id	sid	tid	token	lemma	pos
ap-710	1	1	ap05_3.vp	ap05_3.vp	NOUN
ap-710	1	2	1	1	NUM
ap-710	1	3	introduction	introduction	NOUN
ap-710	1	4	parallel	parallel	ADJ
ap-710	1	5	kinematics	kinematic	NOUN
ap-710	1	6	machines	machine	NOUN
ap-710	1	7	(	(	PUNCT
ap-710	1	8	pkm	pkm	NOUN
ap-710	1	9	)	)	PUNCT
ap-710	1	10	represent	represent	VERB
ap-710	1	11	a	a	DET
ap-710	1	12	new	new	ADJ
ap-710	1	13	concept	concept	NOUN
ap-710	1	14	in	in	ADP
ap-710	1	15	the	the	DET
ap-710	1	16	design	design	NOUN
ap-710	1	17	of	of	ADP
ap-710	1	18	machine	machine	NOUN
ap-710	1	19	tools	tool	NOUN
ap-710	1	20	[	[	X
ap-710	1	21	6	6	NUM
ap-710	1	22	,	,	PUNCT
ap-710	1	23	7	7	NUM
ap-710	1	24	]	]	PUNCT
ap-710	1	25	.	.	PUNCT
ap-710	2	1	this	this	DET
ap-710	2	2	concept	concept	NOUN
ap-710	2	3	has	have	AUX
ap-710	2	4	been	be	AUX
ap-710	2	5	investigated	investigate	VERB
ap-710	2	6	since	since	SCONJ
ap-710	2	7	the	the	DET
ap-710	2	8	early	early	ADJ
ap-710	2	9	1990s	1990	NOUN
ap-710	2	10	.	.	PUNCT
ap-710	3	1	parallel	parallel	ADJ
ap-710	3	2	kinematics	kinematic	NOUN
ap-710	3	3	machines	machine	NOUN
ap-710	3	4	(	(	PUNCT
ap-710	3	5	pkm	pkm	NOUN
ap-710	3	6	)	)	PUNCT
ap-710	3	7	enable	enable	VERB
ap-710	3	8	the	the	DET
ap-710	3	9	mechanical	mechanical	ADJ
ap-710	3	10	properties	property	NOUN
ap-710	3	11	of	of	ADP
ap-710	3	12	manufacturing	manufacturing	NOUN
ap-710	3	13	machines	machine	NOUN
ap-710	3	14	,	,	PUNCT
ap-710	3	15	especially	especially	ADV
ap-710	3	16	the	the	DET
ap-710	3	17	dynamics	dynamic	NOUN
ap-710	3	18	,	,	PUNCT
ap-710	3	19	to	to	PART
ap-710	3	20	be	be	AUX
ap-710	3	21	improved	improve	VERB
ap-710	3	22	.	.	PUNCT
ap-710	4	1	this	this	PRON
ap-710	4	2	has	have	AUX
ap-710	4	3	been	be	AUX
ap-710	4	4	proven	prove	VERB
ap-710	4	5	by	by	ADP
ap-710	4	6	several	several	ADJ
ap-710	4	7	new	new	ADJ
ap-710	4	8	machine	machine	NOUN
ap-710	4	9	tool	tool	NOUN
ap-710	4	10	concepts	concept	NOUN
ap-710	4	11	.	.	PUNCT
ap-710	5	1	however	however	ADV
ap-710	5	2	,	,	PUNCT
ap-710	5	3	few	few	ADJ
ap-710	5	4	pkms	pkms	NOUN
ap-710	5	5	have	have	AUX
ap-710	5	6	been	be	AUX
ap-710	5	7	successful	successful	ADJ
ap-710	5	8	on	on	ADP
ap-710	5	9	the	the	DET
ap-710	5	10	market	market	NOUN
ap-710	5	11	,	,	PUNCT
ap-710	5	12	due	due	ADP
ap-710	5	13	to	to	ADP
ap-710	5	14	new	new	ADJ
ap-710	5	15	design	design	NOUN
ap-710	5	16	problems	problem	NOUN
ap-710	5	17	resulting	result	VERB
ap-710	5	18	from	from	ADP
ap-710	5	19	the	the	DET
ap-710	5	20	parallel	parallel	ADJ
ap-710	5	21	kinematics	kinematic	NOUN
ap-710	5	22	concept	concept	NOUN
ap-710	5	23	.	.	PUNCT
ap-710	6	1	this	this	PRON
ap-710	6	2	leads	lead	VERB
ap-710	6	3	to	to	ADP
ap-710	6	4	reduced	reduced	ADJ
ap-710	6	5	workspace	workspace	NOUN
ap-710	6	6	and	and	CCONJ
ap-710	6	7	stiffness	stiffness	NOUN
ap-710	6	8	.	.	PUNCT
ap-710	7	1	however	however	ADV
ap-710	7	2	,	,	PUNCT
ap-710	7	3	these	these	DET
ap-710	7	4	problems	problem	NOUN
ap-710	7	5	can	can	AUX
ap-710	7	6	be	be	AUX
ap-710	7	7	removed	remove	VERB
ap-710	7	8	and	and	CCONJ
ap-710	7	9	the	the	DET
ap-710	7	10	potential	potential	NOUN
ap-710	7	11	of	of	ADP
ap-710	7	12	pkm	pkm	PROPN
ap-710	7	13	can	can	AUX
ap-710	7	14	be	be	AUX
ap-710	7	15	be	be	AUX
ap-710	7	16	increased	increase	VERB
ap-710	7	17	by	by	ADP
ap-710	7	18	applying	apply	VERB
ap-710	7	19	the	the	DET
ap-710	7	20	principle	principle	NOUN
ap-710	7	21	of	of	ADP
ap-710	7	22	redundant	redundant	ADJ
ap-710	7	23	actuation	actuation	NOUN
ap-710	7	24	[	[	X
ap-710	7	25	1	1	NUM
ap-710	7	26	]	]	PUNCT
ap-710	7	27	.	.	PUNCT
ap-710	8	1	this	this	DET
ap-710	8	2	paper	paper	NOUN
ap-710	8	3	deals	deal	NOUN
ap-710	8	4	with	with	ADP
ap-710	8	5	the	the	DET
ap-710	8	6	extension	extension	NOUN
ap-710	8	7	of	of	ADP
ap-710	8	8	the	the	DET
ap-710	8	9	concepts	concept	NOUN
ap-710	8	10	of	of	ADP
ap-710	8	11	redundantly	redundantly	ADV
ap-710	8	12	actuated	actuate	VERB
ap-710	8	13	parallel	parallel	ADJ
ap-710	8	14	kinematics	kinematic	NOUN
ap-710	8	15	structures	structure	NOUN
ap-710	8	16	for	for	ADP
ap-710	8	17	five	five	NUM
ap-710	8	18	-	-	PUNCT
ap-710	8	19	sided	sided	ADJ
ap-710	8	20	five	five	NUM
ap-710	8	21	-	-	PUNCT
ap-710	8	22	axis	axis	NOUN
ap-710	8	23	machine	machine	NOUN
ap-710	8	24	tools	tool	NOUN
ap-710	8	25	and	and	CCONJ
ap-710	8	26	for	for	ADP
ap-710	8	27	a	a	DET
ap-710	8	28	free	free	ADV
ap-710	8	29	-	-	PUNCT
ap-710	8	30	forming	form	VERB
ap-710	8	31	sheet	sheet	NOUN
ap-710	8	32	metal	metal	NOUN
ap-710	8	33	forming	form	VERB
ap-710	8	34	machine	machine	NOUN
ap-710	8	35	.	.	PUNCT
ap-710	9	1	these	these	DET
ap-710	9	2	concepts	concept	NOUN
ap-710	9	3	can	can	AUX
ap-710	9	4	be	be	AUX
ap-710	9	5	divided	divide	VERB
ap-710	9	6	into	into	ADP
ap-710	9	7	full	full	ADJ
ap-710	9	8	,	,	PUNCT
ap-710	9	9	hybrid	hybrid	ADJ
ap-710	9	10	and	and	CCONJ
ap-710	9	11	modular	modular	ADJ
ap-710	9	12	pkms	pkms	NOUN
ap-710	9	13	.	.	PUNCT
ap-710	10	1	2	2	NUM
ap-710	10	2	full	full	ADJ
ap-710	10	3	parallel	parallel	ADJ
ap-710	10	4	kinematics	kinematic	NOUN
ap-710	10	5	machines	machine	NOUN
ap-710	10	6	in	in	ADP
ap-710	10	7	full	full	ADJ
ap-710	10	8	parallel	parallel	ADJ
ap-710	10	9	kinematics	kinematic	NOUN
ap-710	10	10	machines	machine	NOUN
ap-710	10	11	,	,	PUNCT
ap-710	10	12	all	all	DET
ap-710	10	13	dofs	dof	NOUN
ap-710	10	14	are	be	AUX
ap-710	10	15	realized	realize	VERB
ap-710	10	16	by	by	ADP
ap-710	10	17	the	the	DET
ap-710	10	18	motion	motion	NOUN
ap-710	10	19	of	of	ADP
ap-710	10	20	the	the	DET
ap-710	10	21	platform	platform	NOUN
ap-710	10	22	,	,	PUNCT
ap-710	10	23	and	and	CCONJ
ap-710	10	24	the	the	DET
ap-710	10	25	platform	platform	NOUN
ap-710	10	26	is	be	AUX
ap-710	10	27	suspended	suspend	VERB
ap-710	10	28	by	by	ADP
ap-710	10	29	parallel	parallel	ADJ
ap-710	10	30	links	link	NOUN
ap-710	10	31	with	with	ADP
ap-710	10	32	drives	drive	NOUN
ap-710	10	33	on	on	ADP
ap-710	10	34	the	the	DET
ap-710	10	35	frame	frame	NOUN
ap-710	10	36	.	.	PUNCT
ap-710	11	1	an	an	DET
ap-710	11	2	example	example	NOUN
ap-710	11	3	of	of	ADP
ap-710	11	4	spatial	spatial	ADJ
ap-710	11	5	redundant	redundant	ADJ
ap-710	11	6	full	full	ADJ
ap-710	11	7	parallel	parallel	ADJ
ap-710	11	8	kinematics	kinematic	NOUN
ap-710	11	9	is	be	AUX
ap-710	11	10	octapod	octapod	ADJ
ap-710	12	1	[	[	X
ap-710	12	2	2	2	NUM
ap-710	12	3	]	]	PUNCT
ap-710	12	4	(	(	PUNCT
ap-710	12	5	fig	fig	NOUN
ap-710	12	6	.	.	NOUN
ap-710	13	1	1	1	X
ap-710	13	2	)	)	PUNCT
ap-710	13	3	corresponding	correspond	VERB
ap-710	13	4	to	to	ADP
ap-710	13	5	the	the	DET
ap-710	13	6	traditional	traditional	ADJ
ap-710	13	7	hexapod	hexapod	NOUN
ap-710	13	8	.	.	PUNCT
ap-710	14	1	eight	eight	NUM
ap-710	14	2	links	link	NOUN
ap-710	14	3	were	be	AUX
ap-710	14	4	selected	select	VERB
ap-710	14	5	for	for	ADP
ap-710	14	6	octapod	octapod	NOUN
ap-710	14	7	,	,	PUNCT
ap-710	14	8	instead	instead	ADV
ap-710	14	9	of	of	ADP
ap-710	14	10	six	six	NUM
ap-710	14	11	links	link	NOUN
ap-710	14	12	of	of	ADP
ap-710	14	13	hexapod	hexapod	NOUN
ap-710	14	14	.	.	PUNCT
ap-710	15	1	in	in	ADP
ap-710	15	2	the	the	DET
ap-710	15	3	initial	initial	ADJ
ap-710	15	4	concept	concept	NOUN
ap-710	15	5	,	,	PUNCT
ap-710	15	6	both	both	CCONJ
ap-710	15	7	the	the	DET
ap-710	15	8	frame	frame	NOUN
ap-710	15	9	and	and	CCONJ
ap-710	15	10	the	the	DET
ap-710	15	11	platform	platform	NOUN
ap-710	15	12	were	be	AUX
ap-710	15	13	cubes	cube	NOUN
ap-710	15	14	(	(	PUNCT
ap-710	15	15	fig	fig	NOUN
ap-710	15	16	.	.	PUNCT
ap-710	15	17	2a	2a	NUM
ap-710	15	18	)	)	PUNCT
ap-710	15	19	.	.	PUNCT
ap-710	16	1	the	the	DET
ap-710	16	2	links	link	NOUN
ap-710	16	3	connecting	connect	VERB
ap-710	16	4	the	the	DET
ap-710	16	5	vertices	vertex	NOUN
ap-710	16	6	of	of	ADP
ap-710	16	7	the	the	DET
ap-710	16	8	cubes	cube	NOUN
ap-710	16	9	are	be	AUX
ap-710	16	10	translational	translational	ADJ
ap-710	16	11	actuators	actuator	NOUN
ap-710	16	12	,	,	PUNCT
ap-710	16	13	which	which	PRON
ap-710	16	14	are	be	AUX
ap-710	16	15	connected	connect	VERB
ap-710	16	16	to	to	ADP
ap-710	16	17	the	the	DET
ap-710	16	18	frame	frame	NOUN
ap-710	16	19	and	and	CCONJ
ap-710	16	20	the	the	DET
ap-710	16	21	platform	platform	NOUN
ap-710	16	22	by	by	ADP
ap-710	16	23	spherical	spherical	ADJ
ap-710	16	24	joints	joint	NOUN
ap-710	16	25	.	.	PUNCT
ap-710	17	1	the	the	DET
ap-710	17	2	links	link	NOUN
ap-710	17	3	have	have	VERB
ap-710	17	4	variable	variable	ADJ
ap-710	17	5	lengths	length	NOUN
ap-710	17	6	.	.	PUNCT
ap-710	18	1	the	the	DET
ap-710	18	2	first	first	ADJ
ap-710	18	3	design	design	NOUN
ap-710	18	4	problem	problem	NOUN
ap-710	18	5	was	be	AUX
ap-710	18	6	that	that	SCONJ
ap-710	18	7	the	the	DET
ap-710	18	8	initial	initial	ADJ
ap-710	18	9	concept	concept	NOUN
ap-710	18	10	with	with	ADP
ap-710	18	11	a	a	DET
ap-710	18	12	cubic	cubic	ADJ
ap-710	18	13	platform	platform	NOUN
ap-710	18	14	was	be	AUX
ap-710	18	15	singular	singular	ADJ
ap-710	18	16	in	in	ADP
ap-710	18	17	the	the	DET
ap-710	18	18	whole	whole	ADJ
ap-710	18	19	workspace	workspace	NOUN
ap-710	18	20	.	.	PUNCT
ap-710	19	1	it	it	PRON
ap-710	19	2	was	be	AUX
ap-710	19	3	necessary	necessary	ADJ
ap-710	19	4	to	to	PART
ap-710	19	5	generate	generate	VERB
ap-710	19	6	a	a	DET
ap-710	19	7	modified	modify	VERB
ap-710	19	8	platform	platform	NOUN
ap-710	19	9	concept	concept	NOUN
ap-710	19	10	.	.	PUNCT
ap-710	20	1	the	the	DET
ap-710	20	2	modified	modify	VERB
ap-710	20	3	platform	platform	NOUN
ap-710	20	4	consists	consist	VERB
ap-710	20	5	of	of	ADP
ap-710	20	6	skew	skew	NOUN
ap-710	20	7	mutually	mutually	ADV
ap-710	20	8	rotated	rotate	VERB
ap-710	20	9	rectangles	rectangle	NOUN
ap-710	20	10	(	(	PUNCT
ap-710	20	11	fig	fig	NOUN
ap-710	20	12	.	.	PUNCT
ap-710	20	13	2b	2b	NUM
ap-710	20	14	)	)	PUNCT
ap-710	20	15	,	,	PUNCT
ap-710	20	16	and	and	CCONJ
ap-710	20	17	parameter	parameter	NOUN
ap-710	20	18	optimisation	optimisation	NOUN
ap-710	20	19	of	of	ADP
ap-710	20	20	its	its	PRON
ap-710	20	21	dimensions	dimension	NOUN
ap-710	20	22	was	be	AUX
ap-710	20	23	provided	provide	VERB
ap-710	20	24	.	.	PUNCT
ap-710	21	1	this	this	DET
ap-710	21	2	pkm	pkm	PROPN
ap-710	21	3	is	be	AUX
ap-710	21	4	non	non	ADJ
ap-710	21	5	-	-	ADJ
ap-710	21	6	singular	singular	ADJ
ap-710	21	7	,	,	PUNCT
ap-710	21	8	and	and	CCONJ
ap-710	21	9	has	have	VERB
ap-710	21	10	good	good	ADJ
ap-710	21	11	dexterity	dexterity	NOUN
ap-710	21	12	in	in	ADP
ap-710	21	13	the	the	DET
ap-710	21	14	whole	whole	ADJ
ap-710	21	15	workspace	workspace	NOUN
ap-710	21	16	.	.	PUNCT
ap-710	22	1	the	the	DET
ap-710	22	2	workspace	workspace	NOUN
ap-710	22	3	is	be	AUX
ap-710	22	4	in	in	ADP
ap-710	22	5	principle	principle	NOUN
ap-710	22	6	equal	equal	ADJ
ap-710	22	7	to	to	ADP
ap-710	22	8	the	the	DET
ap-710	22	9	whole	whole	ADJ
ap-710	22	10	cube	cube	NOUN
ap-710	22	11	of	of	ADP
ap-710	22	12	the	the	DET
ap-710	22	13	frame	frame	NOUN
ap-710	22	14	without	without	ADP
ap-710	22	15	the	the	DET
ap-710	22	16	boundary	boundary	ADJ
ap-710	22	17	layer	layer	NOUN
ap-710	22	18	of	of	ADP
ap-710	22	19	the	the	DET
ap-710	22	20	platform	platform	NOUN
ap-710	22	21	thickness	thickness	NOUN
ap-710	22	22	.	.	PUNCT
ap-710	23	1	the	the	DET
ap-710	23	2	orientation	orientation	NOUN
ap-710	23	3	capability	capability	NOUN
ap-710	23	4	of	of	ADP
ap-710	23	5	the	the	DET
ap-710	23	6	platform	platform	NOUN
ap-710	23	7	is	be	AUX
ap-710	23	8	good	good	ADJ
ap-710	23	9	(	(	PUNCT
ap-710	23	10	more	more	ADJ
ap-710	23	11	than	than	SCONJ
ap-710	23	12	+90	+90	NOUN
ap-710	23	13	degrees	degree	NOUN
ap-710	23	14	have	have	AUX
ap-710	23	15	been	be	AUX
ap-710	23	16	achieved	achieve	VERB
ap-710	23	17	)	)	PUNCT
ap-710	23	18	.	.	PUNCT
ap-710	24	1	if	if	SCONJ
ap-710	24	2	the	the	DET
ap-710	24	3	platform	platform	NOUN
ap-710	24	4	is	be	AUX
ap-710	24	5	just	just	ADV
ap-710	24	6	a	a	DET
ap-710	24	7	fraction	fraction	NOUN
ap-710	24	8	of	of	ADP
ap-710	24	9	the	the	DET
ap-710	24	10	frame	frame	NOUN
ap-710	24	11	cube	cube	NOUN
ap-710	24	12	(	(	PUNCT
ap-710	24	13	e.g.	e.g.	ADV
ap-710	24	14	1:5	1:5	NUM
ap-710	24	15	)	)	PUNCT
ap-710	24	16	,	,	PUNCT
ap-710	24	17	then	then	ADV
ap-710	24	18	the	the	DET
ap-710	24	19	ratio	ratio	NOUN
ap-710	24	20	between	between	ADP
ap-710	24	21	the	the	DET
ap-710	24	22	workspace	workspace	NOUN
ap-710	24	23	and	and	CCONJ
ap-710	24	24	the	the	DET
ap-710	24	25	machine	machine	NOUN
ap-710	24	26	space	space	NOUN
ap-710	24	27	is	be	AUX
ap-710	24	28	much	much	ADV
ap-710	24	29	better	well	ADJ
ap-710	24	30	than	than	ADP
ap-710	24	31	for	for	ADP
ap-710	24	32	other	other	ADJ
ap-710	24	33	parallel	parallel	ADJ
ap-710	24	34	kinematics	kinematic	NOUN
ap-710	24	35	concepts	concept	NOUN
ap-710	24	36	.	.	PUNCT
ap-710	25	1	however	however	ADV
ap-710	25	2	,	,	PUNCT
ap-710	25	3	these	these	DET
ap-710	25	4	properties	property	NOUN
ap-710	25	5	pose	pose	VERB
ap-710	25	6	quite	quite	ADV
ap-710	25	7	large	large	ADJ
ap-710	25	8	demands	demand	NOUN
ap-710	25	9	on	on	ADP
ap-710	25	10	the	the	DET
ap-710	25	11	angular	angular	ADJ
ap-710	25	12	extent	extent	NOUN
ap-710	25	13	of	of	ADP
ap-710	25	14	the	the	DET
ap-710	25	15	spherical	spherical	ADJ
ap-710	25	16	joints	joint	NOUN
ap-710	25	17	,	,	PUNCT
ap-710	25	18	and	and	CCONJ
ap-710	25	19	these	these	DET
ap-710	25	20	requirements	requirement	NOUN
ap-710	25	21	have	have	AUX
ap-710	25	22	led	lead	VERB
ap-710	25	23	to	to	ADP
ap-710	25	24	a	a	DET
ap-710	25	25	special	special	ADJ
ap-710	25	26	design	design	NOUN
ap-710	25	27	of	of	ADP
ap-710	25	28	the	the	DET
ap-710	25	29	new	new	ADJ
ap-710	25	30	spherical	spherical	ADJ
ap-710	25	31	joints	joint	NOUN
ap-710	26	1	[	[	X
ap-710	26	2	3	3	NUM
ap-710	26	3	]	]	PUNCT
ap-710	26	4	.	.	PUNCT
ap-710	27	1	this	this	PRON
ap-710	27	2	involves	involve	VERB
ap-710	27	3	the	the	DET
ap-710	27	4	possibility	possibility	NOUN
ap-710	27	5	of	of	ADP
ap-710	27	6	five	five	NUM
ap-710	27	7	-	-	PUNCT
ap-710	27	8	sided	sided	ADJ
ap-710	27	9	machining	machining	NOUN
ap-710	27	10	.	.	PUNCT
ap-710	28	1	five	five	NUM
ap-710	28	2	-	-	PUNCT
ap-710	28	3	sided	sided	ADJ
ap-710	28	4	machining	machining	NOUN
ap-710	28	5	means	mean	VERB
ap-710	28	6	that	that	SCONJ
ap-710	28	7	a	a	DET
ap-710	28	8	machine	machine	NOUN
ap-710	28	9	part	part	NOUN
ap-710	28	10	(	(	PUNCT
ap-710	28	11	e.g.	e.g.	ADV
ap-710	28	12	a	a	DET
ap-710	28	13	cube	cube	NOUN
ap-710	28	14	)	)	PUNCT
ap-710	28	15	is	be	AUX
ap-710	28	16	fixed	fix	VERB
ap-710	28	17	within	within	ADP
ap-710	28	18	the	the	DET
ap-710	28	19	workspace	workspace	NOUN
ap-710	28	20	and	and	CCONJ
ap-710	28	21	all	all	DET
ap-710	28	22	five	five	NUM
ap-710	28	23	free	free	ADJ
ap-710	28	24	sides	side	NOUN
ap-710	28	25	of	of	ADP
ap-710	28	26	this	this	DET
ap-710	28	27	cube	cube	NOUN
ap-710	28	28	are	be	AUX
ap-710	28	29	machined	machine	VERB
ap-710	28	30	without	without	ADP
ap-710	28	31	any	any	DET
ap-710	28	32	other	other	ADJ
ap-710	28	33	fixing	fixing	NOUN
ap-710	28	34	.	.	PUNCT
ap-710	29	1	severe	severe	ADJ
ap-710	29	2	problems	problem	NOUN
ap-710	29	3	are	be	AUX
ap-710	29	4	posed	pose	VERB
ap-710	29	5	by	by	ADP
ap-710	29	6	collisions	collision	NOUN
ap-710	29	7	.	.	PUNCT
ap-710	30	1	in	in	ADP
ap-710	30	2	our	our	PRON
ap-710	30	3	case	case	NOUN
ap-710	30	4	this	this	PRON
ap-710	30	5	is	be	AUX
ap-710	30	6	influenced	influence	VERB
ap-710	30	7	by	by	ADP
ap-710	30	8	the	the	DET
ap-710	30	9	relative	relative	ADJ
ap-710	30	10	size	size	NOUN
ap-710	30	11	of	of	ADP
ap-710	30	12	the	the	DET
ap-710	30	13	platform	platform	NOUN
ap-710	30	14	,	,	PUNCT
ap-710	30	15	the	the	DET
ap-710	30	16	position	position	NOUN
ap-710	30	17	of	of	ADP
ap-710	30	18	the	the	DET
ap-710	30	19	fixing	fix	VERB
ap-710	30	20	table	table	NOUN
ap-710	30	21	within	within	ADP
ap-710	30	22	the	the	DET
ap-710	30	23	workspace	workspace	NOUN
ap-710	30	24	and	and	CCONJ
ap-710	30	25	the	the	DET
ap-710	30	26	resulting	result	VERB
ap-710	30	27	cube	cube	NOUN
ap-710	30	28	being	be	AUX
ap-710	30	29	five	five	NUM
ap-710	30	30	-	-	PUNCT
ap-710	30	31	side	side	NOUN
ap-710	30	32	machinable	machinable	ADJ
ap-710	30	33	.	.	PUNCT
ap-710	31	1	these	these	DET
ap-710	31	2	parameters	parameter	NOUN
ap-710	31	3	were	be	AUX
ap-710	31	4	thoroughly	thoroughly	ADV
ap-710	31	5	optimised	optimise	VERB
ap-710	31	6	,	,	PUNCT
ap-710	31	7	with	with	ADP
ap-710	31	8	large	large	ADJ
ap-710	31	9	computational	computational	ADJ
ap-710	31	10	demands	demand	NOUN
ap-710	31	11	.	.	PUNCT
ap-710	32	1	the	the	DET
ap-710	32	2	result	result	NOUN
ap-710	32	3	is	be	AUX
ap-710	32	4	that	that	SCONJ
ap-710	32	5	a	a	DET
ap-710	32	6	cube	cube	NOUN
ap-710	32	7	with	with	ADP
ap-710	32	8	the	the	DET
ap-710	32	9	size	size	NOUN
ap-710	32	10	of	of	ADP
ap-710	32	11	25	25	NUM
ap-710	32	12	%	%	NOUN
ap-710	32	13	of	of	ADP
ap-710	32	14	the	the	DET
ap-710	32	15	octapod	octapod	ADJ
ap-710	32	16	frame	frame	NOUN
ap-710	32	17	can	can	AUX
ap-710	32	18	be	be	AUX
ap-710	32	19	really	really	ADV
ap-710	32	20	five	five	NUM
ap-710	32	21	-	-	PUNCT
ap-710	32	22	side	side	NOUN
ap-710	32	23	machined	machine	VERB
ap-710	32	24	.	.	PUNCT
ap-710	33	1	56	56	NUM
ap-710	33	2	©	©	PROPN
ap-710	33	3	czech	czech	PROPN
ap-710	33	4	technical	technical	PROPN
ap-710	33	5	university	university	PROPN
ap-710	33	6	publishing	publishing	NOUN
ap-710	33	7	house	house	NOUN
ap-710	33	8	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-710	33	9	acta	acta	PROPN
ap-710	33	10	polytechnica	polytechnica	PROPN
ap-710	33	11	vol	vol	NOUN
ap-710	33	12	.	.	PROPN
ap-710	34	1	45	45	NUM
ap-710	34	2	no	no	NOUN
ap-710	34	3	.	.	PUNCT
ap-710	35	1	3/2005	3/2005	NUM
ap-710	35	2	czech	czech	PROPN
ap-710	35	3	technical	technical	PROPN
ap-710	35	4	university	university	PROPN
ap-710	35	5	in	in	ADP
ap-710	35	6	prague	prague	PROPN
ap-710	35	7	study	study	NOUN
ap-710	35	8	of	of	ADP
ap-710	35	9	concepts	concept	NOUN
ap-710	35	10	of	of	ADP
ap-710	35	11	parallel	parallel	ADJ
ap-710	35	12	kinematics	kinematic	NOUN
ap-710	35	13	machines	machine	NOUN
ap-710	35	14	for	for	ADP
ap-710	35	15	advanced	advanced	ADJ
ap-710	35	16	manufacturing	manufacturing	NOUN
ap-710	35	17	m.	m.	NOUN
ap-710	35	18	valášek	valášek	PROPN
ap-710	35	19	,	,	PUNCT
ap-710	35	20	v.	v.	CCONJ
ap-710	35	21	bauma	bauma	PROPN
ap-710	35	22	,	,	PUNCT
ap-710	35	23	z.	z.	PROPN
ap-710	35	24	šika	šika	NOUN
ap-710	36	1	this	this	DET
ap-710	36	2	paper	paper	NOUN
ap-710	36	3	deals	deal	NOUN
ap-710	36	4	with	with	ADP
ap-710	36	5	possible	possible	ADJ
ap-710	36	6	new	new	ADJ
ap-710	36	7	concepts	concept	NOUN
ap-710	36	8	for	for	ADP
ap-710	36	9	machine	machine	NOUN
ap-710	36	10	tools	tool	NOUN
ap-710	36	11	based	base	VERB
ap-710	36	12	on	on	ADP
ap-710	36	13	parallel	parallel	ADJ
ap-710	36	14	kinematics	kinematic	NOUN
ap-710	36	15	for	for	ADP
ap-710	36	16	advanced	advanced	ADJ
ap-710	36	17	manufacturing	manufacturing	NOUN
ap-710	36	18	.	.	PUNCT
ap-710	37	1	parallel	parallel	ADJ
ap-710	37	2	kinematics	kinematic	NOUN
ap-710	37	3	machines	machine	NOUN
ap-710	37	4	(	(	PUNCT
ap-710	37	5	pkm	pkm	NOUN
ap-710	37	6	)	)	PUNCT
ap-710	37	7	enable	enable	VERB
ap-710	37	8	the	the	DET
ap-710	37	9	mechanical	mechanical	ADJ
ap-710	37	10	properties	property	NOUN
ap-710	37	11	of	of	ADP
ap-710	37	12	manufacturing	manufacturing	NOUN
ap-710	37	13	machines	machine	NOUN
ap-710	37	14	to	to	PART
ap-710	37	15	be	be	AUX
ap-710	37	16	improved	improve	VERB
ap-710	37	17	.	.	PUNCT
ap-710	38	1	this	this	PRON
ap-710	38	2	has	have	AUX
ap-710	38	3	been	be	AUX
ap-710	38	4	proven	prove	VERB
ap-710	38	5	by	by	ADP
ap-710	38	6	several	several	ADJ
ap-710	38	7	new	new	ADJ
ap-710	38	8	machine	machine	NOUN
ap-710	38	9	tool	tool	NOUN
ap-710	38	10	concepts	concept	NOUN
ap-710	38	11	.	.	PUNCT
ap-710	39	1	however	however	ADV
ap-710	39	2	,	,	PUNCT
ap-710	39	3	this	this	DET
ap-710	39	4	potential	potential	NOUN
ap-710	39	5	can	can	AUX
ap-710	39	6	be	be	AUX
ap-710	39	7	and	and	CCONJ
ap-710	39	8	must	must	AUX
ap-710	39	9	be	be	AUX
ap-710	39	10	increased	increase	VERB
ap-710	39	11	by	by	ADP
ap-710	39	12	applying	apply	VERB
ap-710	39	13	the	the	DET
ap-710	39	14	principle	principle	NOUN
ap-710	39	15	of	of	ADP
ap-710	39	16	redundant	redundant	ADJ
ap-710	39	17	actuation	actuation	NOUN
ap-710	39	18	.	.	PUNCT
ap-710	40	1	this	this	DET
ap-710	40	2	paper	paper	NOUN
ap-710	40	3	deals	deal	NOUN
ap-710	40	4	with	with	ADP
ap-710	40	5	the	the	DET
ap-710	40	6	extension	extension	NOUN
ap-710	40	7	of	of	ADP
ap-710	40	8	the	the	DET
ap-710	40	9	concepts	concept	NOUN
ap-710	40	10	of	of	ADP
ap-710	40	11	redundantly	redundantly	ADV
ap-710	40	12	actuated	actuate	VERB
ap-710	40	13	parallel	parallel	ADJ
ap-710	40	14	kinematics	kinematic	NOUN
ap-710	40	15	structures	structure	NOUN
ap-710	40	16	for	for	ADP
ap-710	40	17	five	five	NUM
ap-710	40	18	-	-	PUNCT
ap-710	40	19	sided	sided	ADJ
ap-710	40	20	five	five	NUM
ap-710	40	21	-	-	PUNCT
ap-710	40	22	axis	axis	NOUN
ap-710	40	23	machine	machine	NOUN
ap-710	40	24	tools	tool	NOUN
ap-710	40	25	and	and	CCONJ
ap-710	40	26	for	for	ADP
ap-710	40	27	a	a	DET
ap-710	40	28	free	free	ADV
ap-710	40	29	-	-	PUNCT
ap-710	40	30	forming	form	VERB
ap-710	40	31	sheet	sheet	NOUN
ap-710	40	32	metal	metal	NOUN
ap-710	40	33	forming	form	VERB
ap-710	40	34	machine	machine	NOUN
ap-710	40	35	.	.	PUNCT
ap-710	41	1	the	the	DET
ap-710	41	2	design	design	NOUN
ap-710	41	3	principles	principle	NOUN
ap-710	41	4	of	of	ADP
ap-710	41	5	previous	previous	ADJ
ap-710	41	6	successful	successful	ADJ
ap-710	41	7	pkms	pkms	NOUN
ap-710	41	8	are	be	AUX
ap-710	41	9	summarized	summarize	VERB
ap-710	41	10	and	and	CCONJ
ap-710	41	11	new	new	ADJ
ap-710	41	12	concepts	concept	NOUN
ap-710	41	13	are	be	AUX
ap-710	41	14	proposed	propose	VERB
ap-710	41	15	.	.	PUNCT
ap-710	42	1	the	the	DET
ap-710	42	2	most	most	ADV
ap-710	42	3	important	important	ADJ
ap-710	42	4	requirement	requirement	NOUN
ap-710	42	5	criteria	criterion	NOUN
ap-710	42	6	are	be	AUX
ap-710	42	7	summarized	summarize	VERB
ap-710	42	8	.	.	PUNCT
ap-710	43	1	the	the	DET
ap-710	43	2	proposed	propose	VERB
ap-710	43	3	concepts	concept	NOUN
ap-710	43	4	are	be	AUX
ap-710	43	5	qualitatively	qualitatively	ADV
ap-710	43	6	and	and	CCONJ
ap-710	43	7	initially	initially	ADV
ap-710	43	8	quantitatively	quantitatively	ADV
ap-710	43	9	evaluated	evaluate	VERB
ap-710	43	10	according	accord	VERB
ap-710	43	11	to	to	ADP
ap-710	43	12	these	these	DET
ap-710	43	13	criteria	criterion	NOUN
ap-710	43	14	.	.	PUNCT
ap-710	44	1	keywords	keyword	NOUN
ap-710	44	2	:	:	PUNCT
ap-710	44	3	parallel	parallel	ADJ
ap-710	44	4	kinematics	kinematic	NOUN
ap-710	44	5	,	,	PUNCT
ap-710	44	6	machine	machine	NOUN
ap-710	44	7	tools	tool	NOUN
ap-710	44	8	,	,	PUNCT
ap-710	44	9	metal	metal	NOUN
ap-710	44	10	forming	form	VERB
ap-710	44	11	machines	machine	NOUN
ap-710	44	12	,	,	PUNCT
ap-710	44	13	conceptual	conceptual	ADJ
ap-710	44	14	design	design	NOUN
ap-710	44	15	.	.	PUNCT
ap-710	45	1	fig	fig	NOUN
ap-710	45	2	.	.	PUNCT
ap-710	46	1	1	1	NUM
ap-710	46	2	:	:	PUNCT
ap-710	46	3	laboratory	laboratory	NOUN
ap-710	46	4	model	model	NOUN
ap-710	46	5	of	of	ADP
ap-710	46	6	octapod	octapod	NOUN
ap-710	46	7	another	another	DET
ap-710	46	8	example	example	NOUN
ap-710	46	9	of	of	ADP
ap-710	46	10	a	a	DET
ap-710	46	11	spatial	spatial	ADJ
ap-710	46	12	full	full	ADJ
ap-710	46	13	parallel	parallel	ADJ
ap-710	46	14	kinematics	kinematic	NOUN
ap-710	46	15	machine	machine	NOUN
ap-710	46	16	is	be	AUX
ap-710	46	17	octaslide	octaslide	NOUN
ap-710	46	18	[	[	X
ap-710	46	19	4	4	NUM
ap-710	46	20	]	]	PUNCT
ap-710	46	21	.	.	PUNCT
ap-710	47	1	it	it	PRON
ap-710	47	2	is	be	AUX
ap-710	47	3	a	a	DET
ap-710	47	4	redundant	redundant	ADJ
ap-710	47	5	version	version	NOUN
ap-710	47	6	of	of	ADP
ap-710	47	7	hexaslide	hexaslide	NOUN
ap-710	47	8	.	.	PUNCT
ap-710	48	1	it	it	PRON
ap-710	48	2	is	be	AUX
ap-710	48	3	a	a	DET
ap-710	48	4	parallel	parallel	ADJ
ap-710	48	5	kinematics	kinematic	NOUN
ap-710	48	6	machine	machine	NOUN
ap-710	48	7	the	the	DET
ap-710	48	8	links	link	NOUN
ap-710	48	9	of	of	ADP
ap-710	48	10	which	which	PRON
ap-710	48	11	have	have	VERB
ap-710	48	12	sliding	slide	VERB
ap-710	48	13	actuators	actuator	NOUN
ap-710	48	14	.	.	PUNCT
ap-710	49	1	the	the	DET
ap-710	49	2	basic	basic	ADJ
ap-710	49	3	concept	concept	NOUN
ap-710	49	4	of	of	ADP
ap-710	49	5	such	such	DET
ap-710	49	6	a	a	DET
ap-710	49	7	structure	structure	NOUN
ap-710	49	8	is	be	AUX
ap-710	49	9	shown	show	VERB
ap-710	49	10	in	in	ADP
ap-710	49	11	fig	fig	NOUN
ap-710	49	12	.	.	PUNCT
ap-710	50	1	4	4	X
ap-710	50	2	.	.	X
ap-710	50	3	the	the	DET
ap-710	50	4	platform	platform	NOUN
ap-710	50	5	is	be	AUX
ap-710	50	6	suspended	suspend	VERB
ap-710	50	7	on	on	ADP
ap-710	50	8	8	8	NUM
ap-710	50	9	links	link	NOUN
ap-710	50	10	with	with	ADP
ap-710	50	11	actuators	actuator	NOUN
ap-710	50	12	,	,	PUNCT
ap-710	50	13	whereas	whereas	SCONJ
ap-710	50	14	hexaslide	hexaslide	ADV
ap-710	50	15	or	or	CCONJ
ap-710	50	16	pentaslide	pentaslide	NOUN
ap-710	50	17	are	be	AUX
ap-710	50	18	suspended	suspend	VERB
ap-710	50	19	on	on	ADP
ap-710	50	20	only	only	ADV
ap-710	50	21	6	6	NUM
ap-710	50	22	or	or	CCONJ
ap-710	50	23	5	5	NUM
ap-710	50	24	links	link	NOUN
ap-710	50	25	.	.	PUNCT
ap-710	51	1	the	the	DET
ap-710	51	2	concept	concept	NOUN
ap-710	51	3	of	of	ADP
ap-710	51	4	redundant	redundant	ADJ
ap-710	51	5	actuation	actuation	NOUN
ap-710	51	6	completely	completely	ADV
ap-710	51	7	removes	remove	VERB
ap-710	51	8	the	the	DET
ap-710	51	9	singularities	singularity	NOUN
ap-710	51	10	from	from	ADP
ap-710	51	11	the	the	DET
ap-710	51	12	workspace	workspace	NOUN
ap-710	51	13	.	.	PUNCT
ap-710	52	1	the	the	DET
ap-710	52	2	stiffness	stiffness	NOUN
ap-710	52	3	in	in	ADP
ap-710	52	4	the	the	DET
ap-710	52	5	whole	whole	ADJ
ap-710	52	6	workspace	workspace	NOUN
ap-710	52	7	was	be	AUX
ap-710	52	8	increased	increase	VERB
ap-710	52	9	in	in	ADP
ap-710	52	10	maximum	maximum	ADJ
ap-710	52	11	values	value	NOUN
ap-710	52	12	by	by	ADP
ap-710	52	13	65–74	65–74	NUM
ap-710	52	14	%	%	NOUN
ap-710	52	15	,	,	PUNCT
ap-710	52	16	and	and	CCONJ
ap-710	52	17	in	in	ADP
ap-710	52	18	average	average	ADJ
ap-710	52	19	values	value	NOUN
ap-710	52	20	by	by	ADP
ap-710	52	21	43–54	43–54	NUM
ap-710	52	22	%	%	NOUN
ap-710	52	23	compared	compare	VERB
ap-710	52	24	to	to	ADP
ap-710	52	25	hexaslide	hexaslide	ADV
ap-710	52	26	.	.	PUNCT
ap-710	53	1	then	then	ADV
ap-710	53	2	the	the	DET
ap-710	53	3	octaslide	octaslide	NOUN
ap-710	53	4	concept	concept	NOUN
ap-710	53	5	was	be	AUX
ap-710	53	6	optimised	optimise	VERB
ap-710	53	7	as	as	ADP
ap-710	53	8	a	a	DET
ap-710	53	9	machine	machine	NOUN
ap-710	53	10	tool	tool	NOUN
ap-710	53	11	for	for	ADP
ap-710	53	12	five	five	NUM
ap-710	53	13	-	-	PUNCT
ap-710	53	14	axis	axis	NOUN
ap-710	53	15	machining	machining	NOUN
ap-710	53	16	.	.	PUNCT
ap-710	54	1	the	the	DET
ap-710	54	2	hexaslide	hexaslide	ADJ
ap-710	54	3	and	and	CCONJ
ap-710	54	4	octaslide	octaslide	ADJ
ap-710	54	5	concepts	concept	NOUN
ap-710	54	6	were	be	AUX
ap-710	54	7	simultaneously	simultaneously	ADV
ap-710	54	8	intensively	intensively	ADV
ap-710	54	9	optimized	optimize	VERB
ap-710	54	10	.	.	PUNCT
ap-710	55	1	the	the	DET
ap-710	55	2	result	result	NOUN
ap-710	55	3	is	be	AUX
ap-710	55	4	that	that	SCONJ
ap-710	55	5	octaslide	octaslide	NOUN
ap-710	55	6	is	be	AUX
ap-710	55	7	superior	superior	ADJ
ap-710	55	8	in	in	ADP
ap-710	55	9	all	all	DET
ap-710	55	10	mechanical	mechanical	ADJ
ap-710	55	11	properties	property	NOUN
ap-710	55	12	.	.	PUNCT
ap-710	56	1	the	the	DET
ap-710	56	2	resulting	result	VERB
ap-710	56	3	concept	concept	NOUN
ap-710	56	4	of	of	ADP
ap-710	56	5	octaslide	octaslide	NOUN
ap-710	56	6	is	be	AUX
ap-710	56	7	an	an	DET
ap-710	56	8	asymmetric	asymmetric	ADJ
ap-710	56	9	structure	structure	NOUN
ap-710	56	10	(	(	PUNCT
ap-710	56	11	fig	fig	NOUN
ap-710	56	12	.	.	PUNCT
ap-710	56	13	5	5	NUM
ap-710	56	14	)	)	PUNCT
ap-710	56	15	,	,	PUNCT
ap-710	56	16	both	both	CCONJ
ap-710	56	17	in	in	ADP
ap-710	56	18	connections	connection	NOUN
ap-710	56	19	of	of	ADP
ap-710	56	20	the	the	DET
ap-710	56	21	links	link	NOUN
ap-710	56	22	with	with	ADP
ap-710	56	23	the	the	DET
ap-710	56	24	frame	frame	NOUN
ap-710	56	25	and	and	CCONJ
ap-710	56	26	in	in	ADP
ap-710	56	27	the	the	DET
ap-710	56	28	conical	conical	ADJ
ap-710	56	29	form	form	NOUN
ap-710	56	30	of	of	ADP
ap-710	56	31	the	the	DET
ap-710	56	32	platform	platform	NOUN
ap-710	56	33	.	.	PUNCT
ap-710	57	1	the	the	DET
ap-710	57	2	increased	increase	VERB
ap-710	57	3	orientation	orientation	NOUN
ap-710	57	4	angle	angle	NOUN
ap-710	57	5	is	be	AUX
ap-710	57	6	�	�	PROPN
ap-710	57	7	33	33	NUM
ap-710	57	8	°	°	NOUN
ap-710	57	9	.	.	PROPN
ap-710	57	10	3	3	NUM
ap-710	57	11	hybrid	hybrid	ADJ
ap-710	57	12	parallel	parallel	ADJ
ap-710	57	13	kinematics	kinematic	NOUN
ap-710	57	14	machines	machine	NOUN
ap-710	57	15	in	in	ADP
ap-710	57	16	hybrid	hybrid	ADJ
ap-710	57	17	parallel	parallel	ADJ
ap-710	57	18	kinematics	kinematic	NOUN
ap-710	57	19	machines	machine	NOUN
ap-710	57	20	,	,	PUNCT
ap-710	57	21	the	the	DET
ap-710	57	22	dofs	dof	NOUN
ap-710	57	23	of	of	ADP
ap-710	57	24	the	the	DET
ap-710	57	25	machine	machine	NOUN
ap-710	57	26	are	be	AUX
ap-710	57	27	split	split	VERB
ap-710	57	28	into	into	ADP
ap-710	57	29	two	two	NUM
ap-710	57	30	parts	part	NOUN
ap-710	57	31	,	,	PUNCT
ap-710	57	32	at	at	ADP
ap-710	57	33	least	least	ADJ
ap-710	57	34	one	one	NUM
ap-710	57	35	of	of	ADP
ap-710	57	36	which	which	PRON
ap-710	57	37	is	be	AUX
ap-710	57	38	realized	realize	VERB
ap-710	57	39	by	by	ADP
ap-710	57	40	the	the	DET
ap-710	57	41	parallel	parallel	ADJ
ap-710	57	42	kinematics	kinematic	NOUN
ap-710	57	43	concept	concept	NOUN
ap-710	57	44	.	.	PUNCT
ap-710	58	1	there	there	PRON
ap-710	58	2	are	be	VERB
ap-710	58	3	two	two	NUM
ap-710	58	4	groups	group	NOUN
ap-710	58	5	©	©	PROPN
ap-710	58	6	czech	czech	PROPN
ap-710	58	7	technical	technical	PROPN
ap-710	58	8	university	university	PROPN
ap-710	58	9	publishing	publishing	NOUN
ap-710	58	10	house	house	NOUN
ap-710	58	11	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-710	58	12	57	57	NUM
ap-710	58	13	czech	czech	PROPN
ap-710	58	14	technical	technical	PROPN
ap-710	58	15	university	university	PROPN
ap-710	58	16	in	in	ADP
ap-710	58	17	prague	prague	PROPN
ap-710	58	18	acta	acta	PROPN
ap-710	58	19	polytechnica	polytechnica	PROPN
ap-710	58	20	vol	vol	NOUN
ap-710	58	21	.	.	PROPN
ap-710	59	1	45	45	NUM
ap-710	59	2	no	no	NOUN
ap-710	59	3	.	.	PUNCT
ap-710	60	1	3/2005	3/2005	NUM
ap-710	60	2	a	a	DET
ap-710	60	3	b	b	NOUN
ap-710	60	4	1	1	NUM
ap-710	60	5	2	2	NUM
ap-710	60	6	34	34	NUM
ap-710	60	7	5	5	NUM
ap-710	60	8	6	6	NUM
ap-710	60	9	7	7	NUM
ap-710	60	10	8	8	NUM
ap-710	60	11	8	8	NUM
ap-710	60	12	´	´	NOUN
ap-710	60	13	7	7	NUM
ap-710	60	14	´	´	NOUN
ap-710	60	15	5	5	NUM
ap-710	60	16	´	´	NOUN
ap-710	60	17	6	6	NUM
ap-710	60	18	´	´	NOUN
ap-710	60	19	3	3	NUM
ap-710	60	20	´	´	NOUN
ap-710	60	21	2´1	2´1	NUM
ap-710	60	22	´	´	NOUN
ap-710	60	23	4	4	NUM
ap-710	60	24	´	´	NOUN
ap-710	60	25	(	(	PUNCT
ap-710	60	26	a	a	NOUN
ap-710	60	27	)	)	PUNCT
ap-710	60	28	(	(	PUNCT
ap-710	60	29	b	b	X
ap-710	60	30	)	)	PUNCT
ap-710	60	31	fig	fig	NOUN
ap-710	60	32	.	.	PUNCT
ap-710	61	1	2	2	NUM
ap-710	61	2	:	:	PUNCT
ap-710	61	3	the	the	DET
ap-710	61	4	initial	initial	ADJ
ap-710	61	5	(	(	PUNCT
ap-710	61	6	a	a	NOUN
ap-710	61	7	)	)	PUNCT
ap-710	61	8	and	and	CCONJ
ap-710	61	9	final	final	ADJ
ap-710	61	10	(	(	PUNCT
ap-710	61	11	b	b	NOUN
ap-710	61	12	)	)	PUNCT
ap-710	61	13	structure	structure	NOUN
ap-710	61	14	of	of	ADP
ap-710	61	15	octapod	octapod	ADJ
ap-710	61	16	spatial	spatial	ADJ
ap-710	61	17	redundant	redundant	ADJ
ap-710	61	18	parallel	parallel	ADJ
ap-710	61	19	kinematics	kinematic	NOUN
ap-710	61	20	fig	fig	NOUN
ap-710	61	21	.	.	PUNCT
ap-710	62	1	3	3	NUM
ap-710	62	2	:	:	PUNCT
ap-710	62	3	octapod	octapod	ADJ
ap-710	62	4	variant	variant	NOUN
ap-710	62	5	for	for	ADP
ap-710	62	6	five	five	NUM
ap-710	62	7	-	-	PUNCT
ap-710	62	8	sided	sided	ADJ
ap-710	62	9	machining	machining	NOUN
ap-710	62	10	x	x	PUNCT
ap-710	62	11	y	y	PROPN
ap-710	62	12	z	z	PROPN
ap-710	62	13	fig	fig	NOUN
ap-710	62	14	.	.	PUNCT
ap-710	63	1	4	4	NUM
ap-710	63	2	:	:	PUNCT
ap-710	63	3	kinematical	kinematical	ADJ
ap-710	63	4	concept	concept	NOUN
ap-710	63	5	of	of	ADP
ap-710	63	6	octaslide	octaslide	NOUN
ap-710	63	7	of	of	ADP
ap-710	63	8	concepts	concept	NOUN
ap-710	63	9	for	for	ADP
ap-710	63	10	five	five	NUM
ap-710	63	11	-	-	PUNCT
ap-710	63	12	axis	axis	NOUN
ap-710	63	13	/	/	SYM
ap-710	63	14	five	five	NUM
ap-710	63	15	-	-	PUNCT
ap-710	63	16	sided	sided	ADJ
ap-710	63	17	machining	machining	NOUN
ap-710	63	18	.	.	PUNCT
ap-710	64	1	they	they	PRON
ap-710	64	2	are	be	AUX
ap-710	64	3	based	base	VERB
ap-710	64	4	on	on	ADP
ap-710	64	5	dividing	divide	VERB
ap-710	64	6	the	the	DET
ap-710	64	7	required	require	VERB
ap-710	64	8	5	5	NUM
ap-710	64	9	dofs	dof	NOUN
ap-710	64	10	into	into	ADP
ap-710	64	11	two	two	NUM
ap-710	64	12	parts	part	NOUN
ap-710	64	13	,	,	PUNCT
ap-710	64	14	with	with	ADP
ap-710	64	15	3	3	NUM
ap-710	64	16	+	+	SYM
ap-710	64	17	2	2	NUM
ap-710	64	18	dofs	dof	NOUN
ap-710	64	19	or	or	CCONJ
ap-710	64	20	4	4	NUM
ap-710	64	21	+	+	SYM
ap-710	64	22	1	1	NUM
ap-710	64	23	dofs	dof	NOUN
ap-710	64	24	.	.	PUNCT
ap-710	65	1	one	one	NUM
ap-710	65	2	group	group	NOUN
ap-710	65	3	of	of	ADP
ap-710	65	4	hybrid	hybrid	ADJ
ap-710	65	5	pkms	pkms	NOUN
ap-710	65	6	is	be	AUX
ap-710	65	7	based	base	VERB
ap-710	65	8	on	on	ADP
ap-710	65	9	a	a	DET
ap-710	65	10	planar	planar	ADJ
ap-710	65	11	parallel	parallel	ADJ
ap-710	65	12	kinematics	kinematic	NOUN
ap-710	65	13	mechanism	mechanism	NOUN
ap-710	65	14	that	that	PRON
ap-710	65	15	realizes	realize	VERB
ap-710	65	16	3	3	NUM
ap-710	65	17	dofs	dof	NOUN
ap-710	65	18	in	in	ADP
ap-710	65	19	a	a	DET
ap-710	65	20	large	large	ADJ
ap-710	65	21	range	range	NOUN
ap-710	65	22	,	,	PUNCT
ap-710	65	23	and	and	CCONJ
ap-710	65	24	this	this	DET
ap-710	65	25	mechanism	mechanism	NOUN
ap-710	65	26	is	be	AUX
ap-710	65	27	combined	combine	VERB
ap-710	65	28	with	with	ADP
ap-710	65	29	a	a	DET
ap-710	65	30	translational	translational	ADJ
ap-710	65	31	table	table	NOUN
ap-710	65	32	that	that	PRON
ap-710	65	33	can	can	AUX
ap-710	65	34	also	also	ADV
ap-710	65	35	rotate	rotate	VERB
ap-710	65	36	(	(	PUNCT
ap-710	65	37	two	two	NUM
ap-710	65	38	further	further	ADJ
ap-710	65	39	dofs	dof	NOUN
ap-710	65	40	)	)	PUNCT
ap-710	65	41	.	.	PUNCT
ap-710	66	1	an	an	DET
ap-710	66	2	example	example	NOUN
ap-710	66	3	is	be	AUX
ap-710	66	4	shown	show	VERB
ap-710	66	5	in	in	ADP
ap-710	66	6	fig	fig	NOUN
ap-710	66	7	.	.	PUNCT
ap-710	67	1	6	6	NUM
ap-710	67	2	.	.	X
ap-710	67	3	an	an	DET
ap-710	67	4	important	important	ADJ
ap-710	67	5	feature	feature	NOUN
ap-710	67	6	is	be	AUX
ap-710	67	7	redundant	redundant	ADJ
ap-710	67	8	actuation	actuation	NOUN
ap-710	67	9	,	,	PUNCT
ap-710	67	10	which	which	PRON
ap-710	67	11	enables	enable	VERB
ap-710	67	12	such	such	DET
ap-710	67	13	a	a	DET
ap-710	67	14	large	large	ADJ
ap-710	67	15	range	range	NOUN
ap-710	67	16	of	of	ADP
ap-710	67	17	motions	motion	NOUN
ap-710	67	18	to	to	PART
ap-710	67	19	be	be	AUX
ap-710	67	20	realized	realize	VERB
ap-710	67	21	.	.	PUNCT
ap-710	68	1	another	another	DET
ap-710	68	2	other	other	ADJ
ap-710	68	3	group	group	NOUN
ap-710	68	4	of	of	ADP
ap-710	68	5	hybrid	hybrid	ADJ
ap-710	68	6	pkms	pkms	NOUN
ap-710	68	7	is	be	AUX
ap-710	68	8	based	base	VERB
ap-710	68	9	on	on	ADP
ap-710	68	10	a	a	DET
ap-710	68	11	parallel	parallel	ADJ
ap-710	68	12	kinematics	kinematic	NOUN
ap-710	68	13	mechanism	mechanism	NOUN
ap-710	68	14	that	that	PRON
ap-710	68	15	realizes	realize	VERB
ap-710	68	16	spatial	spatial	ADJ
ap-710	68	17	translational	translational	ADJ
ap-710	68	18	cartesian	cartesian	ADJ
ap-710	68	19	motions	motion	NOUN
ap-710	68	20	and	and	CCONJ
ap-710	68	21	one	one	NUM
ap-710	68	22	rotation	rotation	NOUN
ap-710	68	23	of	of	ADP
ap-710	68	24	the	the	DET
ap-710	68	25	spindle	spindle	NOUN
ap-710	68	26	(	(	PUNCT
ap-710	68	27	4	4	NUM
ap-710	68	28	dofs	dof	NOUN
ap-710	68	29	)	)	PUNCT
ap-710	68	30	,	,	PUNCT
ap-710	68	31	and	and	CCONJ
ap-710	68	32	this	this	DET
ap-710	68	33	mechanism	mechanism	NOUN
ap-710	68	34	is	be	AUX
ap-710	68	35	combined	combine	VERB
ap-710	68	36	with	with	ADP
ap-710	68	37	a	a	DET
ap-710	68	38	rotary	rotary	ADJ
ap-710	68	39	table	table	NOUN
ap-710	68	40	(	(	PUNCT
ap-710	68	41	1	1	NUM
ap-710	68	42	dof	dof	NOUN
ap-710	68	43	)	)	PUNCT
ap-710	68	44	.	.	PUNCT
ap-710	69	1	an	an	DET
ap-710	69	2	example	example	NOUN
ap-710	69	3	is	be	AUX
ap-710	69	4	shown	show	VERB
ap-710	69	5	in	in	ADP
ap-710	69	6	fig	fig	NOUN
ap-710	69	7	.	.	PUNCT
ap-710	70	1	7	7	X
ap-710	70	2	.	.	X
ap-710	70	3	it	it	PRON
ap-710	70	4	uses	use	VERB
ap-710	70	5	modifications	modification	NOUN
ap-710	70	6	of	of	ADP
ap-710	70	7	the	the	DET
ap-710	70	8	advantageous	advantageous	ADJ
ap-710	70	9	module	module	NOUN
ap-710	70	10	of	of	ADP
ap-710	70	11	trijoint	trijoint	NOUN
ap-710	71	1	[	[	X
ap-710	71	2	5	5	NUM
ap-710	71	3	]	]	PUNCT
ap-710	71	4	(	(	PUNCT
ap-710	71	5	fig	fig	NOUN
ap-710	71	6	.	.	PUNCT
ap-710	72	1	8)	8)	NUM
ap-710	72	2	as	as	ADP
ap-710	72	3	the	the	DET
ap-710	72	4	portal	portal	ADJ
ap-710	72	5	horizontal	horizontal	ADJ
ap-710	72	6	mechanisms	mechanism	NOUN
ap-710	72	7	for	for	ADP
ap-710	72	8	the	the	DET
ap-710	72	9	motion	motion	NOUN
ap-710	72	10	of	of	ADP
ap-710	72	11	the	the	DET
ap-710	72	12	quill	quill	NOUN
ap-710	72	13	carrier	carrier	NOUN
ap-710	72	14	,	,	PUNCT
ap-710	72	15	for	for	ADP
ap-710	72	16	quill	quill	NOUN
ap-710	72	17	travelling	travel	VERB
ap-710	72	18	and	and	CCONJ
ap-710	72	19	even	even	ADV
ap-710	72	20	for	for	ADP
ap-710	72	21	spindle	spindle	NOUN
ap-710	72	22	rotation	rotation	NOUN
ap-710	72	23	.	.	PUNCT
ap-710	73	1	58	58	NUM
ap-710	74	1	©	©	PROPN
ap-710	74	2	czech	czech	PROPN
ap-710	74	3	technical	technical	PROPN
ap-710	74	4	university	university	PROPN
ap-710	74	5	publishing	publishing	NOUN
ap-710	74	6	house	house	NOUN
ap-710	74	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-710	74	8	acta	acta	PROPN
ap-710	74	9	polytechnica	polytechnica	PROPN
ap-710	74	10	vol	vol	NOUN
ap-710	74	11	.	.	PROPN
ap-710	75	1	45	45	NUM
ap-710	75	2	no	no	NOUN
ap-710	75	3	.	.	PUNCT
ap-710	76	1	3/2005	3/2005	NUM
ap-710	76	2	czech	czech	PROPN
ap-710	76	3	technical	technical	PROPN
ap-710	76	4	university	university	PROPN
ap-710	76	5	in	in	ADP
ap-710	76	6	prague	prague	PROPN
ap-710	76	7	fig	fig	NOUN
ap-710	76	8	.	.	PUNCT
ap-710	77	1	5	5	NUM
ap-710	77	2	:	:	PUNCT
ap-710	77	3	resulting	result	VERB
ap-710	77	4	variant	variant	NOUN
ap-710	77	5	of	of	ADP
ap-710	77	6	octaslide	octaslide	NOUN
ap-710	77	7	with	with	ADP
ap-710	77	8	a	a	DET
ap-710	77	9	conical	conical	ADJ
ap-710	77	10	platform	platform	NOUN
ap-710	77	11	fig	fig	NOUN
ap-710	77	12	.	.	PUNCT
ap-710	78	1	6	6	NUM
ap-710	78	2	:	:	PUNCT
ap-710	78	3	an	an	DET
ap-710	78	4	example	example	NOUN
ap-710	78	5	of	of	ADP
ap-710	78	6	a	a	DET
ap-710	78	7	pkm	pkm	NOUN
ap-710	78	8	based	base	VERB
ap-710	78	9	on	on	ADP
ap-710	78	10	a	a	DET
ap-710	78	11	redundant	redundant	ADJ
ap-710	78	12	planar	planar	ADJ
ap-710	78	13	parallel	parallel	ADJ
ap-710	78	14	mechanism	mechanism	NOUN
ap-710	78	15	with	with	ADP
ap-710	78	16	a	a	DET
ap-710	78	17	large	large	ADJ
ap-710	78	18	range	range	NOUN
ap-710	78	19	of	of	ADP
ap-710	78	20	motions	motion	NOUN
ap-710	78	21	top	top	ADJ
ap-710	78	22	view	view	VERB
ap-710	78	23	back	back	ADP
ap-710	78	24	view	view	NOUN
ap-710	78	25	fig	fig	NOUN
ap-710	78	26	.	.	PUNCT
ap-710	79	1	7	7	NUM
ap-710	79	2	:	:	PUNCT
ap-710	79	3	an	an	DET
ap-710	79	4	example	example	NOUN
ap-710	79	5	of	of	ADP
ap-710	79	6	a	a	DET
ap-710	79	7	pkm	pkm	NOUN
ap-710	79	8	based	base	VERB
ap-710	79	9	on	on	ADP
ap-710	79	10	a	a	DET
ap-710	79	11	portal	portal	ADJ
ap-710	79	12	mechanism	mechanism	NOUN
ap-710	79	13	with	with	ADP
ap-710	79	14	redundant	redundant	ADJ
ap-710	79	15	modules	module	NOUN
ap-710	79	16	4	4	NUM
ap-710	79	17	modular	modular	ADJ
ap-710	79	18	parallel	parallel	ADJ
ap-710	79	19	kinematics	kinematic	NOUN
ap-710	79	20	machines	machine	NOUN
ap-710	79	21	modular	modular	PROPN
ap-710	79	22	parallel	parallel	NOUN
ap-710	79	23	kinematics	kinematic	NOUN
ap-710	79	24	machines	machine	NOUN
ap-710	79	25	form	form	VERB
ap-710	79	26	a	a	DET
ap-710	79	27	special	special	ADJ
ap-710	79	28	group	group	NOUN
ap-710	79	29	of	of	ADP
ap-710	79	30	hybrid	hybrid	ADJ
ap-710	79	31	pkms	pkms	NOUN
ap-710	79	32	that	that	PRON
ap-710	79	33	are	be	AUX
ap-710	79	34	based	base	VERB
ap-710	79	35	on	on	ADP
ap-710	79	36	pkm	pkm	PROPN
ap-710	79	37	for	for	ADP
ap-710	79	38	spatial	spatial	ADJ
ap-710	79	39	translational	translational	ADJ
ap-710	79	40	cartesian	cartesian	ADJ
ap-710	79	41	motions	motion	NOUN
ap-710	79	42	combined	combine	VERB
ap-710	79	43	with	with	ADP
ap-710	79	44	a	a	DET
ap-710	79	45	swivel	swivel	ADJ
ap-710	79	46	head	head	NOUN
ap-710	79	47	for	for	ADP
ap-710	79	48	additional	additional	ADJ
ap-710	79	49	orientation	orientation	NOUN
ap-710	79	50	of	of	ADP
ap-710	79	51	the	the	DET
ap-710	79	52	spindle	spindle	NOUN
ap-710	79	53	.	.	PUNCT
ap-710	80	1	they	they	PRON
ap-710	80	2	use	use	VERB
ap-710	80	3	the	the	DET
ap-710	80	4	increased	increase	VERB
ap-710	80	5	stiffness	stiffness	NOUN
ap-710	80	6	and	and	CCONJ
ap-710	80	7	dynamics	dynamic	NOUN
ap-710	80	8	of	of	ADP
ap-710	80	9	both	both	DET
ap-710	80	10	parts	part	NOUN
ap-710	80	11	–	–	PUNCT
ap-710	80	12	basic	basic	ADJ
ap-710	80	13	pkm	pkm	NOUN
ap-710	80	14	for	for	ADP
ap-710	80	15	translational	translational	ADJ
ap-710	80	16	motions	motion	NOUN
ap-710	80	17	and	and	CCONJ
ap-710	80	18	the	the	DET
ap-710	80	19	swivel	swivel	NOUN
ap-710	80	20	head	head	NOUN
ap-710	80	21	for	for	ADP
ap-710	80	22	orientation	orientation	NOUN
ap-710	80	23	.	.	PUNCT
ap-710	81	1	if	if	SCONJ
ap-710	81	2	the	the	DET
ap-710	81	3	swivel	swivel	NOUN
ap-710	81	4	head	head	NOUN
ap-710	81	5	is	be	AUX
ap-710	81	6	realized	realize	VERB
ap-710	81	7	by	by	ADP
ap-710	81	8	a	a	DET
ap-710	81	9	pkm	pkm	NOUN
ap-710	81	10	,	,	PUNCT
ap-710	81	11	it	it	PRON
ap-710	81	12	solves	solve	VERB
ap-710	81	13	the	the	DET
ap-710	81	14	great	great	ADJ
ap-710	81	15	problem	problem	NOUN
ap-710	81	16	of	of	ADP
ap-710	81	17	traditional	traditional	ADJ
ap-710	81	18	swivel	swivel	NOUN
ap-710	81	19	heads	head	NOUN
ap-710	81	20	on	on	ADP
ap-710	81	21	composed	compose	VERB
ap-710	81	22	rotational	rotational	ADJ
ap-710	81	23	axes	axis	NOUN
ap-710	81	24	–	–	PUNCT
ap-710	81	25	that	that	SCONJ
ap-710	81	26	the	the	DET
ap-710	81	27	head	head	NOUN
ap-710	81	28	can	can	AUX
ap-710	81	29	not	not	PART
ap-710	81	30	always	always	ADV
ap-710	81	31	move	move	VERB
ap-710	81	32	directly	directly	ADV
ap-710	81	33	to	to	ADP
ap-710	81	34	the	the	DET
ap-710	81	35	required	require	VERB
ap-710	81	36	orientation	orientation	NOUN
ap-710	81	37	.	.	PUNCT
ap-710	82	1	the	the	DET
ap-710	82	2	basic	basic	ADJ
ap-710	82	3	pkm	pkm	NOUN
ap-710	82	4	can	can	AUX
ap-710	82	5	implement	implement	VERB
ap-710	82	6	all	all	DET
ap-710	82	7	three	three	NUM
ap-710	82	8	cartesian	cartesian	ADJ
ap-710	82	9	motions	motion	NOUN
ap-710	82	10	(	(	PUNCT
ap-710	82	11	3	3	NUM
ap-710	82	12	dofs	dof	NOUN
ap-710	82	13	)	)	PUNCT
ap-710	82	14	and	and	CCONJ
ap-710	82	15	the	the	DET
ap-710	82	16	swivel	swivel	NOUN
ap-710	82	17	head	head	NOUN
ap-710	82	18	has	have	VERB
ap-710	82	19	only	only	ADV
ap-710	82	20	2	2	NUM
ap-710	82	21	dofs	dof	NOUN
ap-710	82	22	(	(	PUNCT
ap-710	82	23	2	2	NUM
ap-710	82	24	orientation	orientation	NOUN
ap-710	82	25	angles	angle	NOUN
ap-710	82	26	)	)	PUNCT
ap-710	82	27	,	,	PUNCT
ap-710	82	28	or	or	CCONJ
ap-710	82	29	the	the	DET
ap-710	82	30	basic	basic	ADJ
ap-710	82	31	pkm	pkm	NOUN
ap-710	82	32	can	can	AUX
ap-710	82	33	implement	implement	VERB
ap-710	82	34	only	only	ADV
ap-710	82	35	two	two	NUM
ap-710	82	36	cartesian	cartesian	ADJ
ap-710	82	37	motions	motion	NOUN
ap-710	82	38	(	(	PUNCT
ap-710	82	39	2	2	NUM
ap-710	82	40	dofs	dof	NOUN
ap-710	82	41	)	)	PUNCT
ap-710	82	42	and	and	CCONJ
ap-710	82	43	the	the	DET
ap-710	82	44	swivel	swivel	NOUN
ap-710	82	45	head	head	NOUN
ap-710	82	46	has	have	VERB
ap-710	82	47	3	3	NUM
ap-710	82	48	dofs	dof	NOUN
ap-710	82	49	(	(	PUNCT
ap-710	82	50	2	2	NUM
ap-710	82	51	orientation	orientation	NOUN
ap-710	82	52	angles	angle	NOUN
ap-710	82	53	and	and	CCONJ
ap-710	82	54	translation	translation	NOUN
ap-710	82	55	,	,	PUNCT
ap-710	82	56	as	as	ADP
ap-710	82	57	in	in	ADP
ap-710	82	58	the	the	DET
ap-710	82	59	case	case	NOUN
ap-710	82	60	of	of	ADP
ap-710	82	61	current	current	ADJ
ap-710	82	62	parallel	parallel	ADJ
ap-710	82	63	swivel	swivel	NOUN
ap-710	82	64	heads	head	NOUN
ap-710	82	65	)	)	PUNCT
ap-710	82	66	.	.	PUNCT
ap-710	83	1	this	this	DET
ap-710	83	2	modular	modular	ADJ
ap-710	83	3	solution	solution	NOUN
ap-710	83	4	has	have	VERB
ap-710	83	5	many	many	ADJ
ap-710	83	6	possible	possible	ADJ
ap-710	83	7	variants	variant	NOUN
ap-710	83	8	.	.	PUNCT
ap-710	84	1	the	the	DET
ap-710	84	2	basic	basic	ADJ
ap-710	84	3	pkm	pkm	NOUN
ap-710	84	4	can	can	AUX
ap-710	84	5	be	be	AUX
ap-710	84	6	based	base	VERB
ap-710	84	7	on	on	ADP
ap-710	84	8	sliding	slide	VERB
ap-710	84	9	delta	delta	NOUN
ap-710	85	1	[	[	X
ap-710	85	2	2	2	X
ap-710	85	3	]	]	PUNCT
ap-710	85	4	(	(	PUNCT
ap-710	85	5	redundant	redundant	ADJ
ap-710	85	6	uran	uran	PROPN
ap-710	85	7	)	)	PUNCT
ap-710	85	8	with	with	ADP
ap-710	85	9	three	three	NUM
ap-710	85	10	cartesian	cartesian	ADJ
ap-710	85	11	motions	motion	NOUN
ap-710	85	12	(	(	PUNCT
ap-710	85	13	fig	fig	NOUN
ap-710	85	14	.	.	PUNCT
ap-710	86	1	9	9	NUM
ap-710	86	2	)	)	PUNCT
ap-710	86	3	,	,	PUNCT
ap-710	86	4	or	or	CCONJ
ap-710	86	5	on	on	ADP
ap-710	86	6	trijoint	trijoint	NOUN
ap-710	86	7	(	(	PUNCT
ap-710	86	8	fig	fig	NOUN
ap-710	86	9	.	.	PUNCT
ap-710	86	10	8)	8)	NUM
ap-710	86	11	or	or	CCONJ
ap-710	86	12	sliding	sliding	NOUN
ap-710	86	13	star	star	NOUN
ap-710	87	1	[	[	X
ap-710	87	2	2	2	NUM
ap-710	87	3	]	]	PUNCT
ap-710	87	4	,	,	PUNCT
ap-710	87	5	with	with	ADP
ap-710	87	6	two	two	NUM
ap-710	87	7	cartesian	cartesian	ADJ
ap-710	87	8	motions	motion	NOUN
ap-710	87	9	(	(	PUNCT
ap-710	87	10	fig	fig	NOUN
ap-710	87	11	.	.	PUNCT
ap-710	87	12	10	10	NUM
ap-710	87	13	)	)	PUNCT
ap-710	87	14	.	.	PUNCT
ap-710	88	1	the	the	DET
ap-710	88	2	swivel	swivel	NOUN
ap-710	88	3	head	head	NOUN
ap-710	88	4	is	be	AUX
ap-710	88	5	mounted	mount	VERB
ap-710	88	6	on	on	ADP
ap-710	88	7	the	the	DET
ap-710	88	8	platform	platform	NOUN
ap-710	88	9	of	of	ADP
ap-710	88	10	the	the	DET
ap-710	88	11	basic	basic	ADJ
ap-710	88	12	pkm	pkm	PROPN
ap-710	88	13	.	.	PUNCT
ap-710	89	1	the	the	DET
ap-710	89	2	swivel	swivel	NOUN
ap-710	89	3	head	head	NOUN
ap-710	89	4	can	can	AUX
ap-710	89	5	be	be	AUX
ap-710	89	6	based	base	VERB
ap-710	89	7	on	on	ADP
ap-710	89	8	a	a	DET
ap-710	89	9	traditional	traditional	ADJ
ap-710	89	10	cardan	cardan	ADJ
ap-710	89	11	mechanism	mechanism	NOUN
ap-710	89	12	or	or	CCONJ
ap-710	89	13	on	on	ADP
ap-710	89	14	parallel	parallel	ADJ
ap-710	89	15	mechanisms	mechanism	NOUN
ap-710	89	16	.	.	PUNCT
ap-710	90	1	a	a	DET
ap-710	90	2	redundantly	redundantly	ADV
ap-710	90	3	actuated	actuate	VERB
ap-710	90	4	parallel	parallel	ADJ
ap-710	90	5	swivel	swivel	NOUN
ap-710	90	6	head	head	NOUN
ap-710	90	7	with	with	ADP
ap-710	90	8	3	3	NUM
ap-710	90	9	dofs	dof	NOUN
ap-710	90	10	(	(	PUNCT
ap-710	90	11	2	2	NUM
ap-710	90	12	rotations	rotation	NOUN
ap-710	90	13	,	,	PUNCT
ap-710	90	14	1	1	NUM
ap-710	90	15	translations	translation	NOUN
ap-710	90	16	)	)	PUNCT
ap-710	90	17	with	with	ADP
ap-710	90	18	increased	increase	VERB
ap-710	90	19	stiffness	stiffness	NOUN
ap-710	90	20	and	and	CCONJ
ap-710	90	21	dynamics	dynamic	NOUN
ap-710	90	22	is	be	AUX
ap-710	90	23	shown	show	VERB
ap-710	90	24	in	in	ADP
ap-710	90	25	fig	fig	NOUN
ap-710	90	26	.	.	PUNCT
ap-710	91	1	11	11	NUM
ap-710	91	2	.	.	PUNCT
ap-710	92	1	©	©	PROPN
ap-710	92	2	czech	czech	PROPN
ap-710	92	3	technical	technical	PROPN
ap-710	92	4	university	university	PROPN
ap-710	92	5	publishing	publishing	NOUN
ap-710	92	6	house	house	NOUN
ap-710	92	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-710	92	8	59	59	NUM
ap-710	92	9	czech	czech	PROPN
ap-710	92	10	technical	technical	PROPN
ap-710	92	11	university	university	PROPN
ap-710	92	12	in	in	ADP
ap-710	92	13	prague	prague	PROPN
ap-710	92	14	acta	acta	PROPN
ap-710	92	15	polytechnica	polytechnica	PROPN
ap-710	92	16	vol	vol	NOUN
ap-710	92	17	.	.	PROPN
ap-710	93	1	45	45	NUM
ap-710	93	2	no	no	NOUN
ap-710	93	3	.	.	PUNCT
ap-710	94	1	3/2005	3/2005	NUM
ap-710	94	2	fig	fig	NOUN
ap-710	94	3	.	.	PUNCT
ap-710	95	1	9	9	NUM
ap-710	95	2	:	:	PUNCT
ap-710	95	3	kinematical	kinematical	ADJ
ap-710	95	4	concept	concept	NOUN
ap-710	95	5	and	and	CCONJ
ap-710	95	6	laboratory	laboratory	NOUN
ap-710	95	7	model	model	NOUN
ap-710	95	8	of	of	ADP
ap-710	95	9	sliding	slide	VERB
ap-710	95	10	delta	delta	NOUN
ap-710	95	11	(	(	PUNCT
ap-710	95	12	redundant	redundant	ADJ
ap-710	95	13	uran	uran	PROPN
ap-710	95	14	)	)	PUNCT
ap-710	95	15	fig	fig	NOUN
ap-710	95	16	.	.	PUNCT
ap-710	96	1	10	10	NUM
ap-710	96	2	:	:	PUNCT
ap-710	96	3	kinematical	kinematical	ADJ
ap-710	96	4	concept	concept	NOUN
ap-710	96	5	and	and	CCONJ
ap-710	96	6	laboratory	laboratory	NOUN
ap-710	96	7	model	model	NOUN
ap-710	96	8	of	of	ADP
ap-710	96	9	sliding	slide	VERB
ap-710	96	10	star	star	NOUN
ap-710	96	11	fig	fig	NOUN
ap-710	96	12	.	.	PUNCT
ap-710	97	1	8	8	NUM
ap-710	97	2	:	:	PUNCT
ap-710	97	3	kinematical	kinematical	ADJ
ap-710	97	4	concept	concept	NOUN
ap-710	97	5	and	and	CCONJ
ap-710	97	6	design	design	NOUN
ap-710	97	7	of	of	ADP
ap-710	97	8	trijoint	trijoint	NOUN
ap-710	97	9	5	5	NUM
ap-710	97	10	parallel	parallel	ADJ
ap-710	97	11	kinematics	kinematic	NOUN
ap-710	97	12	metal	metal	NOUN
ap-710	97	13	forming	form	VERB
ap-710	97	14	machines	machine	NOUN
ap-710	97	15	there	there	PRON
ap-710	97	16	is	be	VERB
ap-710	97	17	only	only	ADV
ap-710	97	18	one	one	NUM
ap-710	97	19	example	example	NOUN
ap-710	97	20	of	of	ADP
ap-710	97	21	the	the	DET
ap-710	97	22	application	application	NOUN
ap-710	97	23	of	of	ADP
ap-710	97	24	parallel	parallel	ADJ
ap-710	97	25	kinematics	kinematic	NOUN
ap-710	97	26	for	for	ADP
ap-710	97	27	metal	metal	NOUN
ap-710	97	28	forming	form	VERB
ap-710	97	29	machines	machine	NOUN
ap-710	97	30	.	.	PUNCT
ap-710	98	1	this	this	PRON
ap-710	98	2	is	be	AUX
ap-710	98	3	hexabend	hexabend	NOUN
ap-710	98	4	,	,	PUNCT
ap-710	98	5	produced	produce	VERB
ap-710	98	6	by	by	ADP
ap-710	98	7	iwu	iwu	PROPN
ap-710	98	8	fhg	fhg	PROPN
ap-710	98	9	chemnitz	chemnitz	PROPN
ap-710	98	10	–	–	PUNCT
ap-710	98	11	pkm	pkm	PROPN
ap-710	98	12	for	for	ADP
ap-710	98	13	free	free	ADJ
ap-710	98	14	forming	forming	NOUN
ap-710	98	15	of	of	ADP
ap-710	98	16	tubes	tube	NOUN
ap-710	98	17	and	and	CCONJ
ap-710	98	18	similar	similar	ADJ
ap-710	98	19	rod	rod	NOUN
ap-710	98	20	profiles	profile	NOUN
ap-710	98	21	.	.	PUNCT
ap-710	99	1	hexabend	hexabend	NOUN
ap-710	99	2	consists	consist	VERB
ap-710	99	3	of	of	ADP
ap-710	99	4	a	a	DET
ap-710	99	5	traditional	traditional	ADJ
ap-710	99	6	feed	feed	NOUN
ap-710	99	7	mechanism	mechanism	NOUN
ap-710	99	8	for	for	ADP
ap-710	99	9	travelling	travel	VERB
ap-710	99	10	the	the	DET
ap-710	99	11	tube	tube	NOUN
ap-710	99	12	,	,	PUNCT
ap-710	99	13	together	together	ADV
ap-710	99	14	with	with	ADP
ap-710	99	15	hexapod	hexapod	NOUN
ap-710	99	16	for	for	ADP
ap-710	99	17	bending	bend	VERB
ap-710	99	18	the	the	DET
ap-710	99	19	tube	tube	NOUN
ap-710	99	20	in	in	ADP
ap-710	99	21	any	any	DET
ap-710	99	22	direction	direction	NOUN
ap-710	99	23	.	.	PUNCT
ap-710	100	1	this	this	DET
ap-710	100	2	concept	concept	NOUN
ap-710	100	3	can	can	AUX
ap-710	100	4	be	be	AUX
ap-710	100	5	extended	extend	VERB
ap-710	100	6	for	for	ADP
ap-710	100	7	metal	metal	NOUN
ap-710	100	8	forming	form	VERB
ap-710	100	9	of	of	ADP
ap-710	100	10	sheets	sheet	NOUN
ap-710	100	11	(	(	PUNCT
ap-710	100	12	fig	fig	NOUN
ap-710	100	13	.	.	PUNCT
ap-710	101	1	12	12	NUM
ap-710	101	2	)	)	PUNCT
ap-710	101	3	.	.	PUNCT
ap-710	102	1	one	one	NUM
ap-710	102	2	parallel	parallel	ADJ
ap-710	102	3	kinematics	kinematic	NOUN
ap-710	102	4	mechanism	mechanism	NOUN
ap-710	102	5	acts	act	VERB
ap-710	102	6	as	as	ADP
ap-710	102	7	the	the	DET
ap-710	102	8	holder	holder	NOUN
ap-710	102	9	and	and	CCONJ
ap-710	102	10	manipulator	manipulator	NOUN
ap-710	102	11	,	,	PUNCT
ap-710	102	12	and	and	CCONJ
ap-710	102	13	the	the	DET
ap-710	102	14	other	other	ADJ
ap-710	102	15	acts	act	NOUN
ap-710	102	16	as	as	ADP
ap-710	102	17	the	the	DET
ap-710	102	18	universal	universal	ADJ
ap-710	102	19	forming	form	VERB
ap-710	102	20	tool	tool	NOUN
ap-710	102	21	.	.	PUNCT
ap-710	103	1	it	it	PRON
ap-710	103	2	can	can	AUX
ap-710	103	3	have	have	VERB
ap-710	103	4	planar	planar	ADJ
ap-710	103	5	and	and	CCONJ
ap-710	103	6	spatial	spatial	ADJ
ap-710	103	7	variants	variant	NOUN
ap-710	103	8	.	.	PUNCT
ap-710	104	1	6	6	NUM
ap-710	104	2	conclusion	conclusion	NOUN
ap-710	104	3	this	this	DET
ap-710	104	4	paper	paper	NOUN
ap-710	104	5	describes	describe	VERB
ap-710	104	6	different	different	ADJ
ap-710	104	7	ways	way	NOUN
ap-710	104	8	of	of	ADP
ap-710	104	9	extending	extend	VERB
ap-710	104	10	pkms	pkms	NOUN
ap-710	104	11	for	for	ADP
ap-710	104	12	five	five	NUM
ap-710	104	13	-	-	PUNCT
ap-710	104	14	axis/	axis/	NUM
ap-710	104	15	five	five	NUM
ap-710	104	16	-	-	PUNCT
ap-710	104	17	sided	sided	ADJ
ap-710	104	18	machining	machining	NOUN
ap-710	104	19	and	and	CCONJ
ap-710	104	20	for	for	ADP
ap-710	104	21	metal	metal	NOUN
ap-710	104	22	forming	form	VERB
ap-710	104	23	machines	machine	NOUN
ap-710	104	24	.	.	PUNCT
ap-710	105	1	the	the	DET
ap-710	105	2	initial	initial	ADJ
ap-710	105	3	concept	concept	NOUN
ap-710	105	4	of	of	ADP
ap-710	105	5	parallel	parallel	ADJ
ap-710	105	6	kinematics	kinematic	NOUN
ap-710	105	7	was	be	AUX
ap-710	105	8	oriented	orient	VERB
ap-710	105	9	towards	towards	ADP
ap-710	105	10	such	such	ADJ
ap-710	105	11	applications	application	NOUN
ap-710	105	12	,	,	PUNCT
ap-710	105	13	especially	especially	ADV
ap-710	105	14	five	five	NUM
ap-710	105	15	-	-	PUNCT
ap-710	105	16	sided	sided	ADJ
ap-710	105	17	–	–	PUNCT
ap-710	105	18	five	five	NUM
ap-710	105	19	-	-	PUNCT
ap-710	105	20	axis	axis	NOUN
ap-710	105	21	machining	machining	NOUN
ap-710	105	22	,	,	PUNCT
ap-710	105	23	but	but	CCONJ
ap-710	105	24	design	design	NOUN
ap-710	105	25	problems	problem	NOUN
ap-710	105	26	leading	lead	VERB
ap-710	105	27	to	to	ADP
ap-710	105	28	limited	limited	ADJ
ap-710	105	29	workspace	workspace	NOUN
ap-710	105	30	prevented	prevent	VERB
ap-710	105	31	the	the	DET
ap-710	105	32	development	development	NOUN
ap-710	105	33	of	of	ADP
ap-710	105	34	pkm	pkm	PROPN
ap-710	105	35	with	with	ADP
ap-710	105	36	these	these	DET
ap-710	105	37	applications	application	NOUN
ap-710	105	38	.	.	PUNCT
ap-710	106	1	current	current	ADJ
ap-710	106	2	progress	progress	NOUN
ap-710	106	3	in	in	ADP
ap-710	106	4	designing	design	VERB
ap-710	106	5	pkms	pkms	NOUN
ap-710	106	6	without	without	ADP
ap-710	106	7	these	these	DET
ap-710	106	8	design	design	NOUN
ap-710	106	9	problems	problem	NOUN
ap-710	106	10	enables	enable	VERB
ap-710	106	11	pkm	pkm	NOUN
ap-710	106	12	to	to	PART
ap-710	106	13	be	be	AUX
ap-710	106	14	proposed	propose	VERB
ap-710	106	15	again	again	ADV
ap-710	106	16	for	for	ADP
ap-710	106	17	such	such	ADJ
ap-710	106	18	demanding	demand	VERB
ap-710	106	19	applications	application	NOUN
ap-710	106	20	.	.	PUNCT
ap-710	107	1	the	the	DET
ap-710	107	2	paper	paper	NOUN
ap-710	107	3	summarizes	summarize	VERB
ap-710	107	4	several	several	ADJ
ap-710	107	5	ways	way	NOUN
ap-710	107	6	for	for	ADP
ap-710	107	7	designing	design	VERB
ap-710	107	8	such	such	ADJ
ap-710	107	9	machines	machine	NOUN
ap-710	107	10	.	.	PUNCT
ap-710	108	1	acknowledgment	acknowledgment	NOUN
ap-710	108	2	the	the	DET
ap-710	108	3	authors	author	NOUN
ap-710	108	4	appreciate	appreciate	VERB
ap-710	108	5	the	the	DET
ap-710	108	6	kind	kind	ADJ
ap-710	108	7	support	support	NOUN
ap-710	108	8	by	by	ADP
ap-710	108	9	msmt	msmt	NOUN
ap-710	108	10	grant	grant	NOUN
ap-710	108	11	j04/98:212200008	j04/98:212200008	NOUN
ap-710	108	12	“	"	PUNCT
ap-710	108	13	development	development	NOUN
ap-710	108	14	of	of	ADP
ap-710	108	15	methods	method	NOUN
ap-710	108	16	and	and	CCONJ
ap-710	108	17	tools	tool	NOUN
ap-710	108	18	of	of	ADP
ap-710	108	19	integrated	integrated	ADJ
ap-710	108	20	mechanical	mechanical	ADJ
ap-710	108	21	engineering	engineering	NOUN
ap-710	108	22	”	"	PUNCT
ap-710	108	23	.	.	PUNCT
ap-710	109	1	references	reference	NOUN
ap-710	109	2	[	[	X
ap-710	109	3	1	1	NUM
ap-710	109	4	]	]	PUNCT
ap-710	109	5	valasek	valasek	PROPN
ap-710	109	6	,	,	PUNCT
ap-710	109	7	m.	m.	NOUN
ap-710	109	8	,	,	PUNCT
ap-710	109	9	sika	sika	PROPN
ap-710	109	10	,	,	PUNCT
ap-710	109	11	z.	z.	PROPN
ap-710	109	12	:	:	PUNCT
ap-710	109	13	“	"	PUNCT
ap-710	109	14	redundantly	redundantly	ADV
ap-710	109	15	actuated	actuate	VERB
ap-710	109	16	parallel	parallel	ADJ
ap-710	109	17	kinematics	kinematic	NOUN
ap-710	109	18	-	-	PUNCT
ap-710	109	19	new	new	ADJ
ap-710	109	20	concept	concept	NOUN
ap-710	109	21	for	for	ADP
ap-710	109	22	machine	machine	NOUN
ap-710	109	23	tools	tool	NOUN
ap-710	109	24	.	.	PUNCT
ap-710	109	25	”	"	PUNCT
ap-710	110	1	in	in	ADP
ap-710	110	2	:	:	PUNCT
ap-710	110	3	proc	proc	NOUN
ap-710	110	4	.	.	PUNCT
ap-710	111	1	of	of	ADP
ap-710	111	2	1st	1st	ADJ
ap-710	111	3	ifac	ifac	NOUN
ap-710	111	4	-	-	PUNCT
ap-710	111	5	conference	conference	NOUN
ap-710	111	6	on	on	ADP
ap-710	111	7	mechatronic	mechatronic	ADJ
ap-710	111	8	systems	system	NOUN
ap-710	111	9	,	,	PUNCT
ap-710	111	10	darmstadt	darmstadt	PROPN
ap-710	111	11	2000	2000	NUM
ap-710	111	12	,	,	PUNCT
ap-710	111	13	p.	p.	NOUN
ap-710	111	14	241–246	241–246	NUM
ap-710	111	15	.	.	PUNCT
ap-710	112	1	[	[	X
ap-710	112	2	2	2	NUM
ap-710	112	3	]	]	PUNCT
ap-710	112	4	valasek	valasek	PROPN
ap-710	112	5	,	,	PUNCT
ap-710	112	6	m.	m.	NOUN
ap-710	112	7	,	,	PUNCT
ap-710	112	8	bauma	bauma	PROPN
ap-710	112	9	,	,	PUNCT
ap-710	112	10	v.	v.	ADV
ap-710	112	11	,	,	PUNCT
ap-710	112	12	sika	sika	PROPN
ap-710	112	13	,	,	PUNCT
ap-710	112	14	z.	z.	PROPN
ap-710	112	15	,	,	PUNCT
ap-710	112	16	vampola	vampola	PROPN
ap-710	112	17	,	,	PUNCT
ap-710	112	18	t.	t.	PROPN
ap-710	112	19	:	:	PUNCT
ap-710	112	20	“	"	PUNCT
ap-710	112	21	redundantly	redundantly	ADV
ap-710	112	22	actuated	actuate	VERB
ap-710	112	23	parallel	parallel	ADJ
ap-710	112	24	structures	structure	NOUN
ap-710	112	25	–	–	PUNCT
ap-710	112	26	principle	principle	NOUN
ap-710	112	27	,	,	PUNCT
ap-710	112	28	examples	example	NOUN
ap-710	112	29	,	,	PUNCT
ap-710	112	30	advantages	advantage	NOUN
ap-710	112	31	.	.	PUNCT
ap-710	112	32	”	"	PUNCT
ap-710	113	1	in	in	ADP
ap-710	113	2	:	:	PUNCT
ap-710	113	3	neugebauer	neugebauer	PROPN
ap-710	113	4	,	,	PUNCT
ap-710	113	5	r.	r.	PROPN
ap-710	113	6	,	,	PUNCT
ap-710	113	7	(	(	PUNCT
ap-710	113	8	ed	ed	NOUN
ap-710	113	9	.	.	PROPN
ap-710	113	10	):	):	PUNCT
ap-710	113	11	development	development	NOUN
ap-710	113	12	methods	method	NOUN
ap-710	113	13	and	and	CCONJ
ap-710	113	14	application	application	NOUN
ap-710	113	15	experience	experience	NOUN
ap-710	113	16	of	of	ADP
ap-710	113	17	parallel	parallel	ADJ
ap-710	113	18	kinematics	kinematic	NOUN
ap-710	113	19	,	,	PUNCT
ap-710	113	20	pks	pks	NOUN
ap-710	113	21	2002	2002	NUM
ap-710	113	22	,	,	PUNCT
ap-710	113	23	iwu	iwu	PROPN
ap-710	113	24	fhg	fhg	PROPN
ap-710	113	25	,	,	PUNCT
ap-710	113	26	chemnitz	chemnitz	PROPN
ap-710	113	27	2002	2002	NUM
ap-710	113	28	,	,	PUNCT
ap-710	113	29	p.	p.	NOUN
ap-710	113	30	993–1009	993–1009	NUM
ap-710	113	31	.	.	PUNCT
ap-710	114	1	[	[	X
ap-710	114	2	3	3	X
ap-710	114	3	]	]	X
ap-710	114	4	valasek	valasek	PROPN
ap-710	114	5	,	,	PUNCT
ap-710	114	6	m.	m.	NOUN
ap-710	114	7	,	,	PUNCT
ap-710	114	8	sulamanidze	sulamanidze	NOUN
ap-710	114	9	,	,	PUNCT
ap-710	114	10	d.	d.	PROPN
ap-710	114	11	,	,	PUNCT
ap-710	114	12	bauma	bauma	PROPN
ap-710	114	13	,	,	PUNCT
ap-710	114	14	v.	v.	ADV
ap-710	114	15	:	:	PUNCT
ap-710	114	16	“	"	PUNCT
ap-710	114	17	spherical	spherical	ADJ
ap-710	114	18	joint	joint	NOUN
ap-710	114	19	with	with	ADP
ap-710	114	20	increased	increase	VERB
ap-710	114	21	mobility	mobility	NOUN
ap-710	114	22	for	for	ADP
ap-710	114	23	octapod	octapod	NOUN
ap-710	114	24	.	.	PUNCT
ap-710	114	25	”	"	PUNCT
ap-710	115	1	in	in	ADP
ap-710	115	2	:	:	PUNCT
ap-710	115	3	neugebauer	neugebauer	PROPN
ap-710	115	4	,	,	PUNCT
ap-710	115	5	r.	r.	PROPN
ap-710	115	6	,	,	PUNCT
ap-710	115	7	(	(	PUNCT
ap-710	115	8	ed	ed	NOUN
ap-710	115	9	.	.	PROPN
ap-710	115	10	):	):	PUNCT
ap-710	115	11	development	development	NOUN
ap-710	115	12	methods	method	NOUN
ap-710	115	13	and	and	CCONJ
ap-710	115	14	application	application	NOUN
ap-710	115	15	experience	experience	NOUN
ap-710	115	16	of	of	ADP
ap-710	115	17	parallel	parallel	ADJ
ap-710	115	18	kinematics	kinematic	NOUN
ap-710	115	19	,	,	PUNCT
ap-710	115	20	pks	pks	NOUN
ap-710	115	21	2002	2002	NUM
ap-710	115	22	,	,	PUNCT
ap-710	115	23	iwu	iwu	PROPN
ap-710	115	24	fhg	fhg	PROPN
ap-710	115	25	,	,	PUNCT
ap-710	115	26	chemnitz	chemnitz	PROPN
ap-710	115	27	2002	2002	NUM
ap-710	115	28	,	,	PUNCT
ap-710	115	29	p.	p.	NOUN
ap-710	115	30	285–294	285–294	NUM
ap-710	115	31	.	.	PUNCT
ap-710	116	1	[	[	X
ap-710	116	2	4	4	NUM
ap-710	116	3	]	]	X
ap-710	116	4	bauma	bauma	ADJ
ap-710	116	5	,	,	PUNCT
ap-710	116	6	v.	v.	ADV
ap-710	116	7	,	,	PUNCT
ap-710	116	8	valasek	valasek	INTJ
ap-710	116	9	,	,	PUNCT
ap-710	116	10	m.	m.	NOUN
ap-710	116	11	,	,	PUNCT
ap-710	116	12	sika	sika	PROPN
ap-710	116	13	,	,	PUNCT
ap-710	116	14	z.	z.	PROPN
ap-710	116	15	:	:	PUNCT
ap-710	116	16	“	"	PUNCT
ap-710	116	17	design	design	NOUN
ap-710	116	18	and	and	CCONJ
ap-710	116	19	properties	property	NOUN
ap-710	116	20	of	of	ADP
ap-710	116	21	octaslide	octaslide	NOUN
ap-710	116	22	redundant	redundant	ADJ
ap-710	116	23	parallel	parallel	ADJ
ap-710	116	24	kinematics	kinematic	NOUN
ap-710	116	25	.	.	PUNCT
ap-710	116	26	”	"	PUNCT
ap-710	117	1	in	in	ADP
ap-710	117	2	:	:	PUNCT
ap-710	117	3	proc	proc	NOUN
ap-710	117	4	.	.	PROPN
ap-710	118	1	of	of	ADP
ap-710	118	2	international	international	ADJ
ap-710	118	3	conference	conference	NOUN
ap-710	118	4	on	on	ADP
ap-710	118	5	advanced	advanced	ADJ
ap-710	118	6	engineering	engineering	NOUN
ap-710	118	7	design	design	NOUN
ap-710	118	8	aed	aed	NOUN
ap-710	118	9	03	03	NUM
ap-710	118	10	,	,	PUNCT
ap-710	118	11	ctu	ctu	NOUN
ap-710	118	12	,	,	PUNCT
ap-710	118	13	prague	prague	NOUN
ap-710	118	14	2003	2003	NUM
ap-710	118	15	,	,	PUNCT
ap-710	118	16	p.	p.	NOUN
ap-710	118	17	c3.6/1–8	c3.6/1–8	NOUN
ap-710	119	1	[	[	X
ap-710	119	2	5	5	NUM
ap-710	119	3	]	]	X
ap-710	119	4	petru	petru	NOUN
ap-710	119	5	,	,	PUNCT
ap-710	119	6	f.	f.	PROPN
ap-710	119	7	,	,	PUNCT
ap-710	119	8	valasek	valasek	PROPN
ap-710	119	9	,	,	PUNCT
ap-710	119	10	m.	m.	NOUN
ap-710	119	11	:	:	PUNCT
ap-710	119	12	“	"	PUNCT
ap-710	119	13	concept	concept	NOUN
ap-710	119	14	,	,	PUNCT
ap-710	119	15	design	design	NOUN
ap-710	119	16	and	and	CCONJ
ap-710	119	17	evaluated	evaluate	VERB
ap-710	119	18	properties	property	NOUN
ap-710	119	19	of	of	ADP
ap-710	119	20	trijoint	trijoint	NOUN
ap-710	119	21	900h	900h	PROPN
ap-710	119	22	.	.	PUNCT
ap-710	119	23	”	"	PUNCT
ap-710	120	1	in	in	ADP
ap-710	120	2	:	:	PUNCT
ap-710	120	3	neugebauer	neugebauer	PROPN
ap-710	120	4	,	,	PUNCT
ap-710	120	5	r.	r.	PROPN
ap-710	120	6	(	(	PUNCT
ap-710	120	7	ed	ed	NOUN
ap-710	120	8	.	.	PROPN
ap-710	120	9	):	):	PUNCT
ap-710	120	10	proc	proc	NOUN
ap-710	120	11	.	.	PUNCT
ap-710	121	1	of	of	ADP
ap-710	121	2	pks	pks	NOUN
ap-710	121	3	2004	2004	NUM
ap-710	121	4	parallel	parallel	ADJ
ap-710	121	5	kinematics	kinematic	NOUN
ap-710	121	6	seminar	seminar	NOUN
ap-710	121	7	,	,	PUNCT
ap-710	121	8	chemnitz	chemnitz	PROPN
ap-710	121	9	2004	2004	NUM
ap-710	122	1	.	.	PUNCT
ap-710	123	1	[	[	X
ap-710	123	2	6	6	NUM
ap-710	123	3	]	]	SYM
ap-710	123	4	neugebauer	neugebauer	NOUN
ap-710	123	5	,	,	PUNCT
ap-710	123	6	r.	r.	PROPN
ap-710	123	7	,	,	PUNCT
ap-710	123	8	(	(	PUNCT
ap-710	123	9	ed	ed	NOUN
ap-710	123	10	.	.	PROPN
ap-710	123	11	):	):	PUNCT
ap-710	123	12	“	"	PUNCT
ap-710	123	13	development	development	NOUN
ap-710	123	14	methods	method	NOUN
ap-710	123	15	and	and	CCONJ
ap-710	123	16	application	application	NOUN
ap-710	123	17	experience	experience	NOUN
ap-710	123	18	of	of	ADP
ap-710	123	19	parallel	parallel	ADJ
ap-710	123	20	kinematics	kinematic	NOUN
ap-710	123	21	.	.	PUNCT
ap-710	123	22	”	"	PUNCT
ap-710	123	23	pks	pks	NOUN
ap-710	123	24	2002	2002	NUM
ap-710	123	25	,	,	PUNCT
ap-710	123	26	iwu	iwu	PROPN
ap-710	123	27	fhg	fhg	PROPN
ap-710	123	28	,	,	PUNCT
ap-710	123	29	chemnitz	chemnitz	PROPN
ap-710	123	30	2002	2002	NUM
ap-710	123	31	.	.	PUNCT
ap-710	124	1	[	[	X
ap-710	124	2	7	7	NUM
ap-710	124	3	]	]	X
ap-710	124	4	neugebauer	neugebauer	NOUN
ap-710	124	5	,	,	PUNCT
ap-710	124	6	r.	r.	PROPN
ap-710	124	7	,	,	PUNCT
ap-710	124	8	(	(	PUNCT
ap-710	124	9	ed	ed	NOUN
ap-710	124	10	.	.	PROPN
ap-710	124	11	):	):	PUNCT
ap-710	124	12	“	"	PUNCT
ap-710	124	13	parallel	parallel	ADJ
ap-710	124	14	kinematic	kinematic	ADJ
ap-710	124	15	seminar	seminar	NOUN
ap-710	124	16	pks	pks	NOUN
ap-710	124	17	2004	2004	NUM
ap-710	124	18	.	.	PUNCT
ap-710	124	19	”	"	PUNCT
ap-710	124	20	iwu	iwu	PROPN
ap-710	124	21	fhg	fhg	PROPN
ap-710	124	22	,	,	PUNCT
ap-710	124	23	chemnitz	chemnitz	PROPN
ap-710	124	24	2004	2004	NUM
ap-710	124	25	.	.	PUNCT
ap-710	125	1	prof	prof	PROPN
ap-710	125	2	.	.	PUNCT
ap-710	126	1	michael	michael	PROPN
ap-710	126	2	valášek	valášek	PROPN
ap-710	126	3	,	,	PUNCT
ap-710	126	4	drsc	drsc	PROPN
ap-710	126	5	.	.	PUNCT
ap-710	127	1	valasek@fsik.cvut.cz	valasek@fsik.cvut.cz	VERB
ap-710	127	2	ing	ing	PROPN
ap-710	127	3	.	.	PUNCT
ap-710	128	1	václav	václav	PROPN
ap-710	128	2	bauma	bauma	PROPN
ap-710	128	3	,	,	PUNCT
ap-710	128	4	csc	csc	PROPN
ap-710	128	5	.	.	PROPN
ap-710	129	1	steinb@fsik.cvut.cz	steinb@fsik.cvut.cz	PROPN
ap-710	129	2	ing	ing	PROPN
ap-710	129	3	.	.	PUNCT
ap-710	130	1	zbyněk	zbyněk	PROPN
ap-710	130	2	šika	šika	X
ap-710	130	3	,	,	PUNCT
ap-710	130	4	phd	phd	PROPN
ap-710	130	5	.	.	PROPN
ap-710	130	6	sika@fsik.cvut.cz	sika@fsik.cvut.cz	PROPN
ap-710	130	7	department	department	PROPN
ap-710	130	8	of	of	ADP
ap-710	130	9	mechanics	mechanic	NOUN
ap-710	130	10	czech	czech	PROPN
ap-710	130	11	technical	technical	PROPN
ap-710	130	12	university	university	PROPN
ap-710	130	13	in	in	ADP
ap-710	130	14	prague	prague	PROPN
ap-710	130	15	faculty	faculty	NOUN
ap-710	130	16	of	of	ADP
ap-710	130	17	mechanical	mechanical	ADJ
ap-710	130	18	engineering	engineering	PROPN
ap-710	130	19	karlovo	karlovo	PROPN
ap-710	130	20	nám	nám	PROPN
ap-710	130	21	.	.	PUNCT
ap-710	131	1	13	13	NUM
ap-710	131	2	121	121	NUM
ap-710	131	3	35	35	NUM
ap-710	131	4	praha	praha	NOUN
ap-710	131	5	2	2	NUM
ap-710	131	6	,	,	PUNCT
ap-710	131	7	czech	czech	PROPN
ap-710	131	8	republic	republic	NOUN
ap-710	131	9	60	60	NUM
ap-710	131	10	©	©	PROPN
ap-710	131	11	czech	czech	PROPN
ap-710	131	12	technical	technical	PROPN
ap-710	131	13	university	university	PROPN
ap-710	131	14	publishing	publishing	NOUN
ap-710	131	15	house	house	NOUN
ap-710	131	16	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-710	131	17	acta	acta	PROPN
ap-710	131	18	polytechnica	polytechnica	PROPN
ap-710	131	19	vol	vol	NOUN
ap-710	131	20	.	.	PROPN
ap-710	132	1	45	45	NUM
ap-710	132	2	no	no	NOUN
ap-710	132	3	.	.	PUNCT
ap-710	133	1	3/2005	3/2005	NUM
ap-710	133	2	czech	czech	PROPN
ap-710	133	3	technical	technical	PROPN
ap-710	133	4	university	university	PROPN
ap-710	133	5	in	in	ADP
ap-710	133	6	prague	prague	PROPN
ap-710	133	7	fig	fig	NOUN
ap-710	133	8	.	.	PUNCT
ap-710	134	1	11	11	NUM
ap-710	134	2	:	:	PUNCT
ap-710	134	3	redundantly	redundantly	ADV
ap-710	134	4	actuated	actuate	VERB
ap-710	134	5	swivel	swivel	NOUN
ap-710	134	6	head	head	NOUN
ap-710	134	7	universal	universal	ADJ
ap-710	134	8	forming	form	VERB
ap-710	134	9	tool	tool	NOUN
ap-710	134	10	sheet	sheet	NOUN
ap-710	134	11	metal	metal	NOUN
ap-710	134	12	holder	holder	NOUN
ap-710	134	13	fig	fig	NOUN
ap-710	134	14	.	.	PUNCT
ap-710	135	1	12	12	NUM
ap-710	135	2	:	:	PUNCT
ap-710	135	3	sheet	sheet	NOUN
ap-710	135	4	metal	metal	NOUN
ap-710	135	5	forming	form	VERB
ap-710	135	6	by	by	ADP
ap-710	135	7	pkm	pkm	PROPN