	DET
ajst-3975	37	27	deformation	deformation	NOUN
ajst-3975	37	28	of	of	ADP
ajst-3975	37	29	the	the	DET
ajst-3975	37	30	wheel	wheel	NOUN
ajst-3975	37	31	legs	leg	NOUN
ajst-3975	37	32	is	be	AUX
ajst-3975	37	33	realized	realize	VERB
ajst-3975	37	34	through	through	ADP
ajst-3975	37	35	the	the	DET
ajst-3975	37	36	gear	gear	NOUN
ajst-3975	37	37	meshing	meshing	NOUN
ajst-3975	37	38	transmission	transmission	NOUN
ajst-3975	37	39	on	on	ADP
ajst-3975	37	40	the	the	DET
ajst-3975	37	41	inner	inner	ADJ
ajst-3975	37	42	cage	cage	NOUN
ajst-3975	37	43	.	.	PUNCT
ajst-3975	38	1	there	there	PRON
ajst-3975	38	2	are	be	VERB
ajst-3975	38	3	two	two	NUM
ajst-3975	38	4	ways	way	NOUN
ajst-3975	38	5	to	to	PART
ajst-3975	38	6	realize	realize	VERB
ajst-3975	38	7	:	:	PUNCT
ajst-3975	38	8	method	method	NOUN
ajst-3975	38	9	1	1	NUM
ajst-3975	38	10	:	:	PUNCT
ajst-3975	38	11	the	the	DET
ajst-3975	38	12	active	active	ADJ
ajst-3975	38	13	rotation	rotation	NOUN
ajst-3975	38	14	of	of	ADP
ajst-3975	38	15	the	the	DET
ajst-3975	38	16	inner	inner	ADJ
ajst-3975	38	17	and	and	CCONJ
ajst-3975	38	18	outer	outer	ADJ
ajst-3975	38	19	cages	cage	NOUN
ajst-3975	38	20	is	be	AUX
ajst-3975	38	21	realized	realize	VERB
ajst-3975	38	22	by	by	ADP
ajst-3975	38	23	adding	add	VERB
ajst-3975	38	24	an	an	DET
ajst-3975	38	25	active	active	ADJ
ajst-3975	38	26	motor	motor	NOUN
ajst-3975	38	27	with	with	ADP
ajst-3975	38	28	an	an	DET
ajst-3975	38	29	encoder	encoder	NOUN
ajst-3975	38	30	to	to	PART
ajst-3975	38	31	drive	drive	VERB
ajst-3975	38	32	the	the	DET
ajst-3975	38	33	meshing	meshing	NOUN
ajst-3975	38	34	gears	gear	NOUN
ajst-3975	38	35	to	to	PART
ajst-3975	38	36	rotate	rotate	VERB
ajst-3975	38	37	,	,	PUNCT
ajst-3975	38	38	and	and	CCONJ
ajst-3975	38	39	the	the	DET
ajst-3975	38	40	active	active	ADJ
ajst-3975	38	41	wheel	wheel	NOUN
ajst-3975	38	42	frame	frame	NOUN
ajst-3975	38	43	remains	remain	VERB
ajst-3975	38	44	stationary	stationary	ADJ
ajst-3975	38	45	during	during	ADP
ajst-3975	38	46	this	this	DET
ajst-3975	38	47	process	process	NOUN
ajst-3975	38	48	,	,	PUNCT
ajst-3975	38	49	as	as	SCONJ
ajst-3975	38	50	shown	show	VERB
ajst-3975	38	51	in	in	ADP
ajst-3975	38	52	figure	figure	NOUN
ajst-3975	38	53	2	2	NUM
ajst-3975	38	54	.	.	PUNCT
ajst-3975	38	55	method	method	NOUN
ajst-3975	38	56	2	2	NUM
ajst-3975	38	57	:	:	PUNCT
ajst-3975	38	58	the	the	DET
ajst-3975	38	59	meshing	meshing	NOUN
ajst-3975	38	60	gears	gear	NOUN
ajst-3975	38	61	are	be	AUX
ajst-3975	38	62	braked	brake	VERB
ajst-3975	38	63	by	by	ADP
ajst-3975	38	64	the	the	DET
ajst-3975	38	65	electromagnetic	electromagnetic	ADJ
ajst-3975	38	66	brake	brake	NOUN
ajst-3975	38	67	,	,	PUNCT
ajst-3975	38	68	so	so	SCONJ
ajst-3975	38	69	that	that	SCONJ
ajst-3975	38	70	the	the	DET
ajst-3975	38	71	inner	inner	ADJ
ajst-3975	38	72	and	and	CCONJ
ajst-3975	38	73	outer	outer	ADJ
ajst-3975	38	74	cages	cage	NOUN
ajst-3975	38	75	are	be	AUX
ajst-3975	38	76	stationary	stationary	ADJ
ajst-3975	38	77	,	,	PUNCT
ajst-3975	38	78	and	and	CCONJ
ajst-3975	38	79	the	the	DET
ajst-3975	38	80	driving	drive	VERB
ajst-3975	38	81	wheel	wheel	NOUN
ajst-3975	38	82	rotates	rotate	NOUN
ajst-3975	38	83	to	to	PART
ajst-3975	38	84	realize	realize	VERB
ajst-3975	38	85	the	the	DET
ajst-3975	38	86	conversion	conversion	NOUN
ajst-3975	38	87	of	of	ADP
ajst-3975	38	88	the	the	DET
ajst-3975	38	89	wheel	wheel	NOUN
ajst-3975	38	90	-	-	PUNCT
ajst-3975	38	91	leg	leg	NOUN
ajst-3975	38	92	mode	mode	NOUN
ajst-3975	38	93	,	,	PUNCT
ajst-3975	38	94	as	as	SCONJ
ajst-3975	38	95	shown	show	VERB
ajst-3975	38	96	in	in	ADP
ajst-3975	38	97	figure	figure	NOUN
ajst-3975	38	98	3	3	NUM
ajst-3975	38	99	.	.	PUNCT
ajst-3975	38	100	figure	figure	NOUN
ajst-3975	38	101	2	2	NUM
ajst-3975	38	102	.	.	PUNCT
ajst-3975	38	103	additional	additional	ADJ
ajst-3975	38	104	deformation	deformation	NOUN
ajst-3975	38	105	drive	drive	NOUN
ajst-3975	38	106	motor	motor	NOUN
ajst-3975	38	107	drive	drive	NOUN
ajst-3975	38	108	mode	mode	NOUN
ajst-3975	38	109	figure	figure	NOUN
ajst-3975	38	110	3	3	NUM
ajst-3975	38	111	.	.	PUNCT
ajst-3975	38	112	electromagnetic	electromagnetic	ADJ
ajst-3975	38	113	brake	brake	NOUN
ajst-3975	38	114	braking	brake	VERB
ajst-3975	38	115	deformation	deformation	NOUN
ajst-3975	38	116	mode	mode	NOUN
ajst-3975	38	117	in	in	ADP
ajst-3975	38	118	order	order	NOUN
ajst-3975	38	119	to	to	PART
ajst-3975	38	120	reduce	reduce	VERB
ajst-3975	38	121	the	the	DET
ajst-3975	38	122	overall	overall	ADJ
ajst-3975	38	123	weight	weight	NOUN
ajst-3975	38	124	of	of	ADP
ajst-3975	38	125	the	the	DET
ajst-3975	38	126	mobile	mobile	NOUN
ajst-3975	38	127	robot	robot	NOUN
ajst-3975	38	128	and	and	CCONJ
ajst-3975	38	129	reduce	reduce	VERB
ajst-3975	38	130	the	the	DET
ajst-3975	38	131	complexity	complexity	NOUN
ajst-3975	38	132	of	of	ADP
ajst-3975	38	133	control	control	NOUN
ajst-3975	38	134	,	,	PUNCT
ajst-3975	38	135	the	the	DET
ajst-3975	38	136	second	second	ADJ
ajst-3975	38	137	method	method	NOUN
ajst-3975	38	138	is	be	AUX
ajst-3975	38	139	adopted	adopt	VERB
ajst-3975	38	140	as	as	ADP
ajst-3975	38	141	the	the	DET
ajst-3975	38	142	deformation	deformation	NOUN
ajst-3975	38	143	mechanism	mechanism	NOUN
ajst-3975	38	144	of	of	ADP
ajst-3975	38	145	the	the	DET
ajst-3975	38	146	active	active	ADJ
ajst-3975	38	147	wheel	wheel	NOUN
ajst-3975	38	148	legs	leg	NOUN
ajst-3975	38	149	.	.	PUNCT
ajst-3975	39	1	in	in	ADP
ajst-3975	39	2	order	order	NOUN
ajst-3975	39	3	to	to	PART
ajst-3975	39	4	make	make	VERB
ajst-3975	39	5	the	the	DET
ajst-3975	39	6	driving	driving	NOUN
ajst-3975	39	7	wheel	wheel	NOUN
ajst-3975	39	8	leg	leg	NOUN
ajst-3975	39	9	rotate	rotate	VERB
ajst-3975	39	10	according	accord	VERB
ajst-3975	39	11	to	to	ADP
ajst-3975	39	12	a	a	DET
ajst-3975	39	13	certain	certain	ADJ
ajst-3975	39	14	angle	angle	NOUN
ajst-3975	39	15	during	during	ADP
ajst-3975	39	16	the	the	DET
ajst-3975	39	17	rotation	rotation	NOUN
ajst-3975	39	18	process	process	NOUN
ajst-3975	39	19	and	and	CCONJ
ajst-3975	39	20	avoid	avoid	VERB
ajst-3975	39	21	damage	damage	NOUN
ajst-3975	39	22	to	to	ADP
ajst-3975	39	23	the	the	DET
ajst-3975	39	24	wheel	wheel	NOUN
ajst-3975	39	25	leg	leg	NOUN
ajst-3975	39	26	structure	structure	NOUN
ajst-3975	39	27	due	due	ADP
ajst-3975	39	28	to	to	ADP
ajst-3975	39	29	excessive	excessive	ADJ
ajst-3975	39	30	rotation	rotation	NOUN
ajst-3975	39	31	,	,	PUNCT
ajst-3975	39	32	the	the	DET
ajst-3975	39	33	driving	drive	VERB
ajst-3975	39	34	wheel	wheel	NOUN
ajst-3975	39	35	motor	motor	NOUN
ajst-3975	39	36	is	be	AUX
ajst-3975	39	37	selected	select	VERB
ajst-3975	39	38	with	with	ADP
ajst-3975	39	39	an	an	DET
ajst-3975	39	40	encoder	encoder	NOUN
ajst-3975	39	41	.	.	PUNCT
ajst-3975	40	1	figure	figure	VERB
ajst-3975	40	2	4	4	NUM
ajst-3975	40	3	.	.	PUNCT
ajst-3975	40	4	schematic	schematic	ADJ
ajst-3975	40	5	diagram	diagram	NOUN
ajst-3975	40	6	of	of	ADP
ajst-3975	40	7	deformable	deformable	ADJ
ajst-3975	40	8	wheel	wheel	NOUN
ajst-3975	40	9	-	-	PUNCT
ajst-3975	40	10	leg	leg	NOUN
ajst-3975	40	11	structure	structure	NOUN
ajst-3975	40	12	the	the	DET
ajst-3975	40	13	extended	extended	ADJ
ajst-3975	40	14	arc	arc	NOUN
ajst-3975	40	15	legs	leg	NOUN
ajst-3975	40	16	are	be	AUX
ajst-3975	40	17	hinged	hinge	VERB
ajst-3975	40	18	to	to	ADP
ajst-3975	40	19	the	the	DET
ajst-3975	40	20	drive	drive	ADJ
ajst-3975	40	21	wheel	wheel	NOUN
ajst-3975	40	22	frame	frame	NOUN
ajst-3975	40	23	,	,	PUNCT
ajst-3975	40	24	and	and	CCONJ
ajst-3975	40	25	the	the	DET
ajst-3975	40	26	drive	drive	ADJ
ajst-3975	40	27	wheel	wheel	NOUN
ajst-3975	40	28	frame	frame	NOUN
ajst-3975	40	29	is	be	AUX
ajst-3975	40	30	located	locate	VERB
ajst-3975	40	31	between	between	ADP
ajst-3975	40	32	the	the	DET
ajst-3975	40	33	outer	outer	ADJ
ajst-3975	40	34	cage	cage	NOUN
ajst-3975	40	35	and	and	CCONJ
ajst-3975	40	36	the	the	DET
ajst-3975	40	37	inner	inner	ADJ
ajst-3975	40	38	cage	cage	NOUN
ajst-3975	40	39	,	,	PUNCT
ajst-3975	40	40	and	and	CCONJ
ajst-3975	40	41	is	be	AUX
ajst-3975	40	42	connected	connect	VERB
ajst-3975	40	43	together	together	ADV
ajst-3975	40	44	by	by	ADP
ajst-3975	40	45	hinge	hinge	NOUN
ajst-3975	40	46	pins	pin	NOUN
ajst-3975	40	47	and	and	CCONJ
ajst-3975	40	48	spoke	speak	VERB
ajst-3975	40	49	links	link	NOUN
ajst-3975	40	50	.	.	PUNCT
ajst-3975	41	1	the	the	DET
ajst-3975	41	2	other	other	ADJ
ajst-3975	41	3	end	end	NOUN
ajst-3975	41	4	of	of	ADP
ajst-3975	41	5	the	the	DET
ajst-3975	41	6	spoke	speak	VERB
ajst-3975	41	7	connecting	connect	VERB
ajst-3975	41	8	rod	rod	NOUN
ajst-3975	41	9	is	be	AUX
ajst-3975	41	10	hinged	hinge	VERB
ajst-3975	41	11	with	with	ADP
ajst-3975	41	12	the	the	DET
ajst-3975	41	13	extended	extended	ADJ
ajst-3975	41	14	arc	arc	NOUN
ajst-3975	41	15	leg	leg	NOUN
ajst-3975	41	16	,	,	PUNCT
ajst-3975	41	17	forming	form	VERB
ajst-3975	41	18	a	a	DET
ajst-3975	41	19	circular	circular	ADJ
ajst-3975	41	20	roller	roller	NOUN
ajst-3975	41	21	when	when	SCONJ
ajst-3975	41	22	the	the	DET
ajst-3975	41	23	spoke	speak	VERB
ajst-3975	41	24	connecting	connect	VERB
ajst-3975	41	25	rod	rod	NOUN
ajst-3975	41	26	shrinks	shrink	VERB
ajst-3975	41	27	.	.	PUNCT
ajst-3975	42	1	during	during	ADP
ajst-3975	42	2	the	the	DET
ajst-3975	42	3	rolling	rolling	ADJ
ajst-3975	42	4	process	process	NOUN
ajst-3975	42	5	,	,	PUNCT
ajst-3975	42	6	the	the	DET
ajst-3975	42	7	electromagnetic	electromagnetic	ADJ
ajst-3975	42	8	clutch	clutch	NOUN
ajst-3975	42	9	is	be	AUX
ajst-3975	42	10	in	in	ADP
ajst-3975	42	11	the	the	DET
ajst-3975	42	12	clutch	clutch	ADJ
ajst-3975	42	13	state	state	NOUN
ajst-3975	42	14	,	,	PUNCT
ajst-3975	42	15	the	the	DET
ajst-3975	42	16	inner	inner	ADJ
ajst-3975	42	17	and	and	CCONJ
ajst-3975	42	18	outer	outer	ADJ
ajst-3975	42	19	cages	cage	NOUN
ajst-3975	42	20	and	and	CCONJ
ajst-3975	42	21	the	the	DET
ajst-3975	42	22	driving	drive	VERB
ajst-3975	42	23	wheel	wheel	NOUN
ajst-3975	42	24	frame	frame	NOUN
ajst-3975	42	25	are	be	AUX
ajst-3975	42	26	integrated	integrate	VERB
ajst-3975	42	27	,	,	PUNCT
ajst-3975	42	28	and	and	CCONJ
ajst-3975	42	29	the	the	DET
ajst-3975	42	30	friction	friction	NOUN
ajst-3975	42	31	plates	plate	NOUN
ajst-3975	42	32	of	of	ADP
ajst-3975	42	33	the	the	DET
ajst-3975	42	34	electromagnetic	electromagnetic	ADJ
ajst-3975	42	35	brake	brake	NOUN
ajst-3975	42	36	are	be	AUX
ajst-3975	42	37	in	in	ADP
ajst-3975	42	38	a	a	DET
ajst-3975	42	39	separated	separated	ADJ
ajst-3975	42	40	state	state	NOUN
ajst-3975	42	41	.	.	PUNCT
ajst-3975	43	1	at	at	ADP
ajst-3975	43	2	this	this	DET
ajst-3975	43	3	time	time	NOUN
ajst-3975	43	4	,	,	PUNCT
ajst-3975	43	5	the	the	DET
ajst-3975	43	6	brake	brake	NOUN
ajst-3975	43	7	gear	gear	NOUN
ajst-3975	43	8	can	can	AUX
ajst-3975	43	9	rotate	rotate	VERB
ajst-3975	43	10	85	85	NUM
ajst-3975	43	11	with	with	ADP
ajst-3975	43	12	the	the	DET
ajst-3975	43	13	gear	gear	NOUN
ajst-3975	43	14	teeth	tooth	NOUN
ajst-3975	43	15	on	on	ADP
ajst-3975	43	16	the	the	DET
ajst-3975	43	17	inner	inner	ADJ
ajst-3975	43	18	cage	cage	NOUN
ajst-3975	43	19	.	.	PUNCT
ajst-3975	44	1	when	when	SCONJ
ajst-3975	44	2	the	the	DET
ajst-3975	44	3	wheel	wheel	NOUN
ajst-3975	44	4	legs	leg	NOUN
ajst-3975	44	5	need	need	VERB
ajst-3975	44	6	to	to	PART
ajst-3975	44	7	be	be	AUX
ajst-3975	44	8	deformed	deform	VERB
ajst-3975	44	9	,	,	PUNCT
ajst-3975	44	10	the	the	DET
ajst-3975	44	11	body	body	NOUN
ajst-3975	44	12	is	be	AUX
ajst-3975	44	13	at	at	ADP
ajst-3975	44	14	rest	rest	NOUN
ajst-3975	44	15	first	first	ADV
ajst-3975	44	16	,	,	PUNCT
ajst-3975	44	17	the	the	DET
ajst-3975	44	18	electromagnetic	electromagnetic	ADJ
ajst-3975	44	19	clutch	clutch	NOUN
ajst-3975	44	20	is	be	AUX
ajst-3975	44	21	powered	power	VERB
ajst-3975	44	22	off	off	ADP
ajst-3975	44	23	and	and	CCONJ
ajst-3975	44	24	separated	separate	VERB
ajst-3975	44	25	,	,	PUNCT
ajst-3975	44	26	and	and	CCONJ
ajst-3975	44	27	the	the	DET
ajst-3975	44	28	inner	inner	ADJ
ajst-3975	44	29	and	and	CCONJ
ajst-3975	44	30	outer	outer	ADJ
ajst-3975	44	31	cages	cage	NOUN
ajst-3975	44	32	can	can	AUX
ajst-3975	44	33	rotate	rotate	VERB
ajst-3975	44	34	relative	relative	ADV
ajst-3975	44	35	to	to	ADP
ajst-3975	44	36	the	the	DET
ajst-3975	44	37	driving	drive	VERB
ajst-3975	44	38	wheel	wheel	NOUN
ajst-3975	44	39	frame	frame	NOUN
ajst-3975	44	40	.	.	PUNCT
ajst-3975	45	1	the	the	DET
ajst-3975	45	2	driving	drive	VERB
ajst-3975	45	3	wheel	wheel	NOUN
ajst-3975	45	4	motor	motor	NOUN
ajst-3975	45	5	is	be	AUX
ajst-3975	45	6	reversed	reverse	VERB
ajst-3975	45	7	,	,	PUNCT
ajst-3975	45	8	and	and	CCONJ
ajst-3975	45	9	the	the	DET
ajst-3975	45	10	rotation	rotation	NOUN
ajst-3975	45	11	angle	angle	NOUN
ajst-3975	45	12	information	information	NOUN
ajst-3975	45	13	of	of	ADP
ajst-3975	45	14	the	the	DET
ajst-3975	45	15	motor	motor	NOUN
ajst-3975	45	16	can	can	AUX
ajst-3975	45	17	be	be	AUX
ajst-3975	45	18	obtained	obtain	VERB
ajst-3975	45	19	through	through	ADP
ajst-3975	45	20	the	the	DET
ajst-3975	45	21	encoder	encoder	NOUN
ajst-3975	45	22	.	.	PUNCT
ajst-3975	46	1	when	when	SCONJ
ajst-3975	46	2	the	the	DET
ajst-3975	46	3	spoke	speak	VERB
ajst-3975	46	4	connecting	connect	VERB
ajst-3975	46	5	rod	rod	NOUN
ajst-3975	46	6	and	and	CCONJ
ajst-3975	46	7	the	the	DET
ajst-3975	46	8	inner	inner	ADJ
ajst-3975	46	9	and	and	CCONJ
ajst-3975	46	10	outer	outer	ADJ
ajst-3975	46	11	cages	cage	NOUN
ajst-3975	46	12	are	be	AUX
ajst-3975	46	13	in	in	ADP
ajst-3975	46	14	the	the	DET
ajst-3975	46	15	collinear	collinear	ADJ
ajst-3975	46	16	position	position	NOUN
ajst-3975	46	17	,	,	PUNCT
ajst-3975	46	18	the	the	DET
ajst-3975	46	19	electromagnetic	electromagnetic	ADJ
ajst-3975	46	20	clutch	clutch	NOUN
ajst-3975	46	21	is	be	AUX
ajst-3975	46	22	clutched	clutch	VERB
ajst-3975	46	23	at	at	ADP
ajst-3975	46	24	this	this	DET
ajst-3975	46	25	moment	moment	NOUN
ajst-3975	46	26	,	,	PUNCT
ajst-3975	46	27	and	and	CCONJ
ajst-3975	46	28	the	the	DET
ajst-3975	46	29	inner	inner	ADJ
ajst-3975	46	30	and	and	CCONJ
ajst-3975	46	31	outer	outer	ADJ
ajst-3975	46	32	cages	cage	NOUN
ajst-3975	46	33	and	and	CCONJ
ajst-3975	46	34	the	the	DET
ajst-3975	46	35	driving	drive	VERB
ajst-3975	46	36	wheel	wheel	NOUN
ajst-3975	46	37	frame	frame	NOUN
ajst-3975	46	38	form	form	NOUN
ajst-3975	46	39	a	a	DET
ajst-3975	46	40	whole	whole	NOUN
ajst-3975	46	41	again	again	ADV
ajst-3975	46	42	.	.	PUNCT
ajst-3975	47	1	the	the	DET
ajst-3975	47	2	electromagnetic	electromagnetic	ADJ
ajst-3975	47	3	brake	brake	NOUN
ajst-3975	47	4	is	be	AUX
ajst-3975	47	5	powered	power	VERB
ajst-3975	47	6	off	off	ADP
ajst-3975	47	7	,	,	PUNCT
ajst-3975	47	8	and	and	CCONJ
ajst-3975	47	9	the	the	DET
ajst-3975	47	10	driving	drive	VERB
ajst-3975	47	11	wheel	wheel	NOUN
ajst-3975	47	12	motor	motor	NOUN
ajst-3975	47	13	drives	drive	VERB
ajst-3975	47	14	the	the	DET
ajst-3975	47	15	wheel	wheel	NOUN
ajst-3975	47	16	leg	leg	NOUN
ajst-3975	47	17	structure	structure	NOUN
ajst-3975	47	18	to	to	PART
ajst-3975	47	19	rotate	rotate	VERB
ajst-3975	47	20	,	,	PUNCT
ajst-3975	47	21	realizing	realize	VERB
ajst-3975	47	22	the	the	DET
ajst-3975	47	23	deformation	deformation	NOUN
ajst-3975	47	24	from	from	ADP
ajst-3975	47	25	the	the	DET
ajst-3975	47	26	wheel	wheel	NOUN
ajst-3975	47	27	structure	structure	NOUN
ajst-3975	47	28	to	to	ADP
ajst-3975	47	29	the	the	DET
ajst-3975	47	30	wheel	wheel	NOUN
ajst-3975	47	31	leg	leg	NOUN
ajst-3975	47	32	structure	structure	NOUN
ajst-3975	47	33	.	.	PUNCT
ajst-3975	48	1	as	as	SCONJ
ajst-3975	48	2	show	show	NOUN
ajst-3975	48	3	in	in	ADP
ajst-3975	48	4	figure	figure	NOUN
ajst-3975	48	5	4	4	NUM
ajst-3975	48	6	.	.	NOUN
ajst-3975	48	7	2.3	2.3	NUM
ajst-3975	48	8	.	.	PUNCT
ajst-3975	49	1	force	force	NOUN
ajst-3975	49	2	analysis	analysis	NOUN
ajst-3975	49	3	of	of	ADP
ajst-3975	49	4	obstacle	obstacle	NOUN
ajst-3975	49	5	crossing	crossing	NOUN
ajst-3975	49	6	in	in	ADP
ajst-3975	49	7	the	the	DET
ajst-3975	49	8	wheel	wheel	NOUN
ajst-3975	49	9	-	-	PUNCT
ajst-3975	49	10	leg	leg	NOUN
ajst-3975	49	11	mode	mode	NOUN
ajst-3975	49	12	the	the	DET
ajst-3975	49	13	mobile	mobile	NOUN
ajst-3975	49	14	robot	robot	NOUN
ajst-3975	49	15	has	have	VERB
ajst-3975	49	16	a	a	DET
ajst-3975	49	17	stronger	strong	ADJ
ajst-3975	49	18	ability	ability	NOUN
ajst-3975	49	19	to	to	PART
ajst-3975	49	20	overcome	overcome	VERB
ajst-3975	49	21	obstacles	obstacle	NOUN
ajst-3975	49	22	after	after	ADP
ajst-3975	49	23	switching	switch	VERB
ajst-3975	49	24	from	from	ADP
ajst-3975	49	25	the	the	DET
ajst-3975	49	26	wheel	wheel	ADJ
ajst-3975	49	27	mode	mode	NOUN
ajst-3975	49	28	to	to	ADP
ajst-3975	49	29	the	the	DET
ajst-3975	49	30	wheelleg	wheelleg	NOUN
ajst-3975	49	31	mode	mode	NOUN
ajst-3975	49	32	.	.	PUNCT
ajst-3975	50	1	it	it	PRON
ajst-3975	50	2	is	be	AUX
ajst-3975	50	3	assumed	assume	VERB
ajst-3975	50	4	that	that	SCONJ
ajst-3975	50	5	the	the	DET
ajst-3975	50	6	parts	part	NOUN
ajst-3975	50	7	of	of	ADP
ajst-3975	50	8	the	the	DET
ajst-3975	50	9	robot	robot	NOUN
ajst-3975	50	10	do	do	AUX
ajst-3975	50	11	not	not	PART
ajst-3975	50	12	deform	deform	VERB
ajst-3975	50	13	during	during	ADP
ajst-3975	50	14	the	the	DET
ajst-3975	50	15	obstacle	obstacle	NOUN
ajst-3975	50	16	course	course	NOUN
ajst-3975	50	17	,	,	PUNCT
ajst-3975	50	18	as	as	SCONJ
ajst-3975	50	19	shown	show	VERB
ajst-3975	50	20	in	in	ADP
ajst-3975	50	21	figure	figure	NOUN
ajst-3975	50	22	5	5	NUM
ajst-3975	50	23	.	.	PUNCT
ajst-3975	51	1	the	the	DET
ajst-3975	51	2	obstacle	obstacle	NOUN
ajst-3975	51	3	model	model	NOUN
ajst-3975	51	4	is	be	AUX
ajst-3975	51	5	simplified	simplify	VERB
ajst-3975	51	6	as	as	ADP
ajst-3975	51	7	a	a	DET
ajst-3975	51	8	ladder	ladder	NOUN
ajst-3975	51	9	with	with	ADP
ajst-3975	51	10	a	a	DET
ajst-3975	51	11	certain	certain	ADJ
ajst-3975	51	12	vertical	vertical	ADJ
ajst-3975	51	13	height	height	NOUN
ajst-3975	51	14	,	,	PUNCT
ajst-3975	51	15	the	the	DET
ajst-3975	51	16	vertical	vertical	ADJ
ajst-3975	51	17	height	height	NOUN
ajst-3975	51	18	of	of	ADP
ajst-3975	51	19	points	point	NOUN
ajst-3975	51	20	a	a	PRON
ajst-3975	51	21	and	and	CCONJ
ajst-3975	51	22	b	b	NOUN
ajst-3975	51	23	is	be	AUX
ajst-3975	51	24	the	the	DET
ajst-3975	51	25	obstacle	obstacle	NOUN
ajst-3975	51	26	height	height	PROPN
ajst-3975	51	27	h	h	NOUN
ajst-3975	51	28	,	,	PUNCT
ajst-3975	51	29	the	the	DET
ajst-3975	51	30	distance	distance	NOUN
ajst-3975	51	31	between	between	ADP
ajst-3975	51	32	the	the	DET
ajst-3975	51	33	front	front	ADJ
ajst-3975	51	34	and	and	CCONJ
ajst-3975	51	35	rear	rear	ADJ
ajst-3975	51	36	wheel	wheel	NOUN
ajst-3975	51	37	centers	center	NOUN
ajst-3975	51	38	is	be	AUX
ajst-3975	51	39	l1	l1	PROPN
ajst-3975	51	40	,	,	PUNCT
ajst-3975	51	41	and	and	CCONJ
ajst-3975	51	42	the	the	DET
ajst-3975	51	43	support	support	NOUN
ajst-3975	51	44	force	force	NOUN
ajst-3975	51	45	fna	fna	NOUN
ajst-3975	51	46	and	and	CCONJ
ajst-3975	51	47	friction	friction	NOUN
ajst-3975	51	48	force	force	NOUN
ajst-3975	51	49	fa	fa	PROPN
ajst-3975	51	50	are	be	AUX
ajst-3975	51	51	received	receive	VERB
ajst-3975	51	52	at	at	ADP
ajst-3975	51	53	point	point	NOUN
ajst-3975	51	54	a.	a.	NOUN
ajst-3975	51	55	after	after	SCONJ
ajst-3975	51	56	the	the	DET
ajst-3975	51	57	front	front	ADJ
ajst-3975	51	58	wheel	wheel	NOUN
ajst-3975	51	59	is	be	AUX
ajst-3975	51	60	switched	switch	VERB
ajst-3975	51	61	to	to	ADP
ajst-3975	51	62	the	the	DET
ajst-3975	51	63	wheel	wheel	NOUN
ajst-3975	51	64	-	-	PUNCT
ajst-3975	51	65	leg	leg	NOUN
ajst-3975	51	66	mode	mode	NOUN
ajst-3975	51	67	and	and	CCONJ
ajst-3975	51	68	contacts	contact	NOUN
ajst-3975	51	69	with	with	ADP
ajst-3975	51	70	obstacles	obstacle	NOUN
ajst-3975	51	71	,	,	PUNCT
ajst-3975	51	72	the	the	DET
ajst-3975	51	73	moment	moment	NOUN
ajst-3975	51	74	the	the	DET
ajst-3975	51	75	front	front	ADJ
ajst-3975	51	76	wheel	wheel	NOUN
ajst-3975	51	77	is	be	AUX
ajst-3975	51	78	about	about	ADJ
ajst-3975	51	79	to	to	PART
ajst-3975	51	80	leave	leave	VERB
ajst-3975	51	81	the	the	DET
ajst-3975	51	82	ground	ground	NOUN
ajst-3975	51	83	under	under	ADP
ajst-3975	51	84	the	the	DET
ajst-3975	51	85	drive	drive	NOUN
ajst-3975	51	86	of	of	ADP
ajst-3975	51	87	the	the	DET
ajst-3975	51	88	roller	roller	NOUN
ajst-3975	51	89	motor	motor	NOUN
ajst-3975	51	90	,	,	PUNCT
ajst-3975	51	91	the	the	DET
ajst-3975	51	92	front	front	ADJ
ajst-3975	51	93	wheel	wheel	NOUN
ajst-3975	51	94	is	be	AUX
ajst-3975	51	95	only	only	ADV
ajst-3975	51	96	subjected	subject	VERB
ajst-3975	51	97	to	to	ADP
ajst-3975	51	98	the	the	DET
ajst-3975	51	99	force	force	NOUN
ajst-3975	51	100	of	of	ADP
ajst-3975	51	101	the	the	DET
ajst-3975	51	102	ground	ground	NOUN
ajst-3975	51	103	to	to	PART
ajst-3975	51	104	extend	extend	VERB
ajst-3975	51	105	the	the	DET
ajst-3975	51	106	arc	arc	NOUN
ajst-3975	51	107	leg	leg	NOUN
ajst-3975	51	108	.	.	PUNCT
ajst-3975	52	1	point	point	NOUN
ajst-3975	52	2	b	b	PROPN
ajst-3975	52	3	is	be	AUX
ajst-3975	52	4	not	not	PART
ajst-3975	52	5	affected	affect	VERB
ajst-3975	52	6	by	by	ADP
ajst-3975	52	7	the	the	DET
ajst-3975	52	8	force	force	NOUN
ajst-3975	52	9	exerted	exert	VERB
ajst-3975	52	10	by	by	ADP
ajst-3975	52	11	the	the	DET
ajst-3975	52	12	ground	ground	NOUN
ajst-3975	52	13	on	on	ADP
ajst-3975	52	14	the	the	DET
ajst-3975	52	15	front	front	ADJ
ajst-3975	52	16	wheel	wheel	NOUN
ajst-3975	52	17	.	.	PUNCT
ajst-3975	53	1	under	under	ADP
ajst-3975	53	2	the	the	DET
ajst-3975	53	3	support	support	NOUN
ajst-3975	53	4	force	force	NOUN
ajst-3975	53	5	fnc	fnc	PROPN
ajst-3975	53	6	and	and	CCONJ
ajst-3975	53	7	friction	friction	NOUN
ajst-3975	53	8	force	force	NOUN
ajst-3975	53	9	fc	fc	PROPN
ajst-3975	54	1	at	at	ADP
ajst-3975	54	2	point	point	NOUN
ajst-3975	54	3	c	c	PROPN
ajst-3975	54	4	,	,	PUNCT
ajst-3975	54	5	the	the	DET
ajst-3975	54	6	torque	torque	NOUN
ajst-3975	54	7	of	of	ADP
ajst-3975	54	8	the	the	DET
ajst-3975	54	9	front	front	NOUN
ajst-3975	54	10	and	and	CCONJ
ajst-3975	54	11	rear	rear	ADJ
ajst-3975	54	12	two	two	NUM
ajst-3975	54	13	-	-	PUNCT
ajst-3975	54	14	wheel	wheel	NOUN
ajst-3975	54	15	drive	drive	NOUN
ajst-3975	54	16	motors	motor	NOUN
ajst-3975	54	17	is	be	AUX
ajst-3975	54	18	the	the	DET
ajst-3975	54	19	same	same	ADJ
ajst-3975	54	20	,	,	PUNCT
ajst-3975	54	21	that	that	ADV
ajst-3975	54	22	is	is	ADV
ajst-3975	54	23	,	,	PUNCT
ajst-3975	54	24	m1	m1	PROPN
ajst-3975	54	25	=	=	SYM
ajst-3975	54	26	m2	m2	PROPN
ajst-3975	54	27	,	,	PUNCT
ajst-3975	54	28	with	with	ADP
ajst-3975	54	29	point	point	NOUN
ajst-3975	54	30	c	c	PROPN
ajst-3975	54	31	as	as	ADP
ajst-3975	54	32	the	the	DET
ajst-3975	54	33	reference	reference	NOUN
ajst-3975	54	34	point	point	NOUN
ajst-3975	54	35	,	,	PUNCT
ajst-3975	54	36	there	there	PRON
ajst-3975	54	37	is	be	VERB
ajst-3975	54	38	a	a	DET
ajst-3975	54	39	torque	torque	NOUN
ajst-3975	54	40	balance	balance	NOUN
ajst-3975	54	41	equation	equation	NOUN
ajst-3975	54	42	1	1	NUM
ajst-3975	54	43	1	1	NUM
ajst-3975	54	44	1	1	NUM
ajst-3975	54	45	1	1	NUM
ajst-3975	54	46	1	1	NUM
ajst-3975	54	47	(	(	PUNCT
ajst-3975	54	48	cos	cos	X
ajst-3975	54	49	sin	sin	NOUN
ajst-3975	54	50	)	)	PUNCT
ajst-3975	54	51	(	(	PUNCT
ajst-3975	54	52	cos	cos	PROPN
ajst-3975	54	53	cos	cos	PROPN
ajst-3975	54	54	)	)	PUNCT
ajst-3975	54	55	sin	sin	NOUN
ajst-3975	54	56	(	(	PUNCT
ajst-3975	54	57	sin	sin	NOUN
ajst-3975	54	58	sin	sin	NOUN
ajst-3975	54	59	)	)	PUNCT
ajst-3975	54	60	1	1	NUM
ajst-3975	54	61	cos	cos	X
ajst-3975	54	62	(	(	PUNCT
ajst-3975	54	63	sin	sin	NOUN
ajst-3975	54	64	sin	sin	NOUN
ajst-3975	54	65	)	)	PUNCT
ajst-3975	54	66	cos	cos	ADP
ajst-3975	54	67	2	2	NUM
ajst-3975	54	68	2	2	NUM
ajst-3975	54	69	na	na	NOUN
ajst-3975	54	70	a	a	DET
ajst-3975	54	71	na	na	NOUN
ajst-3975	54	72	a	a	DET
ajst-3975	54	73	f	f	NOUN
ajst-3975	54	74	f	f	NOUN
ajst-3975	54	75	r	r	NOUN
ajst-3975	54	76	l	l	NOUN
ajst-3975	54	77	f	f	NOUN
ajst-3975	54	78	r	r	NOUN
ajst-3975	54	79	l	l	NOUN
ajst-3975	54	80	r	r	NOUN
ajst-3975	54	81	f	f	NOUN
ajst-3975	54	82	r	r	NOUN
ajst-3975	54	83	l	l	NOUN
ajst-3975	54	84	r	r	NOUN
ajst-3975	54	85	gl	gl	NOUN
ajst-3975	54	86	m	m	VERB
ajst-3975	54	87			NUM
ajst-3975	54	88			NUM
ajst-3975	54	89			NUM
ajst-3975	54	90			NOUN
ajst-3975	54	91			NUM
ajst-3975	54	92			NUM
ajst-3975	54	93			NOUN
ajst-3975	54	94			NUM
ajst-3975	54	95			NUM
ajst-3975	54	96			X
ajst-3975	54	97			X
ajst-3975	54	98			ADV
ajst-3975	54	99			VERB
ajst-3975	54	100			PROPN
ajst-3975	54	101			VERB
ajst-3975	54	102			PROPN
ajst-3975	54	103			PROPN
ajst-3975	54	104			PROPN
ajst-3975	54	105			PUNCT
ajst-3975	54	106			PUNCT
ajst-3975	54	107			X
ajst-3975	54	108	(	(	PUNCT
ajst-3975	54	109	1	1	X
ajst-3975	54	110	)	)	PUNCT
ajst-3975	54	111	cos	cos	ADP
ajst-3975	54	112	sinna	sinna	NOUN
ajst-3975	54	113	a	a	DET
ajst-3975	54	114	ncf	ncf	NOUN
ajst-3975	54	115	f	f	PROPN
ajst-3975	54	116	f	f	PROPN
ajst-3975	54	117	g	g	PROPN
ajst-3975	54	118			ADV
ajst-3975	54	119			VERB
ajst-3975	54	120			PROPN
ajst-3975	54	121	(	(	PUNCT
ajst-3975	54	122	2	2	NUM
ajst-3975	54	123	)	)	PUNCT
ajst-3975	54	124	sina	sina	PROPN
ajst-3975	54	125	c	c	PROPN
ajst-3975	55	1	naf	naf	PROPN
ajst-3975	55	2	f	f	PROPN
ajst-3975	56	1	f	f	PROPN
ajst-3975	56	2			ADV
ajst-3975	56	3			PROPN
ajst-3975	56	4	(	(	PUNCT
ajst-3975	56	5	3	3	NUM
ajst-3975	56	6	)	)	PUNCT
ajst-3975	56	7	in	in	ADP
ajst-3975	56	8	the	the	DET
ajst-3975	56	9	formula	formula	NOUN
ajst-3975	56	10	,	,	PUNCT
ajst-3975	56	11	r	r	NOUN
ajst-3975	56	12	is	be	AUX
ajst-3975	56	13	the	the	DET
ajst-3975	56	14	maximum	maximum	ADJ
ajst-3975	56	15	radius	radius	NOUN
ajst-3975	56	16	when	when	SCONJ
ajst-3975	56	17	switching	switch	VERB
ajst-3975	56	18	to	to	ADP
ajst-3975	56	19	wheel	wheel	NOUN
ajst-3975	56	20	-	-	PUNCT
ajst-3975	56	21	leg	leg	NOUN
ajst-3975	56	22	mode	mode	NOUN
ajst-3975	56	23	.	.	PUNCT
ajst-3975	57	1	r	r	NOUN
ajst-3975	57	2	is	be	AUX
ajst-3975	57	3	the	the	DET
ajst-3975	57	4	wheel	wheel	ADJ
ajst-3975	57	5	radius	radius	NOUN
ajst-3975	57	6	of	of	ADP
ajst-3975	57	7	the	the	DET
ajst-3975	57	8	robot	robot	NOUN
ajst-3975	57	9	in	in	ADP
ajst-3975	57	10	wheeled	wheeled	ADJ
ajst-3975	57	11	mode	mode	NOUN
ajst-3975	57	12	.	.	PUNCT
ajst-3975	58	1			X
ajst-3975	58	2	is	be	AUX
ajst-3975	58	3	the	the	DET
ajst-3975	58	4	angle	angle	NOUN
ajst-3975	58	5	between	between	ADP
ajst-3975	58	6	the	the	DET
ajst-3975	58	7	line	line	NOUN
ajst-3975	58	8	connecting	connect	VERB
ajst-3975	58	9	the	the	DET
ajst-3975	58	10	front	front	ADJ
ajst-3975	58	11	and	and	CCONJ
ajst-3975	58	12	rear	rear	ADJ
ajst-3975	58	13	wheel	wheel	NOUN
ajst-3975	58	14	centers	center	NOUN
ajst-3975	58	15	and	and	CCONJ
ajst-3975	58	16	the	the	DET
ajst-3975	58	17	horizontal	horizontal	ADJ
ajst-3975	58	18	direction	direction	NOUN
ajst-3975	58	19	.	.	PUNCT
ajst-3975	59	1			NUM
ajst-3975	59	2	is	be	AUX
ajst-3975	59	3	the	the	DET
ajst-3975	59	4	line	line	NOUN
ajst-3975	59	5	between	between	ADP
ajst-3975	59	6	the	the	DET
ajst-3975	59	7	contact	contact	NOUN
ajst-3975	59	8	point	point	NOUN
ajst-3975	59	9	of	of	ADP
ajst-3975	59	10	the	the	DET
ajst-3975	59	11	extended	extended	ADJ
ajst-3975	59	12	arc	arc	NOUN
ajst-3975	59	13	leg	leg	NOUN
ajst-3975	59	14	and	and	CCONJ
ajst-3975	59	15	the	the	DET
ajst-3975	59	16	obstacle	obstacle	NOUN
ajst-3975	59	17	and	and	CCONJ
ajst-3975	59	18	the	the	DET
ajst-3975	59	19	center	center	NOUN
ajst-3975	59	20	of	of	ADP
ajst-3975	59	21	the	the	DET
ajst-3975	59	22	front	front	ADJ
ajst-3975	59	23	wheel	wheel	NOUN
ajst-3975	59	24	in	in	ADP
ajst-3975	59	25	the	the	DET
ajst-3975	59	26	wheel	wheel	NOUN
ajst-3975	59	27	-	-	PUNCT
ajst-3975	59	28	leg	leg	NOUN
ajst-3975	59	29	mode	mode	NOUN
ajst-3975	59	30	.	.	PUNCT
ajst-3975	60	1	l1	l1	PROPN
ajst-3975	60	2	is	be	AUX
ajst-3975	60	3	the	the	DET
ajst-3975	60	4	distance	distance	NOUN
ajst-3975	60	5	between	between	ADP
ajst-3975	60	6	the	the	DET
ajst-3975	60	7	front	front	ADJ
ajst-3975	60	8	and	and	CCONJ
ajst-3975	60	9	rear	rear	ADJ
ajst-3975	60	10	wheel	wheel	NOUN
ajst-3975	60	11	centers	center	NOUN
ajst-3975	60	12	.	.	PUNCT
ajst-3975	61	1	when	when	SCONJ
ajst-3975	61	2	switching	switch	VERB
ajst-3975	61	3	to	to	ADP
ajst-3975	61	4	the	the	DET
ajst-3975	61	5	wheel	wheel	NOUN
ajst-3975	61	6	-	-	PUNCT
ajst-3975	61	7	leg	leg	NOUN
ajst-3975	61	8	mode	mode	NOUN
ajst-3975	61	9	to	to	PART
ajst-3975	61	10	overcome	overcome	VERB
ajst-3975	61	11	obstacles	obstacle	NOUN
ajst-3975	61	12	,	,	PUNCT
ajst-3975	61	13	the	the	DET
ajst-3975	61	14	front	front	ADJ
ajst-3975	61	15	wheels	wheel	NOUN
ajst-3975	61	16	rotate	rotate	VERB
ajst-3975	61	17	around	around	ADP
ajst-3975	61	18	the	the	DET
ajst-3975	61	19	obstacle	obstacle	NOUN
ajst-3975	61	20	contact	contact	NOUN
ajst-3975	61	21	point	point	VERB
ajst-3975	61	22	a	a	PRON
ajst-3975	61	23	,	,	PUNCT
ajst-3975	61	24	and	and	CCONJ
ajst-3975	61	25	the	the	DET
ajst-3975	61	26	torque	torque	NOUN
ajst-3975	61	27	of	of	ADP
ajst-3975	61	28	the	the	DET
ajst-3975	61	29	drive	drive	ADJ
ajst-3975	61	30	motor	motor	NOUN
ajst-3975	61	31	mainly	mainly	ADV
ajst-3975	61	32	overcomes	overcome	VERB
ajst-3975	61	33	the	the	DET
ajst-3975	61	34	torque	torque	NOUN
ajst-3975	61	35	generated	generate	VERB
ajst-3975	61	36	between	between	ADP
ajst-3975	61	37	the	the	DET
ajst-3975	61	38	gravity	gravity	NOUN
ajst-3975	61	39	of	of	ADP
ajst-3975	61	40	the	the	DET
ajst-3975	61	41	robot	robot	NOUN
ajst-3975	61	42	and	and	CCONJ
ajst-3975	61	43	the	the	DET
ajst-3975	61	44	obstacle	obstacle	NOUN
ajst-3975	61	45	contact	contact	NOUN
ajst-3975	61	46	point	point	NOUN
ajst-3975	61	47	.	.	PUNCT
ajst-3975	62	1	therefore	therefore	ADV
ajst-3975	62	2	,	,	PUNCT
ajst-3975	62	3	it	it	PRON
ajst-3975	62	4	can	can	AUX
ajst-3975	62	5	be	be	AUX
ajst-3975	62	6	obtained	obtain	VERB
ajst-3975	62	7	that	that	SCONJ
ajst-3975	62	8	the	the	DET
ajst-3975	62	9	driving	drive	VERB
ajst-3975	62	10	torque	torque	NOUN
ajst-3975	62	11	of	of	ADP
ajst-3975	62	12	the	the	DET
ajst-3975	62	13	roller	roller	NOUN
ajst-3975	62	14	motor	motor	NOUN
ajst-3975	62	15	when	when	SCONJ
ajst-3975	62	16	the	the	DET
ajst-3975	62	17	robot	robot	NOUN
ajst-3975	62	18	surmounts	surmount	VERB
ajst-3975	62	19	obstacles	obstacle	NOUN
ajst-3975	62	20	in	in	ADP
ajst-3975	62	21	the	the	DET
ajst-3975	62	22	wheel	wheel	NOUN
ajst-3975	62	23	-	-	PUNCT
ajst-3975	62	24	leg	leg	NOUN
ajst-3975	62	25	mode	mode	NOUN
ajst-3975	62	26	is	be	AUX
ajst-3975	62	27	tr	tr	VERB
ajst-3975	62	28	1	1	NUM
ajst-3975	62	29	cos	cos	PROPN
ajst-3975	62	30	4	4	NUM
ajst-3975	62	31	m	m	PROPN
ajst-3975	62	32	gr	gr	PROPN
ajst-3975	62	33			PROPN
ajst-3975	62	34	(	(	PUNCT
ajst-3975	62	35	4	4	NUM
ajst-3975	62	36	)	)	PUNCT
ajst-3975	62	37	when	when	SCONJ
ajst-3975	62	38			PROPN
ajst-3975	62	39	°	°	PROPN
ajst-3975	62	40	,	,	PUNCT
ajst-3975	62	41	mtr	mtr	PROPN
ajst-3975	62	42	takes	take	VERB
ajst-3975	62	43	the	the	DET
ajst-3975	62	44	maximum	maximum	ADJ
ajst-3975	62	45	value	value	NOUN
ajst-3975	62	46	at	at	ADP
ajst-3975	62	47	this	this	DET
ajst-3975	62	48	time	time	NOUN
ajst-3975	62	49	,	,	PUNCT
ajst-3975	62	50	and	and	CCONJ
ajst-3975	62	51	the	the	DET
ajst-3975	62	52	support	support	NOUN
ajst-3975	62	53	force	force	NOUN
ajst-3975	62	54	of	of	ADP
ajst-3975	62	55	the	the	DET
ajst-3975	62	56	extended	extend	VERB
ajst-3975	62	57	leggings	legging	NOUN
ajst-3975	62	58	is	be	AUX
ajst-3975	62	59	the	the	DET
ajst-3975	62	60	largest	large	ADJ
ajst-3975	62	61	,	,	PUNCT
ajst-3975	62	62	that	that	ADV
ajst-3975	62	63	is	is	ADV
ajst-3975	62	64	,	,	PUNCT
ajst-3975	62	65	fnamax	fnamax	ADJ
ajst-3975	62	66	=	=	NOUN
ajst-3975	62	67	g/4	g/4	PROPN
ajst-3975	62	68	.	.	PUNCT
ajst-3975	63	1	figure	figure	NOUN
ajst-3975	63	2	5	5	NUM
ajst-3975	63	3	.	.	PUNCT
ajst-3975	64	1	force	force	VERB
ajst-3975	64	2	analysis	analysis	NOUN
ajst-3975	64	3	of	of	ADP
ajst-3975	64	4	obstacle	obstacle	NOUN
ajst-3975	64	5	crossing	crossing	NOUN
ajst-3975	64	6	in	in	ADP
ajst-3975	64	7	wheelleg	wheelleg	PROPN
ajst-3975	64	8	mode	mode	PROPN
ajst-3975	64	9	when	when	SCONJ
ajst-3975	64	10	it	it	PRON
ajst-3975	64	11	is	be	AUX
ajst-3975	64	12	transformed	transform	VERB
ajst-3975	64	13	into	into	ADP
ajst-3975	64	14	a	a	DET
ajst-3975	64	15	wheel	wheel	NOUN
ajst-3975	64	16	-	-	PUNCT
ajst-3975	64	17	leg	leg	NOUN
ajst-3975	64	18	mode	mode	NOUN
ajst-3975	64	19	,	,	PUNCT
ajst-3975	64	20	the	the	DET
ajst-3975	64	21	maximum	maximum	ADJ
ajst-3975	64	22	wheel	wheel	NOUN
ajst-3975	64	23	diameter	diameter	NOUN
ajst-3975	64	24	rmax=1.35r	rmax=1.35r	NOUN
ajst-3975	64	25	,	,	PUNCT
ajst-3975	64	26	the	the	DET
ajst-3975	64	27	maximum	maximum	ADJ
ajst-3975	64	28	height	height	NOUN
ajst-3975	64	29	that	that	SCONJ
ajst-3975	64	30	the	the	DET
ajst-3975	64	31	deformed	deform	VERB
ajst-3975	64	32	wheel	wheel	NOUN
ajst-3975	64	33	-	-	PUNCT
ajst-3975	64	34	leg	leg	NOUN
ajst-3975	64	35	theory	theory	NOUN
ajst-3975	64	36	can	can	AUX
ajst-3975	64	37	span	span	VERB
ajst-3975	64	38	is	be	AUX
ajst-3975	64	39	*	*	PUNCT
ajst-3975	64	40	max	max	PROPN
ajst-3975	64	41	0	0	NUM
ajst-3975	64	42	maxsinh	maxsinh	PROPN
ajst-3975	64	43	r	r	NOUN
ajst-3975	64	44	r	r	PROPN
ajst-3975	64	45			X
ajst-3975	64	46	(	(	PUNCT
ajst-3975	64	47	5	5	X
ajst-3975	64	48	)	)	PUNCT
ajst-3975	64	49	max	max	NOUN
ajst-3975	64	50	0cosr	0cosr	PUNCT
ajst-3975	64	51	r	r	NOUN
ajst-3975	64	52			PROPN
ajst-3975	64	53	(	(	PUNCT
ajst-3975	64	54	6	6	NUM
ajst-3975	64	55	)	)	PUNCT
ajst-3975	64	56	*	*	PUNCT
ajst-3975	64	57	max[sin(arccos	max[sin(arcco	NOUN
ajst-3975	64	58	)	)	PUNCT
ajst-3975	64	59	1	1	NUM
ajst-3975	64	60	]	]	SYM
ajst-3975	64	61	r	r	NOUN
ajst-3975	64	62	h	h	NOUN
ajst-3975	64	63	r	r	NOUN
ajst-3975	64	64	r	r	NOUN
ajst-3975	64	65			PROPN
ajst-3975	64	66			PUNCT
ajst-3975	64	67	(	(	PUNCT
ajst-3975	64	68	7	7	NUM
ajst-3975	64	69	)	)	PUNCT
ajst-3975	64	70	when	when	SCONJ
ajst-3975	64	71	in	in	ADP
ajst-3975	64	72	wheel	wheel	NOUN
ajst-3975	64	73	-	-	PUNCT
ajst-3975	64	74	leg	leg	NOUN
ajst-3975	64	75	mode	mode	NOUN
ajst-3975	64	76	,	,	PUNCT
ajst-3975	64	77	the	the	DET
ajst-3975	64	78	deformation	deformation	NOUN
ajst-3975	64	79	wheel	wheel	NOUN
ajst-3975	64	80	can	can	AUX
ajst-3975	64	81	span	span	VERB
ajst-3975	64	82	a	a	DET
ajst-3975	64	83	maximum	maximum	ADJ
ajst-3975	64	84	height	height	NOUN
ajst-3975	64	85	of	of	ADP
ajst-3975	64	86	h*=135	h*=135	PROPN
ajst-3975	64	87	mm	mm	PROPN
ajst-3975	64	88	,	,	PUNCT
ajst-3975	64	89	and	and	CCONJ
ajst-3975	64	90	=42	=42	PROPN
ajst-3975	64	91	°	°	PROPN
ajst-3975	64	92	at	at	ADP
ajst-3975	64	93	this	this	DET
ajst-3975	64	94	time	time	NOUN
ajst-3975	64	95	.	.	PUNCT
ajst-3975	65	1	figure	figure	NOUN
ajst-3975	65	2	5	5	NUM
ajst-3975	65	3	.	.	PUNCT
ajst-3975	65	4	wheel	wheel	NOUN
ajst-3975	65	5	-	-	PUNCT
ajst-3975	65	6	leg	leg	NOUN
ajst-3975	65	7	mode	mode	NOUN
ajst-3975	65	8	maximum	maximum	NOUN
ajst-3975	65	9	spanning	span	VERB
ajst-3975	65	10	height	height	NOUN
ajst-3975	65	11	3	3	NUM
ajst-3975	65	12	.	.	PUNCT
ajst-3975	65	13	finite	finite	PROPN
ajst-3975	65	14	element	element	NOUN
ajst-3975	65	15	analysis	analysis	NOUN
ajst-3975	65	16	of	of	ADP
ajst-3975	65	17	key	key	ADJ
ajst-3975	65	18	parts	part	NOUN
ajst-3975	65	19	3.1	3.1	NUM
ajst-3975	65	20	.	.	PUNCT
ajst-3975	66	1	static	static	ADJ
ajst-3975	66	2	analysis	analysis	NOUN
ajst-3975	66	3	of	of	ADP
ajst-3975	66	4	driving	drive	VERB
ajst-3975	66	5	wheel	wheel	NOUN
ajst-3975	66	6	frame	frame	NOUN
ajst-3975	66	7	after	after	ADP
ajst-3975	66	8	establishing	establish	VERB
ajst-3975	66	9	the	the	DET
ajst-3975	66	10	3d	3d	NUM
ajst-3975	66	11	model	model	NOUN
ajst-3975	66	12	of	of	ADP
ajst-3975	66	13	the	the	DET
ajst-3975	66	14	part	part	NOUN
ajst-3975	66	15	in	in	ADP
ajst-3975	66	16	solidworks	solidworks	PROPN
ajst-3975	66	17	,	,	PUNCT
ajst-3975	66	18	save	save	VERB
ajst-3975	66	19	the	the	DET
ajst-3975	66	20	part	part	NOUN
ajst-3975	66	21	as	as	ADP
ajst-3975	66	22	a	a	DET
ajst-3975	66	23	parasolid	parasolid	ADJ
ajst-3975	66	24	file	file	NOUN
ajst-3975	66	25	format	format	NOUN
ajst-3975	66	26	so	so	SCONJ
ajst-3975	66	27	that	that	SCONJ
ajst-3975	66	28	the	the	DET
ajst-3975	66	29	model	model	NOUN
ajst-3975	66	30	can	can	AUX
ajst-3975	66	31	be	be	AUX
ajst-3975	66	32	imported	import	VERB
ajst-3975	66	33	into	into	ADP
ajst-3975	66	34	ansys	ansys	PROPN
ajst-3975	66	35	.	.	PUNCT
ajst-3975	67	1	the	the	DET
ajst-3975	67	2	parasolid	parasolid	PROPN
ajst-3975	67	3	geometric	geometric	ADJ
ajst-3975	67	4	core	core	NOUN
ajst-3975	67	5	system	system	NOUN
ajst-3975	67	6	can	can	AUX
ajst-3975	67	7	provide	provide	VERB
ajst-3975	67	8	precise	precise	ADJ
ajst-3975	67	9	geometric	geometric	ADJ
ajst-3975	67	10	boundary	boundary	ADJ
ajst-3975	67	11	expression	expression	NOUN
ajst-3975	67	12	,	,	PUNCT
ajst-3975	67	13	and	and	CCONJ
ajst-3975	67	14	can	can	AUX
ajst-3975	67	15	reliably	reliably	ADV
ajst-3975	67	16	transfer	transfer	VERB
ajst-3975	67	17	model	model	NOUN
ajst-3975	67	18	geometric	geometric	ADJ
ajst-3975	67	19	information	information	NOUN
ajst-3975	67	20	between	between	ADP
ajst-3975	67	21	cad	cad	PROPN
ajst-3975	67	22	/	/	SYM
ajst-3975	67	23	cae	cae	NOUN
ajst-3975	67	24	systems	system	NOUN
ajst-3975	67	25	that	that	PRON
ajst-3975	67	26	use	use	VERB
ajst-3975	67	27	it	it	PRON
ajst-3975	67	28	as	as	ADP
ajst-3975	67	29	the	the	DET
ajst-3975	67	30	core	core	NOUN
ajst-3975	67	31	.	.	PUNCT
ajst-3975	68	1	*	*	PUNCT
ajst-3975	68	2	.x_t	.x_t	PROPN
ajst-3975	68	3	represents	represent	VERB
ajst-3975	68	4	the	the	DET
ajst-3975	68	5	text	text	NOUN
ajst-3975	68	6	format	format	NOUN
ajst-3975	68	7	of	of	ADP
ajst-3975	68	8	the	the	DET
ajst-3975	68	9	part	part	NOUN
ajst-3975	68	10	model	model	NOUN
ajst-3975	68	11	,	,	PUNCT
ajst-3975	68	12	and	and	CCONJ
ajst-3975	68	13	*	*	PUNCT
ajst-3975	68	14	.x_b	.x_b	PRON
ajst-3975	68	15	represents	represent	VERB
ajst-3975	68	16	the	the	DET
ajst-3975	68	17	binary	binary	ADJ
ajst-3975	68	18	format	format	NOUN
ajst-3975	68	19	of	of	ADP
ajst-3975	68	20	the	the	DET
ajst-3975	68	21	part	part	NOUN
ajst-3975	68	22	model	model	NOUN
ajst-3975	68	23	[	[	X
ajst-3975	68	24	5	5	NUM
ajst-3975	68	25	]	]	PUNCT
ajst-3975	68	26	.	.	PUNCT
ajst-3975	69	1	in	in	ADP
ajst-3975	69	2	order	order	NOUN
ajst-3975	69	3	to	to	PART
ajst-3975	69	4	meet	meet	VERB
ajst-3975	69	5	the	the	DET
ajst-3975	69	6	requirements	requirement	NOUN
ajst-3975	69	7	of	of	ADP
ajst-3975	69	8	the	the	DET
ajst-3975	69	9	lightweight	lightweight	ADJ
ajst-3975	69	10	design	design	NOUN
ajst-3975	69	11	of	of	ADP
ajst-3975	69	12	land	land	NOUN
ajst-3975	69	13	-	-	PUNCT
ajst-3975	69	14	air	air	NOUN
ajst-3975	69	15	amphibious	amphibious	ADJ
ajst-3975	69	16	robots	robot	NOUN
ajst-3975	69	17	,	,	PUNCT
ajst-3975	69	18	the	the	DET
ajst-3975	69	19	active	active	ADJ
ajst-3975	69	20	wheel	wheel	NOUN
ajst-3975	69	21	frame	frame	NOUN
ajst-3975	69	22	is	be	AUX
ajst-3975	69	23	manufactured	manufacture	VERB
ajst-3975	69	24	by	by	ADP
ajst-3975	69	25	3d	3d	NUM
ajst-3975	69	26	printing	printing	NOUN
ajst-3975	69	27	,	,	PUNCT
ajst-3975	69	28	and	and	CCONJ
ajst-3975	69	29	pa	pa	PROPN
ajst-3975	69	30	material	material	NOUN
ajst-3975	69	31	is	be	AUX
ajst-3975	69	32	selected	select	VERB
ajst-3975	69	33	as	as	ADP
ajst-3975	69	34	the	the	DET
ajst-3975	69	35	printing	printing	NOUN
ajst-3975	69	36	material	material	NOUN
ajst-3975	69	37	of	of	ADP
ajst-3975	69	38	the	the	DET
ajst-3975	69	39	active	active	ADJ
ajst-3975	69	40	wheel	wheel	NOUN
ajst-3975	69	41	frame	frame	NOUN
ajst-3975	69	42	.	.	PUNCT
ajst-3975	70	1	the	the	DET
ajst-3975	70	2	material	material	NOUN
ajst-3975	70	3	performance	performance	NOUN
ajst-3975	70	4	parameters	parameter	NOUN
ajst-3975	70	5	are	be	AUX
ajst-3975	70	6	shown	show	VERB
ajst-3975	70	7	in	in	ADP
ajst-3975	70	8	the	the	DET
ajst-3975	70	9	following	follow	VERB
ajst-3975	70	10	table	table	NOUN
ajst-3975	70	11	.	.	PUNCT
ajst-3975	71	1	86	86	NUM
ajst-3975	71	2	table	table	NOUN
ajst-3975	71	3	1	1	NUM
ajst-3975	71	4	.	.	PUNCT
ajst-3975	72	1	physical	physical	ADJ
ajst-3975	72	2	properties	property	NOUN
ajst-3975	72	3	of	of	ADP
ajst-3975	72	4	pa	pa	PROPN
ajst-3975	72	5	materials	material	NOUN
ajst-3975	72	6	material	material	NOUN
ajst-3975	72	7	density	density	NOUN
ajst-3975	72	8	poisson	poisson	NOUN
ajst-3975	72	9	's	's	PART
ajst-3975	72	10	ratio	ratio	NOUN
ajst-3975	72	11	young	young	PROPN
ajst-3975	72	12	's	's	PART
ajst-3975	72	13	modulus	modulus	ADJ
ajst-3975	72	14	yield	yield	NOUN
ajst-3975	72	15	strength	strength	NOUN
ajst-3975	72	16	pa	pa	PROPN
ajst-3975	72	17	1.15×103	1.15×103	NUM
ajst-3975	72	18	kg	kg	PROPN
ajst-3975	72	19	/	/	SYM
ajst-3975	72	20	m3	m3	PROPN
ajst-3975	72	21	0.3	0.3	NUM
ajst-3975	72	22	1.0×109	1.0×109	NUM
ajst-3975	72	23	n	n	CCONJ
ajst-3975	72	24	/	/	SYM
ajst-3975	72	25	m2	m2	PROPN
ajst-3975	72	26	54.88mpa	54.88mpa	PROPN
ajst-3975	72	27	assign	assign	NOUN
ajst-3975	72	28	material	material	NOUN
ajst-3975	72	29	properties	property	NOUN
ajst-3975	72	30	to	to	ADP
ajst-3975	72	31	the	the	DET
ajst-3975	72	32	imported	import	VERB
ajst-3975	72	33	3d	3d	PROPN
ajst-3975	72	34	model	model	NOUN
ajst-3975	72	35	,	,	PUNCT
ajst-3975	72	36	mesh	mesh	VERB
ajst-3975	72	37	the	the	DET
ajst-3975	72	38	model	model	NOUN
ajst-3975	72	39	,	,	PUNCT
ajst-3975	72	40	and	and	CCONJ
ajst-3975	72	41	set	set	VERB
ajst-3975	72	42	the	the	DET
ajst-3975	72	43	mesh	mesh	NOUN
ajst-3975	72	44	size	size	NOUN
ajst-3975	72	45	to	to	ADP
ajst-3975	72	46	1	1	NUM
ajst-3975	72	47	mm	mm	NOUN
ajst-3975	72	48	.	.	PUNCT
ajst-3975	73	1	the	the	DET
ajst-3975	73	2	meshing	meshing	NOUN
ajst-3975	73	3	results	result	NOUN
ajst-3975	73	4	are	be	AUX
ajst-3975	73	5	shown	show	VERB
ajst-3975	73	6	in	in	ADP
ajst-3975	73	7	figure	figure	NOUN
ajst-3975	73	8	6	6	NUM
ajst-3975	73	9	.	.	PUNCT
ajst-3975	74	1	the	the	DET
ajst-3975	74	2	number	number	NOUN
ajst-3975	74	3	of	of	ADP
ajst-3975	74	4	divided	divided	ADJ
ajst-3975	74	5	grid	grid	NOUN
ajst-3975	74	6	units	unit	NOUN
ajst-3975	74	7	is	be	AUX
ajst-3975	74	8	27041	27041	NUM
ajst-3975	74	9	,	,	PUNCT
ajst-3975	74	10	and	and	CCONJ
ajst-3975	74	11	the	the	DET
ajst-3975	74	12	number	number	NOUN
ajst-3975	74	13	of	of	ADP
ajst-3975	74	14	nodes	node	NOUN
ajst-3975	74	15	is	be	AUX
ajst-3975	74	16	129047	129047	NUM
ajst-3975	74	17	.	.	PUNCT
ajst-3975	75	1	the	the	DET
ajst-3975	75	2	driving	drive	VERB
ajst-3975	75	3	wheel	wheel	NOUN
ajst-3975	75	4	frame	frame	NOUN
ajst-3975	75	5	receives	receive	VERB
ajst-3975	75	6	the	the	DET
ajst-3975	75	7	driving	drive	VERB
ajst-3975	75	8	torque	torque	NOUN
ajst-3975	75	9	of	of	ADP
ajst-3975	75	10	the	the	DET
ajst-3975	75	11	motor	motor	NOUN
ajst-3975	75	12	and	and	CCONJ
ajst-3975	75	13	exerts	exert	VERB
ajst-3975	75	14	a	a	DET
ajst-3975	75	15	load	load	NOUN
ajst-3975	75	16	on	on	ADP
ajst-3975	75	17	the	the	DET
ajst-3975	75	18	parts	part	NOUN
ajst-3975	75	19	.	.	PUNCT
ajst-3975	76	1	the	the	DET
ajst-3975	76	2	schematic	schematic	ADJ
ajst-3975	76	3	diagram	diagram	NOUN
ajst-3975	76	4	of	of	ADP
ajst-3975	76	5	the	the	DET
ajst-3975	76	6	force	force	NOUN
ajst-3975	76	7	is	be	AUX
ajst-3975	76	8	shown	show	VERB
ajst-3975	76	9	in	in	ADP
ajst-3975	76	10	figure	figure	NOUN
ajst-3975	76	11	7	7	NUM
ajst-3975	76	12	.	.	PUNCT
ajst-3975	76	13	figure	figure	VERB
ajst-3975	76	14	6	6	NUM
ajst-3975	76	15	.	.	PUNCT
ajst-3975	76	16	mesh	mesh	NOUN
ajst-3975	76	17	division	division	NOUN
ajst-3975	76	18	results	result	NOUN
ajst-3975	76	19	of	of	ADP
ajst-3975	76	20	the	the	DET
ajst-3975	76	21	active	active	ADJ
ajst-3975	76	22	wheel	wheel	NOUN
ajst-3975	76	23	frame	frame	NOUN
ajst-3975	76	24	figure	figure	NOUN
ajst-3975	76	25	7	7	NUM
ajst-3975	76	26	.	.	PUNCT
ajst-3975	76	27	force	force	NOUN
ajst-3975	76	28	diagram	diagram	NOUN
ajst-3975	76	29	of	of	ADP
ajst-3975	76	30	the	the	DET
ajst-3975	76	31	wheel	wheel	NOUN
ajst-3975	76	32	frame	frame	NOUN
ajst-3975	76	33	add	add	VERB
ajst-3975	76	34	the	the	DET
ajst-3975	76	35	items	item	NOUN
ajst-3975	76	36	to	to	PART
ajst-3975	76	37	be	be	AUX
ajst-3975	76	38	solved	solve	VERB
ajst-3975	76	39	to	to	ADP
ajst-3975	76	40	the	the	DET
ajst-3975	76	41	analysis	analysis	NOUN
ajst-3975	76	42	structure	structure	NOUN
ajst-3975	76	43	tree	tree	NOUN
ajst-3975	76	44	to	to	PART
ajst-3975	76	45	analyze	analyze	VERB
ajst-3975	76	46	and	and	CCONJ
ajst-3975	76	47	solve	solve	VERB
ajst-3975	76	48	,	,	PUNCT
ajst-3975	76	49	as	as	SCONJ
ajst-3975	76	50	shown	show	VERB
ajst-3975	76	51	in	in	ADP
ajst-3975	76	52	figure	figure	NOUN
ajst-3975	76	53	8	8	NUM
ajst-3975	76	54	and	and	CCONJ
ajst-3975	76	55	figure	figure	VERB
ajst-3975	76	56	9	9	NUM
ajst-3975	76	57	.	.	PUNCT
ajst-3975	77	1	it	it	PRON
ajst-3975	77	2	can	can	AUX
ajst-3975	77	3	be	be	AUX
ajst-3975	77	4	seen	see	VERB
ajst-3975	77	5	from	from	ADP
ajst-3975	77	6	the	the	DET
ajst-3975	77	7	figure	figure	NOUN
ajst-3975	77	8	that	that	SCONJ
ajst-3975	77	9	after	after	SCONJ
ajst-3975	77	10	the	the	DET
ajst-3975	77	11	driving	drive	VERB
ajst-3975	77	12	wheel	wheel	NOUN
ajst-3975	77	13	frame	frame	NOUN
ajst-3975	77	14	is	be	AUX
ajst-3975	77	15	stressed	stress	VERB
ajst-3975	77	16	,	,	PUNCT
ajst-3975	77	17	the	the	DET
ajst-3975	77	18	maximum	maximum	ADJ
ajst-3975	77	19	deformation	deformation	NOUN
ajst-3975	77	20	is	be	AUX
ajst-3975	77	21	0.15616	0.15616	NUM
ajst-3975	77	22	mm	mm	NOUN
ajst-3975	77	23	,	,	PUNCT
ajst-3975	77	24	and	and	CCONJ
ajst-3975	77	25	the	the	DET
ajst-3975	77	26	maximum	maximum	ADJ
ajst-3975	77	27	equivalent	equivalent	ADJ
ajst-3975	77	28	stress	stress	NOUN
ajst-3975	77	29	is	be	AUX
ajst-3975	77	30	1.6704mpa	1.6704mpa	NOUN
ajst-3975	77	31	,	,	PUNCT
ajst-3975	77	32	which	which	PRON
ajst-3975	77	33	is	be	AUX
ajst-3975	77	34	much	much	ADV
ajst-3975	77	35	smaller	small	ADJ
ajst-3975	77	36	than	than	ADP
ajst-3975	77	37	the	the	DET
ajst-3975	77	38	material	material	NOUN
ajst-3975	77	39	yield	yield	NOUN
ajst-3975	77	40	strength	strength	NOUN
ajst-3975	77	41	of	of	ADP
ajst-3975	77	42	54.88mpa	54.88mpa	PROPN
ajst-3975	77	43	.	.	PUNCT
ajst-3975	78	1	the	the	DET
ajst-3975	78	2	analysis	analysis	NOUN
ajst-3975	78	3	results	result	NOUN
ajst-3975	78	4	show	show	VERB
ajst-3975	78	5	the	the	DET
ajst-3975	78	6	composite	composite	ADJ
ajst-3975	78	7	design	design	NOUN
ajst-3975	78	8	requirements	requirement	NOUN
ajst-3975	78	9	of	of	ADP
ajst-3975	78	10	the	the	DET
ajst-3975	78	11	active	active	ADJ
ajst-3975	78	12	wheel	wheel	NOUN
ajst-3975	78	13	frame	frame	NOUN
ajst-3975	78	14	.	.	PUNCT
ajst-3975	79	1	figure	figure	NOUN
ajst-3975	79	2	8	8	NUM
ajst-3975	79	3	.	.	PUNCT
ajst-3975	80	1	overall	overall	ADJ
ajst-3975	80	2	deformation	deformation	NOUN
ajst-3975	80	3	diagram	diagram	NOUN
ajst-3975	80	4	figure	figure	NOUN
ajst-3975	80	5	9	9	NUM
ajst-3975	80	6	.	.	PUNCT
ajst-3975	81	1	equivalent	equivalent	ADJ
ajst-3975	81	2	stress	stress	NOUN
ajst-3975	81	3	diagram	diagram	NOUN
ajst-3975	81	4	of	of	ADP
ajst-3975	81	5	parts	part	NOUN
ajst-3975	81	6	3.2	3.2	NUM
ajst-3975	81	7	.	.	PUNCT
ajst-3975	82	1	static	static	ADJ
ajst-3975	82	2	analysis	analysis	NOUN
ajst-3975	82	3	of	of	ADP
ajst-3975	82	4	stretched	stretch	VERB
ajst-3975	82	5	arc	arc	NOUN
ajst-3975	82	6	legs	leg	NOUN
ajst-3975	82	7	the	the	DET
ajst-3975	82	8	extended	extended	ADJ
ajst-3975	82	9	arc	arc	NOUN
ajst-3975	82	10	legs	leg	NOUN
ajst-3975	82	11	are	be	AUX
ajst-3975	82	12	also	also	ADV
ajst-3975	82	13	made	make	VERB
ajst-3975	82	14	of	of	ADP
ajst-3975	82	15	pa	pa	PROPN
ajst-3975	82	16	material	material	NOUN
ajst-3975	82	17	.	.	PUNCT
ajst-3975	83	1	when	when	SCONJ
ajst-3975	83	2	the	the	DET
ajst-3975	83	3	roller	roller	NOUN
ajst-3975	83	4	is	be	AUX
ajst-3975	83	5	in	in	ADP
ajst-3975	83	6	the	the	DET
ajst-3975	83	7	wheel	wheel	NOUN
ajst-3975	83	8	-	-	PUNCT
ajst-3975	83	9	leg	leg	NOUN
ajst-3975	83	10	mode	mode	NOUN
ajst-3975	83	11	,	,	PUNCT
ajst-3975	83	12	the	the	DET
ajst-3975	83	13	force	force	NOUN
ajst-3975	83	14	on	on	ADP
ajst-3975	83	15	the	the	DET
ajst-3975	83	16	stretched	stretch	VERB
ajst-3975	83	17	arc	arc	NOUN
ajst-3975	83	18	leg	leg	NOUN
ajst-3975	83	19	is	be	AUX
ajst-3975	83	20	the	the	DET
ajst-3975	83	21	largest	large	ADJ
ajst-3975	83	22	at	at	ADP
ajst-3975	83	23	this	this	DET
ajst-3975	83	24	time	time	NOUN
ajst-3975	83	25	,	,	PUNCT
ajst-3975	83	26	so	so	CCONJ
ajst-3975	83	27	the	the	DET
ajst-3975	83	28	force	force	NOUN
ajst-3975	83	29	on	on	ADP
ajst-3975	83	30	the	the	DET
ajst-3975	83	31	stretched	stretch	VERB
ajst-3975	83	32	arc	arc	NOUN
ajst-3975	83	33	leg	leg	NOUN
ajst-3975	83	34	when	when	SCONJ
ajst-3975	83	35	the	the	DET
ajst-3975	83	36	wheel	wheel	NOUN
ajst-3975	83	37	leg	leg	NOUN
ajst-3975	83	38	crosses	crosse	NOUN
ajst-3975	83	39	obstacles	obstacle	NOUN
ajst-3975	83	40	is	be	AUX
ajst-3975	83	41	used	use	VERB
ajst-3975	83	42	for	for	ADP
ajst-3975	83	43	analysis	analysis	NOUN
ajst-3975	83	44	.	.	PUNCT
ajst-3975	84	1	the	the	DET
ajst-3975	84	2	maximum	maximum	ADJ
ajst-3975	84	3	force	force	NOUN
ajst-3975	84	4	at	at	ADP
ajst-3975	84	5	the	the	DET
ajst-3975	84	6	end	end	NOUN
ajst-3975	84	7	of	of	ADP
ajst-3975	84	8	the	the	DET
ajst-3975	84	9	stretched	stretch	VERB
ajst-3975	84	10	arc	arc	NOUN
ajst-3975	84	11	leg	leg	NOUN
ajst-3975	84	12	is	be	AUX
ajst-3975	84	13	its	its	PRON
ajst-3975	84	14	own	own	ADJ
ajst-3975	84	15	gravity	gravity	NOUN
ajst-3975	84	16	,	,	PUNCT
ajst-3975	84	17	and	and	CCONJ
ajst-3975	84	18	the	the	DET
ajst-3975	84	19	force	force	NOUN
ajst-3975	84	20	of	of	ADP
ajst-3975	84	21	the	the	DET
ajst-3975	84	22	stretched	stretch	VERB
ajst-3975	84	23	arc	arc	NOUN
ajst-3975	84	24	leg	leg	NOUN
ajst-3975	84	25	at	at	ADP
ajst-3975	84	26	the	the	DET
ajst-3975	84	27	hinge	hinge	NOUN
ajst-3975	84	28	position	position	NOUN
ajst-3975	84	29	and	and	CCONJ
ajst-3975	84	30	support	support	NOUN
ajst-3975	84	31	position	position	NOUN
ajst-3975	84	32	is	be	AUX
ajst-3975	84	33	obtained	obtain	VERB
ajst-3975	84	34	by	by	ADP
ajst-3975	84	35	analyzing	analyze	VERB
ajst-3975	84	36	the	the	DET
ajst-3975	84	37	vector	vector	NOUN
ajst-3975	84	38	drawing	drawing	NOUN
ajst-3975	84	39	method	method	NOUN
ajst-3975	84	40	in	in	ADP
ajst-3975	84	41	solidworks	solidworks	PROPN
ajst-3975	84	42	.	.	PUNCT
ajst-3975	85	1	in	in	ADP
ajst-3975	85	2	the	the	DET
ajst-3975	85	3	middle	middle	NOUN
ajst-3975	85	4	of	of	ADP
ajst-3975	85	5	the	the	DET
ajst-3975	85	6	extended	extended	ADJ
ajst-3975	85	7	arc	arc	NOUN
ajst-3975	85	8	leg	leg	NOUN
ajst-3975	85	9	,	,	PUNCT
ajst-3975	85	10	the	the	DET
ajst-3975	85	11	hinge	hinge	NOUN
ajst-3975	85	12	is	be	AUX
ajst-3975	85	13	subjected	subject	VERB
ajst-3975	85	14	to	to	ADP
ajst-3975	85	15	a	a	DET
ajst-3975	85	16	horizontal	horizontal	ADJ
ajst-3975	85	17	component	component	NOUN
ajst-3975	85	18	force	force	NOUN
ajst-3975	85	19	of	of	ADP
ajst-3975	85	20	7.370n	7.370n	NUM
ajst-3975	85	21	to	to	ADP
ajst-3975	85	22	the	the	DET
ajst-3975	85	23	right	right	NOUN
ajst-3975	85	24	and	and	CCONJ
ajst-3975	85	25	a	a	DET
ajst-3975	85	26	vertical	vertical	ADJ
ajst-3975	85	27	component	component	NOUN
ajst-3975	85	28	force	force	NOUN
ajst-3975	85	29	of	of	ADP
ajst-3975	85	30	2.510n	2.510n	NUM
ajst-3975	85	31	.	.	PUNCT
ajst-3975	86	1	set	set	VERB
ajst-3975	86	2	the	the	DET
ajst-3975	86	3	unit	unit	NOUN
ajst-3975	86	4	size	size	NOUN
ajst-3975	86	5	to	to	ADP
ajst-3975	86	6	1	1	NUM
ajst-3975	86	7	mm	mm	NOUN
ajst-3975	86	8	,	,	PUNCT
ajst-3975	86	9	and	and	CCONJ
ajst-3975	86	10	divide	divide	VERB
ajst-3975	86	11	the	the	DET
ajst-3975	86	12	arc	arc	NOUN
ajst-3975	86	13	legs	leg	NOUN
ajst-3975	86	14	into	into	ADP
ajst-3975	86	15	meshes	mesh	NOUN
ajst-3975	86	16	.	.	PUNCT
ajst-3975	87	1	the	the	DET
ajst-3975	87	2	number	number	NOUN
ajst-3975	87	3	of	of	ADP
ajst-3975	87	4	meshes	mesh	NOUN
ajst-3975	87	5	is	be	AUX
ajst-3975	87	6	12265	12265	NUM
ajst-3975	87	7	,	,	PUNCT
ajst-3975	87	8	the	the	DET
ajst-3975	87	9	number	number	NOUN
ajst-3975	87	10	of	of	ADP
ajst-3975	87	11	nodes	node	NOUN
ajst-3975	87	12	is	be	AUX
ajst-3975	87	13	22142	22142	NUM
ajst-3975	87	14	,	,	PUNCT
ajst-3975	87	15	and	and	CCONJ
ajst-3975	87	16	the	the	DET
ajst-3975	87	17	load	load	NOUN
ajst-3975	87	18	is	be	AUX
ajst-3975	87	19	applied	apply	VERB
ajst-3975	87	20	,	,	PUNCT
ajst-3975	87	21	as	as	SCONJ
ajst-3975	87	22	shown	show	VERB
ajst-3975	87	23	in	in	ADP
ajst-3975	87	24	figure	figure	NOUN
ajst-3975	87	25	10	10	NUM
ajst-3975	87	26	and	and	CCONJ
ajst-3975	87	27	figure	figure	VERB
ajst-3975	87	28	11	11	NUM
ajst-3975	87	29	.	.	PUNCT
ajst-3975	88	1	87	87	NUM
ajst-3975	88	2	figure	figure	NOUN
ajst-3975	88	3	10	10	NUM
ajst-3975	88	4	.	.	PUNCT
ajst-3975	88	5	stretched	stretch	VERB
ajst-3975	88	6	arc	arc	NOUN
ajst-3975	88	7	leg	leg	NOUN
ajst-3975	88	8	meshing	meshing	NOUN
ajst-3975	88	9	figure	figure	NOUN
ajst-3975	88	10	11	11	NUM
ajst-3975	88	11	.	.	PUNCT
ajst-3975	88	12	applied	apply	VERB
ajst-3975	88	13	load	load	NOUN
ajst-3975	88	14	through	through	ADP
ajst-3975	88	15	ansys	ansys	PROPN
ajst-3975	88	16	analysis	analysis	NOUN
ajst-3975	88	17	,	,	PUNCT
ajst-3975	88	18	the	the	DET
ajst-3975	88	19	overall	overall	ADJ
ajst-3975	88	20	displacement	displacement	ADJ
ajst-3975	88	21	cloud	cloud	NOUN
ajst-3975	88	22	diagram	diagram	NOUN
ajst-3975	88	23	and	and	CCONJ
ajst-3975	88	24	equivalent	equivalent	ADJ
ajst-3975	88	25	stress	stress	NOUN
ajst-3975	88	26	cloud	cloud	NOUN
ajst-3975	88	27	diagram	diagram	NOUN
ajst-3975	88	28	of	of	ADP
ajst-3975	88	29	the	the	DET
ajst-3975	88	30	arc	arc	NOUN
ajst-3975	88	31	leg	leg	NOUN
ajst-3975	88	32	can	can	AUX
ajst-3975	88	33	be	be	AUX
ajst-3975	88	34	obtained	obtain	VERB
ajst-3975	88	35	,	,	PUNCT
ajst-3975	88	36	as	as	SCONJ
ajst-3975	88	37	shown	show	VERB
ajst-3975	88	38	in	in	ADP
ajst-3975	88	39	fig	fig	NOUN
ajst-3975	88	40	.	.	PUNCT
ajst-3975	89	1	3	3	NUM
ajst-3975	89	2	-	-	SYM
ajst-3975	89	3	5	5	NUM
ajst-3975	89	4	below	below	ADV
ajst-3975	89	5	.	.	PUNCT
ajst-3975	90	1	the	the	DET
ajst-3975	90	2	maximum	maximum	ADJ
ajst-3975	90	3	overall	overall	ADJ
ajst-3975	90	4	displacement	displacement	NOUN
ajst-3975	90	5	of	of	ADP
ajst-3975	90	6	the	the	DET
ajst-3975	90	7	extended	extended	ADJ
ajst-3975	90	8	arc	arc	NOUN
ajst-3975	90	9	leg	leg	NOUN
ajst-3975	90	10	is	be	AUX
ajst-3975	90	11	0.00799	0.00799	NUM
ajst-3975	90	12	mm	mm	PROPN
ajst-3975	90	13	,	,	PUNCT
ajst-3975	90	14	the	the	DET
ajst-3975	90	15	deformation	deformation	NOUN
ajst-3975	90	16	is	be	AUX
ajst-3975	90	17	very	very	ADV
ajst-3975	90	18	small	small	ADJ
ajst-3975	90	19	,	,	PUNCT
ajst-3975	90	20	and	and	CCONJ
ajst-3975	90	21	the	the	DET
ajst-3975	90	22	maximum	maximum	ADJ
ajst-3975	90	23	equivalent	equivalent	ADJ
ajst-3975	90	24	stress	stress	NOUN
ajst-3975	90	25	is	be	AUX
ajst-3975	90	26	1.068mpa	1.068mpa	NOUN
ajst-3975	90	27	,	,	PUNCT
ajst-3975	90	28	which	which	PRON
ajst-3975	90	29	is	be	AUX
ajst-3975	90	30	less	less	ADJ
ajst-3975	90	31	than	than	ADP
ajst-3975	90	32	the	the	DET
ajst-3975	90	33	yield	yield	NOUN
ajst-3975	90	34	strength	strength	NOUN
ajst-3975	90	35	of	of	ADP
ajst-3975	90	36	pa	pa	PROPN
ajst-3975	90	37	material	material	NOUN
ajst-3975	90	38	,	,	PUNCT
ajst-3975	90	39	so	so	CCONJ
ajst-3975	90	40	it	it	PRON
ajst-3975	90	41	meets	meet	VERB
ajst-3975	90	42	the	the	DET
ajst-3975	90	43	design	design	NOUN
ajst-3975	90	44	requirements	requirement	NOUN
ajst-3975	90	45	.	.	PUNCT
ajst-3975	91	1	figure	figure	NOUN
ajst-3975	91	2	13	13	NUM
ajst-3975	91	3	.	.	PUNCT
ajst-3975	92	1	equivalent	equivalent	ADJ
ajst-3975	92	2	stress	stress	NOUN
ajst-3975	92	3	diagram	diagram	NOUN
ajst-3975	92	4	of	of	ADP
ajst-3975	92	5	extended	extended	ADJ
ajst-3975	92	6	arc	arc	NOUN
ajst-3975	92	7	leg	leg	NOUN
ajst-3975	92	8	4	4	NUM
ajst-3975	92	9	.	.	PUNCT
ajst-3975	93	1	summary	summary	NOUN
ajst-3975	93	2	in	in	ADP
ajst-3975	93	3	this	this	DET
ajst-3975	93	4	paper	paper	NOUN
ajst-3975	93	5	,	,	PUNCT
ajst-3975	93	6	a	a	DET
ajst-3975	93	7	deformable	deformable	ADJ
ajst-3975	93	8	wheel	wheel	NOUN
ajst-3975	93	9	-	-	PUNCT
ajst-3975	93	10	legged	legged	ADJ
ajst-3975	93	11	mobile	mobile	ADJ
ajst-3975	93	12	robot	robot	NOUN
ajst-3975	93	13	is	be	AUX
ajst-3975	93	14	designed	design	VERB
ajst-3975	93	15	,	,	PUNCT
ajst-3975	93	16	and	and	CCONJ
ajst-3975	93	17	the	the	DET
ajst-3975	93	18	wheel	wheel	NOUN
ajst-3975	93	19	-	-	PUNCT
ajst-3975	93	20	leg	leg	NOUN
ajst-3975	93	21	deformation	deformation	NOUN
ajst-3975	93	22	mechanism	mechanism	NOUN
ajst-3975	93	23	is	be	AUX
ajst-3975	93	24	realized	realize	VERB
ajst-3975	93	25	by	by	ADP
ajst-3975	93	26	a	a	DET
ajst-3975	93	27	four	four	NUM
ajst-3975	93	28	-	-	PUNCT
ajst-3975	93	29	bar	bar	NOUN
ajst-3975	93	30	linkage	linkage	NOUN
ajst-3975	93	31	.	.	PUNCT
ajst-3975	94	1	it	it	PRON
ajst-3975	94	2	can	can	AUX
ajst-3975	94	3	not	not	PART
ajst-3975	94	4	only	only	ADV
ajst-3975	94	5	make	make	VERB
ajst-3975	94	6	the	the	DET
ajst-3975	94	7	robot	robot	NOUN
ajst-3975	94	8	move	move	VERB
ajst-3975	94	9	in	in	ADP
ajst-3975	94	10	the	the	DET
ajst-3975	94	11	wheeled	wheeled	ADJ
ajst-3975	94	12	mode	mode	NOUN
ajst-3975	94	13	,	,	PUNCT
ajst-3975	94	14	but	but	CCONJ
ajst-3975	94	15	also	also	ADV
ajst-3975	94	16	switch	switch	VERB
ajst-3975	94	17	the	the	DET
ajst-3975	94	18	robot	robot	NOUN
ajst-3975	94	19	to	to	ADP
ajst-3975	94	20	the	the	DET
ajst-3975	94	21	wheel	wheel	NOUN
ajst-3975	94	22	-	-	PUNCT
ajst-3975	94	23	legged	legged	ADJ
ajst-3975	94	24	mode	mode	NOUN
ajst-3975	94	25	to	to	PART
ajst-3975	94	26	have	have	VERB
ajst-3975	94	27	better	well	ADJ
ajst-3975	94	28	obstacle	obstacle	VERB
ajst-3975	94	29	surmounting	surmount	VERB
ajst-3975	94	30	performance	performance	NOUN
ajst-3975	94	31	.	.	PUNCT
ajst-3975	95	1	the	the	DET
ajst-3975	95	2	force	force	NOUN
ajst-3975	95	3	analysis	analysis	NOUN
ajst-3975	95	4	of	of	ADP
ajst-3975	95	5	different	different	ADJ
ajst-3975	95	6	working	working	NOUN
ajst-3975	95	7	conditions	condition	NOUN
ajst-3975	95	8	of	of	ADP
ajst-3975	95	9	the	the	DET
ajst-3975	95	10	mobile	mobile	ADJ
ajst-3975	95	11	robot	robot	NOUN
ajst-3975	95	12	is	be	AUX
ajst-3975	95	13	carried	carry	VERB
ajst-3975	95	14	out	out	ADP
ajst-3975	95	15	,	,	PUNCT
ajst-3975	95	16	and	and	CCONJ
ajst-3975	95	17	the	the	DET
ajst-3975	95	18	calculation	calculation	NOUN
ajst-3975	95	19	and	and	CCONJ
ajst-3975	95	20	selection	selection	NOUN
ajst-3975	95	21	of	of	ADP
ajst-3975	95	22	the	the	DET
ajst-3975	95	23	roller	roller	NOUN
ajst-3975	95	24	drive	drive	NOUN
ajst-3975	95	25	motor	motor	NOUN
ajst-3975	95	26	is	be	AUX
ajst-3975	95	27	carried	carry	VERB
ajst-3975	95	28	out	out	ADP
ajst-3975	95	29	.	.	PUNCT
ajst-3975	96	1	the	the	DET
ajst-3975	96	2	force	force	NOUN
ajst-3975	96	3	analysis	analysis	NOUN
ajst-3975	96	4	of	of	ADP
ajst-3975	96	5	the	the	DET
ajst-3975	96	6	key	key	ADJ
ajst-3975	96	7	parts	part	NOUN
ajst-3975	96	8	of	of	ADP
ajst-3975	96	9	the	the	DET
ajst-3975	96	10	mobile	mobile	ADJ
ajst-3975	96	11	robot	robot	NOUN
ajst-3975	96	12	is	be	AUX
ajst-3975	96	13	carried	carry	VERB
ajst-3975	96	14	out	out	ADP
ajst-3975	96	15	by	by	ADP
ajst-3975	96	16	using	use	VERB
ajst-3975	96	17	ansys	ansys	PROPN
ajst-3975	96	18	.	.	PUNCT
ajst-3975	97	1	the	the	DET
ajst-3975	97	2	analysis	analysis	NOUN
ajst-3975	97	3	results	result	NOUN
ajst-3975	97	4	show	show	VERB
ajst-3975	97	5	that	that	SCONJ
ajst-3975	97	6	the	the	DET
ajst-3975	97	7	structure	structure	NOUN
ajst-3975	97	8	of	of	ADP
ajst-3975	97	9	the	the	DET
ajst-3975	97	10	parts	part	NOUN
ajst-3975	97	11	meets	meet	VERB
ajst-3975	97	12	the	the	DET
ajst-3975	97	13	design	design	NOUN
ajst-3975	97	14	requirements	requirement	NOUN
ajst-3975	97	15	.	.	PUNCT
ajst-3975	98	1	references	reference	NOUN
ajst-3975	98	2	[	[	X
ajst-3975	98	3	1	1	NUM
ajst-3975	98	4	]	]	X
ajst-3975	98	5	bai	bai	NOUN
ajst-3975	98	6	long	long	ADV
ajst-3975	98	7	,	,	PUNCT
ajst-3975	98	8	li	li	PROPN
ajst-3975	98	9	xingyu	xingyu	PROPN
ajst-3975	98	10	,	,	PUNCT
ajst-3975	98	11	sun	sun	PROPN
ajst-3975	98	12	yuanxi	yuanxi	PROPN
ajst-3975	98	13	,	,	PUNCT
ajst-3975	98	14	et	et	PROPN
ajst-3975	98	15	al	al	PROPN
ajst-3975	98	16	.	.	PUNCT
ajst-3975	99	1	a	a	DET
ajst-3975	99	2	wheel	wheel	NOUN
ajst-3975	99	3	-	-	PUNCT
ajst-3975	99	4	legged	legged	ADJ
ajst-3975	99	5	mobile	mobile	ADJ
ajst-3975	99	6	robot	robot	NOUN
ajst-3975	99	7	with	with	ADP
ajst-3975	99	8	adjustable	adjustable	ADJ
ajst-3975	99	9	body	body	NOUN
ajst-3975	99	10	length	length	NOUN
ajst-3975	99	11	for	for	ADP
ajst-3975	99	12	rescue	rescue	NOUN
ajst-3975	99	13	and	and	CCONJ
ajst-3975	99	14	search[a	search[a	NOUN
ajst-3975	99	15	]	]	PUNCT
ajst-3975	99	16	.	.	PUNCT
ajst-3975	100	1	2021	2021	NUM
ajst-3975	100	2	6th	6th	ADJ
ajst-3975	100	3	ieee	ieee	NOUN
ajst-3975	100	4	international	international	ADJ
ajst-3975	100	5	conference	conference	NOUN
ajst-3975	100	6	on	on	ADP
ajst-3975	100	7	advanced	advanced	ADJ
ajst-3975	100	8	robotics	robotic	NOUN
ajst-3975	100	9	and	and	CCONJ
ajst-3975	100	10	mechatronics	mechatronic	NOUN
ajst-3975	100	11	(	(	PUNCT
ajst-3975	100	12	icarm)[c	icarm)[c	PROPN
ajst-3975	100	13	]	]	PUNCT
ajst-3975	100	14	,	,	PUNCT
ajst-3975	100	15	chongqing	chongqing	PROPN
ajst-3975	100	16	,	,	PUNCT
ajst-3975	100	17	china,2021	china,2021	NOUN
ajst-3975	100	18	.	.	PUNCT
ajst-3975	101	1	[	[	X
ajst-3975	101	2	2	2	X
ajst-3975	101	3	]	]	PUNCT
ajst-3975	101	4	zheng	zheng	PROPN
ajst-3975	101	5	chuanqi	chuanqi	PROPN
ajst-3975	101	6	,	,	PUNCT
ajst-3975	101	7	lee	lee	PROPN
ajst-3975	101	8	kiju	kiju	PROPN
ajst-3975	101	9	.	.	PUNCT
ajst-3975	101	10	wheeler	wheeler	NOUN
ajst-3975	101	11	:	:	PUNCT
ajst-3975	101	12	wheel	wheel	NOUN
ajst-3975	101	13	-	-	PUNCT
ajst-3975	101	14	leg	leg	NOUN
ajst-3975	101	15	reconfigurable	reconfigurable	ADJ
ajst-3975	101	16	mechanism	mechanism	NOUN
ajst-3975	101	17	with	with	ADP
ajst-3975	101	18	passive	passive	ADJ
ajst-3975	101	19	gears	gear	NOUN
ajst-3975	101	20	for	for	ADP
ajst-3975	101	21	mobile	mobile	NOUN
ajst-3975	101	22	robot	robot	NOUN
ajst-3975	101	23	applications[c	applications[c	PROPN
ajst-3975	101	24	]	]	PUNCT
ajst-3975	101	25	,	,	PUNCT
ajst-3975	101	26	proceedings	proceeding	NOUN
ajst-3975	101	27	ieee	ieee	VERB
ajst-3975	101	28	international	international	ADJ
ajst-3975	101	29	conference	conference	NOUN
ajst-3975	101	30	on	on	ADP
ajst-3975	101	31	robotics	robotic	NOUN
ajst-3975	101	32	and	and	CCONJ
ajst-3975	101	33	automation;2019;p9292	automation;2019;p9292	NOUN
ajst-3975	101	34	-	-	PUNCT
ajst-3975	101	35	9298	9298	NUM
ajst-3975	101	36	.	.	PUNCT
ajst-3975	102	1	[	[	X
ajst-3975	102	2	3	3	X
ajst-3975	102	3	]	]	X
ajst-3975	102	4	huan	huan	PROPN
ajst-3975	102	5	sun	sun	PROPN
ajst-3975	102	6	,	,	PUNCT
ajst-3975	102	7	zuomo	zuomo	PROPN
ajst-3975	102	8	chen	chen	PROPN
ajst-3975	102	9	,	,	PUNCT
ajst-3975	102	10	wenjie	wenjie	PROPN
ajst-3975	102	11	ge	ge	PROPN
ajst-3975	102	12	,	,	PUNCT
ajst-3975	102	13	et	et	PROPN
ajst-3975	102	14	al	al	PROPN
ajst-3975	102	15	,	,	PUNCT
ajst-3975	102	16	mechanical	mechanical	ADJ
ajst-3975	102	17	principles	principle	NOUN
ajst-3975	102	18	8th	8th	NOUN
ajst-3975	102	19	edition	edition	NOUN
ajst-3975	103	1	[	[	X
ajst-3975	103	2	m	m	X
ajst-3975	103	3	]	]	X
ajst-3975	103	4	,	,	PUNCT
ajst-3975	103	5	higher	high	ADJ
ajst-3975	103	6	education	education	NOUN
ajst-3975	103	7	press	press	NOUN
ajst-3975	103	8	,	,	PUNCT
ajst-3975	103	9	2013	2013	NUM
ajst-3975	103	10	,	,	PUNCT
ajst-3975	103	11	p123	p123	PROPN
ajst-3975	103	12	-	-	PUNCT
ajst-3975	103	13	128	128	NUM
ajst-3975	103	14	.	.	PUNCT
ajst-3975	104	1	[	[	X
ajst-3975	104	2	4	4	X
ajst-3975	104	3	]	]	PUNCT
ajst-3975	104	4	kenjiro	kenjiro	PROPN
ajst-3975	104	5	tadakuma	tadakuma	PROPN
ajst-3975	104	6	,	,	PUNCT
ajst-3975	104	7	riichiro	riichiro	PROPN
ajst-3975	104	8	tadakuma	tadakuma	PROPN
ajst-3975	104	9	,	,	PUNCT
ajst-3975	104	10	et	et	PROPN
ajst-3975	104	11	al	al	PROPN
ajst-3975	104	12	.	.	PROPN
ajst-3975	105	1	mechanical	mechanical	ADJ
ajst-3975	105	2	design	design	NOUN
ajst-3975	105	3	of	of	ADP
ajst-3975	105	4	the	the	DET
ajst-3975	105	5	wheel	wheel	NOUN
ajst-3975	105	6	-	-	PUNCT
ajst-3975	105	7	leg	leg	NOUN
ajst-3975	105	8	hybrid	hybrid	ADJ
ajst-3975	105	9	mobile	mobile	NOUN
ajst-3975	105	10	robot	robot	NOUN
ajst-3975	105	11	to	to	PART
ajst-3975	105	12	realize	realize	VERB
ajst-3975	105	13	a	a	DET
ajst-3975	105	14	large	large	ADJ
ajst-3975	105	15	wheel	wheel	NOUN
ajst-3975	105	16	diameter[a].2010	diameter[a].2010	NOUN
ajst-3975	105	17	ieee	ieee	NOUN
ajst-3975	105	18	/	/	SYM
ajst-3975	105	19	rsj	rsj	NOUN
ajst-3975	105	20	international	international	ADJ
ajst-3975	105	21	conference	conference	NOUN
ajst-3975	105	22	on	on	ADP
ajst-3975	105	23	intelligent	intelligent	ADJ
ajst-3975	105	24	robots	robot	NOUN
ajst-3975	105	25	and	and	CCONJ
ajst-3975	105	26	systems[c],2010	systems[c],2010	NOUN
ajst-3975	105	27	[	[	X
ajst-3975	105	28	5	5	NUM
ajst-3975	105	29	]	]	X
ajst-3975	105	30	shuwei	shuwei	PROPN
ajst-3975	105	31	huang	huang	PROPN
ajst-3975	105	32	,	,	PUNCT
ajst-3975	105	33	hongsong	hongsong	PROPN
ajst-3975	105	34	cao	cao	PROPN
ajst-3975	105	35	,	,	PUNCT
ajst-3975	105	36	et	et	PROPN
ajst-3975	105	37	al	al	PROPN
ajst-3975	105	38	,	,	PUNCT
ajst-3975	105	39	rapid	rapid	ADJ
ajst-3975	105	40	reconstrction	reconstrction	NOUN
ajst-3975	105	41	technology	technology	NOUN
ajst-3975	105	42	of	of	ADP
ajst-3975	105	43	adams	adams	PROPN
ajst-3975	105	44	dynamic	dynamic	PROPN
ajst-3975	105	45	model	model	NOUN
ajst-3975	105	46	based	base	VERB
ajst-3975	105	47	on	on	ADP
ajst-3975	105	48	parasolid	parasolid	PROPN
ajst-3975	105	49	and	and	CCONJ
ajst-3975	105	50	adm	adm	PROPN
ajst-3975	105	51	format[j	format[j	PROPN
ajst-3975	105	52	]	]	PUNCT
ajst-3975	105	53	,	,	PUNCT
ajst-3975	105	54	journal	journal	NOUN
ajst-3975	105	55	of	of	ADP
ajst-3975	105	56	ordnance	ordnance	NOUN
ajst-3975	105	57	equipment	equipment	NOUN
ajst-3975	105	58	engineering	engineering	NOUN
ajst-3975	105	59	,	,	PUNCT
ajst-3975	105	60	2018,(3	2018,(3	NUM
ajst-3975	105	61	):	):	PUNCT
ajst-3975	105	62	95	95	NUM
ajst-3975	105	63	-	-	SYM
ajst-3975	105	64	100	100	NUM
ajst-3975	105	65	.	.	PUNCT
ajst-3975	106	1	figure	figure	NOUN
ajst-3975	106	2	12	12	NUM
ajst-3975	106	3	.	.	PUNCT
ajst-3975	107	1	overall	overall	ADJ
ajst-3975	107	2	displacement	displacement	ADJ
ajst-3975	107	3	diagram	diagram	NOUN
ajst-3975	107	4	of	of	ADP
ajst-3975	107	5	stretched	stretch	VERB