id	sid	tid	token	lemma	pos
ijassa-329	1	1	microsoft	microsoft	PROPN
ijassa-329	1	2	word	word	NOUN
ijassa-329	1	3	19	19	NUM
ijassa-329	1	4	hong	hong	PROPN
ijassa-329	1	5	xu	xu	PROPN
ijassa-329	1	6	--	--	PUNCT
ijassa-329	1	7	group	group	NOUN
ijassa-329	1	8	link	link	NOUN
ijassa-329	1	9	gear	gear	NOUN
ijassa-329	1	10	locus	locus	NOUN
ijassa-329	1	11	modeling	modeling	NOUN
ijassa-329	1	12	based	base	VERB
ijassa-329	1	13	on	on	ADP
ijassa-329	1	14	motion	motion	NOUN
ijassa-329	1	15	relativity.doc	relativity.doc	NOUN
ijassa-329	1	16	348	348	NUM
ijassa-329	1	17	-	-	SYM
ijassa-329	1	18	354	354	NUM
ijassa-329	1	19	advances	advance	NOUN
ijassa-329	1	20	in	in	ADP
ijassa-329	1	21	systems	system	NOUN
ijassa-329	1	22	science	science	NOUN
ijassa-329	1	23	and	and	CCONJ
ijassa-329	1	24	applications	application	NOUN
ijassa-329	1	25	(	(	PUNCT
ijassa-329	1	26	2011	2011	NUM
ijassa-329	1	27	)	)	PUNCT
ijassa-329	1	28	,	,	PUNCT
ijassa-329	1	29	vol.11	vol.11	PROPN
ijassa-329	1	30	,	,	PUNCT
ijassa-329	1	31	no.3	no.3	NOUN
ijassa-329	1	32	-	-	SYM
ijassa-329	1	33	4	4	NUM
ijassa-329	1	34	issn	issn	PROPN
ijassa-329	1	35	1078	1078	NUM
ijassa-329	1	36	-	-	SYM
ijassa-329	1	37	6236	6236	NUM
ijassa-329	1	38	international	international	PROPN
ijassa-329	1	39	institute	institute	NOUN
ijassa-329	1	40	for	for	ADP
ijassa-329	1	41	general	general	ADJ
ijassa-329	1	42	systems	system	NOUN
ijassa-329	1	43	studies	study	NOUN
ijassa-329	1	44	,	,	PUNCT
ijassa-329	1	45	inc	inc	PROPN
ijassa-329	1	46	group	group	PROPN
ijassa-329	1	47	link	link	PROPN
ijassa-329	1	48	gear	gear	NOUN
ijassa-329	1	49	locus	locus	NOUN
ijassa-329	1	50	modeling	modeling	NOUN
ijassa-329	1	51	based	base	VERB
ijassa-329	1	52	on	on	ADP
ijassa-329	1	53	motion	motion	NOUN
ijassa-329	1	54	relativity	relativity	NOUN
ijassa-329	1	55	hong	hong	PROPN
ijassa-329	1	56	xu	xu	PROPN
ijassa-329	1	57	mechanical	mechanical	ADJ
ijassa-329	1	58	engineering	engineering	PROPN
ijassa-329	1	59	department	department	PROPN
ijassa-329	1	60	,	,	PUNCT
ijassa-329	1	61	chengdu	chengdu	PROPN
ijassa-329	1	62	electromechanical	electromechanical	PROPN
ijassa-329	1	63	college	college	PROPN
ijassa-329	1	64	,	,	PUNCT
ijassa-329	1	65	chengdu	chengdu	PROPN
ijassa-329	1	66	,	,	PUNCT
ijassa-329	1	67	610031	610031	NUM
ijassa-329	1	68	,	,	PUNCT
ijassa-329	1	69	china	china	PROPN
ijassa-329	1	70	abstract	abstract	ADJ
ijassa-329	1	71	in	in	ADP
ijassa-329	1	72	order	order	NOUN
ijassa-329	1	73	to	to	PART
ijassa-329	1	74	solve	solve	VERB
ijassa-329	1	75	the	the	DET
ijassa-329	1	76	comprehensive	comprehensive	ADJ
ijassa-329	1	77	analysis	analysis	NOUN
ijassa-329	1	78	problem	problem	NOUN
ijassa-329	1	79	of	of	ADP
ijassa-329	1	80	the	the	DET
ijassa-329	1	81	mechanism	mechanism	NOUN
ijassa-329	1	82	link	link	NOUN
ijassa-329	1	83	locus	locus	NOUN
ijassa-329	1	84	and	and	CCONJ
ijassa-329	1	85	motion	motion	NOUN
ijassa-329	1	86	,	,	PUNCT
ijassa-329	1	87	this	this	DET
ijassa-329	1	88	paper	paper	NOUN
ijassa-329	1	89	bring	bring	VERB
ijassa-329	1	90	forward	forward	ADV
ijassa-329	1	91	the	the	DET
ijassa-329	1	92	parameter	parameter	NOUN
ijassa-329	1	93	calculation	calculation	NOUN
ijassa-329	1	94	of	of	ADP
ijassa-329	1	95	locus	locus	NOUN
ijassa-329	1	96	based	base	VERB
ijassa-329	1	97	on	on	ADP
ijassa-329	1	98	motion	motion	NOUN
ijassa-329	1	99	relativity	relativity	NOUN
ijassa-329	1	100	and	and	CCONJ
ijassa-329	1	101	differential	differential	NOUN
ijassa-329	1	102	geometry	geometry	NOUN
ijassa-329	1	103	theory	theory	NOUN
ijassa-329	1	104	.	.	PUNCT
ijassa-329	2	1	the	the	DET
ijassa-329	2	2	problem	problem	NOUN
ijassa-329	2	3	of	of	ADP
ijassa-329	2	4	point	point	NOUN
ijassa-329	2	5	-	-	PUNCT
ijassa-329	2	6	group	group	NOUN
ijassa-329	2	7	calculation	calculation	NOUN
ijassa-329	2	8	is	be	AUX
ijassa-329	2	9	thus	thus	ADV
ijassa-329	2	10	solved	solve	VERB
ijassa-329	2	11	,	,	PUNCT
ijassa-329	2	12	and	and	CCONJ
ijassa-329	2	13	the	the	DET
ijassa-329	2	14	comprehensive	comprehensive	ADJ
ijassa-329	2	15	analysis	analysis	NOUN
ijassa-329	2	16	of	of	ADP
ijassa-329	2	17	motion	motion	NOUN
ijassa-329	2	18	and	and	CCONJ
ijassa-329	2	19	position	position	NOUN
ijassa-329	2	20	is	be	AUX
ijassa-329	2	21	realized	realize	VERB
ijassa-329	2	22	.	.	PUNCT
ijassa-329	3	1	moreover	moreover	ADV
ijassa-329	3	2	,	,	PUNCT
ijassa-329	3	3	the	the	DET
ijassa-329	3	4	method	method	NOUN
ijassa-329	3	5	is	be	AUX
ijassa-329	3	6	simplified	simplify	VERB
ijassa-329	3	7	and	and	CCONJ
ijassa-329	3	8	the	the	DET
ijassa-329	3	9	calculation	calculation	NOUN
ijassa-329	3	10	accuracy	accuracy	NOUN
ijassa-329	3	11	is	be	AUX
ijassa-329	3	12	also	also	ADV
ijassa-329	3	13	improved	improve	VERB
ijassa-329	3	14	.	.	PUNCT
ijassa-329	4	1	in	in	ADP
ijassa-329	4	2	the	the	DET
ijassa-329	4	3	paper	paper	NOUN
ijassa-329	4	4	,	,	PUNCT
ijassa-329	4	5	a	a	DET
ijassa-329	4	6	moving	move	VERB
ijassa-329	4	7	frame	frame	NOUN
ijassa-329	4	8	of	of	ADP
ijassa-329	4	9	axes	axis	NOUN
ijassa-329	4	10	is	be	AUX
ijassa-329	4	11	set	set	VERB
ijassa-329	4	12	up	up	ADP
ijassa-329	4	13	by	by	ADP
ijassa-329	4	14	using	use	VERB
ijassa-329	4	15	the	the	DET
ijassa-329	4	16	lever	lever	NOUN
ijassa-329	4	17	axes	axis	NOUN
ijassa-329	4	18	to	to	PART
ijassa-329	4	19	describe	describe	VERB
ijassa-329	4	20	the	the	DET
ijassa-329	4	21	complex	complex	ADJ
ijassa-329	4	22	structure	structure	NOUN
ijassa-329	4	23	of	of	ADP
ijassa-329	4	24	linkage	linkage	NOUN
ijassa-329	4	25	.	.	PUNCT
ijassa-329	5	1	motion	motion	NOUN
ijassa-329	5	2	relativity	relativity	NOUN
ijassa-329	5	3	theory	theory	NOUN
ijassa-329	5	4	is	be	AUX
ijassa-329	5	5	adopted	adopt	VERB
ijassa-329	5	6	to	to	PART
ijassa-329	5	7	study	study	VERB
ijassa-329	5	8	the	the	DET
ijassa-329	5	9	overall	overall	ADJ
ijassa-329	5	10	motion	motion	NOUN
ijassa-329	5	11	rule	rule	NOUN
ijassa-329	5	12	of	of	ADP
ijassa-329	5	13	the	the	DET
ijassa-329	5	14	structure	structure	NOUN
ijassa-329	5	15	.	.	PUNCT
ijassa-329	6	1	by	by	ADP
ijassa-329	6	2	using	use	VERB
ijassa-329	6	3	the	the	DET
ijassa-329	6	4	calculation	calculation	NOUN
ijassa-329	6	5	result	result	NOUN
ijassa-329	6	6	of	of	ADP
ijassa-329	6	7	the	the	DET
ijassa-329	6	8	linkage	linkage	NOUN
ijassa-329	6	9	axes	axis	NOUN
ijassa-329	6	10	,	,	PUNCT
ijassa-329	6	11	the	the	DET
ijassa-329	6	12	calculation	calculation	NOUN
ijassa-329	6	13	model	model	NOUN
ijassa-329	6	14	is	be	AUX
ijassa-329	6	15	set	set	VERB
ijassa-329	6	16	up	up	ADP
ijassa-329	6	17	to	to	PART
ijassa-329	6	18	analyze	analyze	VERB
ijassa-329	6	19	its	its	PRON
ijassa-329	6	20	motion	motion	NOUN
ijassa-329	6	21	,	,	PUNCT
ijassa-329	6	22	which	which	PRON
ijassa-329	6	23	simplifies	simplify	VERB
ijassa-329	6	24	the	the	DET
ijassa-329	6	25	point	point	NOUN
ijassa-329	6	26	-	-	PUNCT
ijassa-329	6	27	group	group	NOUN
ijassa-329	6	28	motion	motion	NOUN
ijassa-329	6	29	calculation	calculation	NOUN
ijassa-329	6	30	.	.	PUNCT
ijassa-329	7	1	the	the	DET
ijassa-329	7	2	point	point	NOUN
ijassa-329	7	3	-	-	PUNCT
ijassa-329	7	4	groups	group	NOUN
ijassa-329	7	5	form	form	VERB
ijassa-329	7	6	the	the	DET
ijassa-329	7	7	same	same	ADJ
ijassa-329	7	8	component	component	NOUN
ijassa-329	7	9	have	have	VERB
ijassa-329	7	10	the	the	DET
ijassa-329	7	11	same	same	ADJ
ijassa-329	7	12	angle	angle	NOUN
ijassa-329	7	13	velocity	velocity	NOUN
ijassa-329	7	14	,	,	PUNCT
ijassa-329	7	15	angle	angle	NOUN
ijassa-329	7	16	acceleration	acceleration	NOUN
ijassa-329	7	17	velocity	velocity	NOUN
ijassa-329	7	18	,	,	PUNCT
ijassa-329	7	19	base	base	NOUN
ijassa-329	7	20	point	point	NOUN
ijassa-329	7	21	,	,	PUNCT
ijassa-329	7	22	and	and	CCONJ
ijassa-329	7	23	calculation	calculation	NOUN
ijassa-329	7	24	model	model	NOUN
ijassa-329	7	25	,	,	PUNCT
ijassa-329	7	26	which	which	PRON
ijassa-329	7	27	makes	make	VERB
ijassa-329	7	28	the	the	DET
ijassa-329	7	29	calculation	calculation	NOUN
ijassa-329	7	30	procedure	procedure	NOUN
ijassa-329	7	31	modularized	modularize	VERB
ijassa-329	7	32	and	and	CCONJ
ijassa-329	7	33	the	the	DET
ijassa-329	7	34	program	program	NOUN
ijassa-329	7	35	shortened	shorten	VERB
ijassa-329	7	36	.	.	PUNCT
ijassa-329	8	1	owning	own	VERB
ijassa-329	8	2	to	to	PART
ijassa-329	8	3	complete	complete	VERB
ijassa-329	8	4	digital	digital	ADJ
ijassa-329	8	5	analysis	analysis	NOUN
ijassa-329	8	6	,	,	PUNCT
ijassa-329	8	7	the	the	DET
ijassa-329	8	8	characteristic	characteristic	ADJ
ijassa-329	8	9	parameter	parameter	NOUN
ijassa-329	8	10	calculations	calculation	NOUN
ijassa-329	8	11	of	of	ADP
ijassa-329	8	12	locus	locus	NOUN
ijassa-329	8	13	are	be	AUX
ijassa-329	8	14	very	very	ADV
ijassa-329	8	15	accurate	accurate	ADJ
ijassa-329	8	16	,	,	PUNCT
ijassa-329	8	17	the	the	DET
ijassa-329	8	18	data	data	NOUN
ijassa-329	8	19	-	-	PUNCT
ijassa-329	8	20	base	base	NOUN
ijassa-329	8	21	is	be	AUX
ijassa-329	8	22	easy	easy	ADJ
ijassa-329	8	23	to	to	PART
ijassa-329	8	24	establish	establish	VERB
ijassa-329	8	25	,	,	PUNCT
ijassa-329	8	26	the	the	DET
ijassa-329	8	27	transfer	transfer	NOUN
ijassa-329	8	28	and	and	CCONJ
ijassa-329	8	29	analysis	analysis	NOUN
ijassa-329	8	30	of	of	ADP
ijassa-329	8	31	data	datum	NOUN
ijassa-329	8	32	become	become	VERB
ijassa-329	8	33	convenient	convenient	ADJ
ijassa-329	8	34	.	.	PUNCT
ijassa-329	9	1	this	this	PRON
ijassa-329	9	2	also	also	ADV
ijassa-329	9	3	makes	make	VERB
ijassa-329	9	4	it	it	PRON
ijassa-329	9	5	easy	easy	ADJ
ijassa-329	9	6	to	to	PART
ijassa-329	9	7	establish	establish	VERB
ijassa-329	9	8	the	the	DET
ijassa-329	9	9	shape	shape	NOUN
ijassa-329	9	10	chart	chart	NOUN
ijassa-329	9	11	of	of	ADP
ijassa-329	9	12	the	the	DET
ijassa-329	9	13	linkage	linkage	NOUN
ijassa-329	9	14	locus	locus	NOUN
ijassa-329	9	15	and	and	CCONJ
ijassa-329	9	16	to	to	PART
ijassa-329	9	17	analyze	analyze	VERB
ijassa-329	9	18	their	their	PRON
ijassa-329	9	19	resemblance	resemblance	NOUN
ijassa-329	9	20	.	.	PUNCT
ijassa-329	10	1	it	it	PRON
ijassa-329	10	2	’s	’	VERB
ijassa-329	10	3	a	a	DET
ijassa-329	10	4	useful	useful	ADJ
ijassa-329	10	5	method	method	NOUN
ijassa-329	10	6	to	to	PART
ijassa-329	10	7	analyze	analyze	VERB
ijassa-329	10	8	the	the	DET
ijassa-329	10	9	locus	locus	NOUN
ijassa-329	10	10	and	and	CCONJ
ijassa-329	10	11	motion	motion	NOUN
ijassa-329	10	12	of	of	ADP
ijassa-329	10	13	the	the	DET
ijassa-329	10	14	link	link	NOUN
ijassa-329	10	15	gear	gear	NOUN
ijassa-329	10	16	comprehensively	comprehensively	ADV
ijassa-329	10	17	.	.	PUNCT
ijassa-329	11	1	keywords	keyword	NOUN
ijassa-329	11	2	link	link	VERB
ijassa-329	11	3	gear	gear	NOUN
ijassa-329	11	4	motion	motion	NOUN
ijassa-329	11	5	motion	motion	NOUN
ijassa-329	11	6	analysing	analyse	VERB
ijassa-329	11	7	group	group	NOUN
ijassa-329	11	8	locus	locus	ADJ
ijassa-329	11	9	multi	multi	ADJ
ijassa-329	11	10	-	-	ADJ
ijassa-329	11	11	dimensional	dimensional	ADJ
ijassa-329	11	12	space	space	NOUN
ijassa-329	11	13	1.introduction	1.introduction	NUM
ijassa-329	11	14	the	the	DET
ijassa-329	11	15	basic	basic	ADJ
ijassa-329	11	16	task	task	NOUN
ijassa-329	11	17	of	of	ADP
ijassa-329	11	18	computer	computer	NOUN
ijassa-329	11	19	-	-	PUNCT
ijassa-329	11	20	aided	aid	VERB
ijassa-329	11	21	analysis	analysis	NOUN
ijassa-329	11	22	of	of	ADP
ijassa-329	11	23	link	link	NOUN
ijassa-329	11	24	gear	gear	NOUN
ijassa-329	11	25	is	be	AUX
ijassa-329	11	26	to	to	PART
ijassa-329	11	27	calculate	calculate	VERB
ijassa-329	11	28	the	the	DET
ijassa-329	11	29	motion	motion	NOUN
ijassa-329	11	30	parameter	parameter	NOUN
ijassa-329	11	31	.	.	PUNCT
ijassa-329	12	1	but	but	CCONJ
ijassa-329	12	2	it	it	PRON
ijassa-329	12	3	is	be	AUX
ijassa-329	12	4	difficulty	difficulty	NOUN
ijassa-329	12	5	because	because	SCONJ
ijassa-329	12	6	of	of	ADP
ijassa-329	12	7	the	the	DET
ijassa-329	12	8	diversification	diversification	NOUN
ijassa-329	12	9	of	of	ADP
ijassa-329	12	10	complex	complex	ADJ
ijassa-329	12	11	trajectory	trajectory	NOUN
ijassa-329	12	12	and	and	CCONJ
ijassa-329	12	13	motion	motion	NOUN
ijassa-329	12	14	parameter	parameter	NOUN
ijassa-329	12	15	on	on	ADP
ijassa-329	12	16	every	every	DET
ijassa-329	12	17	point	point	NOUN
ijassa-329	12	18	of	of	ADP
ijassa-329	12	19	the	the	DET
ijassa-329	12	20	link	link	NOUN
ijassa-329	12	21	gear	gear	NOUN
ijassa-329	12	22	.	.	PUNCT
ijassa-329	13	1	especially	especially	ADV
ijassa-329	13	2	the	the	DET
ijassa-329	13	3	comprehensive	comprehensive	ADJ
ijassa-329	13	4	analysis	analysis	NOUN
ijassa-329	13	5	on	on	ADP
ijassa-329	13	6	motion	motion	NOUN
ijassa-329	13	7	and	and	CCONJ
ijassa-329	13	8	trajectory	trajectory	NOUN
ijassa-329	13	9	has	have	AUX
ijassa-329	13	10	been	be	AUX
ijassa-329	13	11	always	always	ADV
ijassa-329	13	12	important	important	ADJ
ijassa-329	13	13	and	and	CCONJ
ijassa-329	13	14	difficult	difficult	ADJ
ijassa-329	13	15	.	.	PUNCT
ijassa-329	14	1	so	so	ADV
ijassa-329	14	2	it	it	PRON
ijassa-329	14	3	’s	’	VERB
ijassa-329	14	4	very	very	ADV
ijassa-329	14	5	necessary	necessary	ADJ
ijassa-329	14	6	to	to	PART
ijassa-329	14	7	find	find	VERB
ijassa-329	14	8	a	a	DET
ijassa-329	14	9	easy	easy	ADJ
ijassa-329	14	10	theoretical	theoretical	ADJ
ijassa-329	14	11	method	method	NOUN
ijassa-329	14	12	to	to	PART
ijassa-329	14	13	calculate	calculate	VERB
ijassa-329	14	14	and	and	CCONJ
ijassa-329	14	15	improve	improve	VERB
ijassa-329	14	16	efficiency	efficiency	NOUN
ijassa-329	14	17	.	.	PUNCT
ijassa-329	15	1	francois	francois	PROPN
ijassa-329	15	2	isnard	isnard	PROPN
ijassa-329	15	3	worked	work	VERB
ijassa-329	15	4	over	over	ADP
ijassa-329	15	5	the	the	DET
ijassa-329	15	6	motion	motion	NOUN
ijassa-329	15	7	analysis	analysis	NOUN
ijassa-329	15	8	of	of	ADP
ijassa-329	15	9	link	link	NOUN
ijassa-329	15	10	gear	gear	NOUN
ijassa-329	15	11	,	,	PUNCT
ijassa-329	15	12	and	and	CCONJ
ijassa-329	15	13	has	have	AUX
ijassa-329	15	14	found	find	VERB
ijassa-329	15	15	out	out	ADP
ijassa-329	15	16	two	two	NUM
ijassa-329	15	17	arithmetic	arithmetic	ADJ
ijassa-329	15	18	methods	method	NOUN
ijassa-329	15	19	.	.	PUNCT
ijassa-329	16	1	john	john	PROPN
ijassa-329	16	2	r	r	PROPN
ijassa-329	16	3	m	m	VERB
ijassa-329	16	4	utilized	utilize	VERB
ijassa-329	16	5	graphics	graphic	NOUN
ijassa-329	16	6	to	to	PART
ijassa-329	16	7	analyze	analyze	VERB
ijassa-329	16	8	the	the	DET
ijassa-329	16	9	characteristics	characteristic	NOUN
ijassa-329	16	10	of	of	ADP
ijassa-329	16	11	trajectory	trajectory	NOUN
ijassa-329	16	12	and	and	CCONJ
ijassa-329	16	13	motion	motion	NOUN
ijassa-329	16	14	with	with	ADP
ijassa-329	16	15	high	high	ADJ
ijassa-329	16	16	speed	speed	NOUN
ijassa-329	16	17	.	.	PUNCT
ijassa-329	17	1	zahn	zahn	PROPN
ijassa-329	17	2	c	c	PROPN
ijassa-329	17	3	t	t	PROPN
ijassa-329	17	4	,	,	PUNCT
ijassa-329	17	5	roskies	roskie	NOUN
ijassa-329	17	6	r	r	NOUN
ijassa-329	17	7	z	z	NOUN
ijassa-329	17	8	put	put	VERB
ijassa-329	17	9	forward	forward	ADV
ijassa-329	17	10	a	a	DET
ijassa-329	17	11	method	method	NOUN
ijassa-329	17	12	to	to	PART
ijassa-329	17	13	fit	fit	VERB
ijassa-329	17	14	linkage	linkage	NOUN
ijassa-329	17	15	curve	curve	NOUN
ijassa-329	17	16	by	by	ADP
ijassa-329	17	17	fourier	fourier	ADJ
ijassa-329	17	18	series	series	PROPN
ijassa-329	17	19	.	.	PUNCT
ijassa-329	18	1	luokang	luokang	PROPN
ijassa-329	18	2	proposed	propose	VERB
ijassa-329	18	3	a	a	DET
ijassa-329	18	4	easy	easy	ADJ
ijassa-329	18	5	method	method	NOUN
ijassa-329	18	6	to	to	PART
ijassa-329	18	7	process	process	VERB
ijassa-329	18	8	moving	move	VERB
ijassa-329	18	9	axes	axis	NOUN
ijassa-329	18	10	.	.	PUNCT
ijassa-329	19	1	by	by	ADP
ijassa-329	19	2	using	use	VERB
ijassa-329	19	3	two	two	NUM
ijassa-329	19	4	dimensional	dimensional	ADJ
ijassa-329	19	5	array	array	NOUN
ijassa-329	19	6	to	to	PART
ijassa-329	19	7	describe	describe	VERB
ijassa-329	19	8	and	and	CCONJ
ijassa-329	19	9	store	store	VERB
ijassa-329	19	10	the	the	DET
ijassa-329	19	11	coordinates	coordinate	NOUN
ijassa-329	19	12	of	of	ADP
ijassa-329	19	13	linkage	linkage	NOUN
ijassa-329	19	14	curve	curve	NOUN
ijassa-329	19	15	,	,	PUNCT
ijassa-329	19	16	it	it	PRON
ijassa-329	19	17	has	have	VERB
ijassa-329	19	18	many	many	ADJ
ijassa-329	19	19	merits	merit	NOUN
ijassa-329	19	20	in	in	ADP
ijassa-329	19	21	data	data	NOUN
ijassa-329	19	22	processing	processing	NOUN
ijassa-329	19	23	and	and	CCONJ
ijassa-329	19	24	calculation	calculation	NOUN
ijassa-329	19	25	,	,	PUNCT
ijassa-329	19	26	but	but	CCONJ
ijassa-329	19	27	too	too	ADV
ijassa-329	19	28	complicated	complicated	ADJ
ijassa-329	19	29	.	.	PUNCT
ijassa-329	20	1	these	these	DET
ijassa-329	20	2	methods	method	NOUN
ijassa-329	20	3	ignored	ignore	VERB
ijassa-329	20	4	the	the	DET
ijassa-329	20	5	physical	physical	ADJ
ijassa-329	20	6	characteristic	characteristic	ADJ
ijassa-329	20	7	linkage	linkage	NOUN
ijassa-329	20	8	motion	motion	NOUN
ijassa-329	20	9	.	.	PUNCT
ijassa-329	21	1	even	even	ADV
ijassa-329	21	2	the	the	DET
ijassa-329	21	3	study	study	NOUN
ijassa-329	21	4	on	on	ADP
ijassa-329	21	5	the	the	DET
ijassa-329	21	6	internal	internal	ADJ
ijassa-329	21	7	rule	rule	NOUN
ijassa-329	21	8	of	of	ADP
ijassa-329	21	9	motion	motion	NOUN
ijassa-329	21	10	did	do	AUX
ijassa-329	21	11	n’t	not	PART
ijassa-329	21	12	utilize	utilize	VERB
ijassa-329	21	13	the	the	DET
ijassa-329	21	14	integrated	integrate	VERB
ijassa-329	21	15	characteristic	characteristic	NOUN
ijassa-329	21	16	of	of	ADP
ijassa-329	21	17	the	the	DET
ijassa-329	21	18	space	space	NOUN
ijassa-329	21	19	configuration	configuration	NOUN
ijassa-329	21	20	and	and	CCONJ
ijassa-329	21	21	the	the	DET
ijassa-329	21	22	motion	motion	NOUN
ijassa-329	21	23	to	to	PART
ijassa-329	21	24	simplify	simplify	VERB
ijassa-329	21	25	calculation	calculation	NOUN
ijassa-329	21	26	.	.	PUNCT
ijassa-329	22	1	at	at	ADP
ijassa-329	22	2	present	present	ADJ
ijassa-329	22	3	,	,	PUNCT
ijassa-329	22	4	there	there	PRON
ijassa-329	22	5	is	be	VERB
ijassa-329	22	6	no	no	DET
ijassa-329	22	7	fundamental	fundamental	ADJ
ijassa-329	22	8	method	method	NOUN
ijassa-329	22	9	to	to	PART
ijassa-329	22	10	solve	solve	VERB
ijassa-329	22	11	the	the	DET
ijassa-329	22	12	unified	unified	ADJ
ijassa-329	22	13	problem	problem	NOUN
ijassa-329	22	14	on	on	ADP
ijassa-329	22	15	motion	motion	NOUN
ijassa-329	22	16	and	and	CCONJ
ijassa-329	22	17	geometry	geometry	NOUN
ijassa-329	22	18	,	,	PUNCT
ijassa-329	22	19	also	also	ADV
ijassa-329	22	20	no	no	DET
ijassa-329	22	21	method	method	NOUN
ijassa-329	22	22	to	to	PART
ijassa-329	22	23	establish	establish	VERB
ijassa-329	22	24	and	and	CCONJ
ijassa-329	22	25	analyze	analyze	VERB
ijassa-329	22	26	linkage	linkage	NOUN
ijassa-329	22	27	motion	motion	NOUN
ijassa-329	22	28	parameter	parameter	NOUN
ijassa-329	22	29	accurately	accurately	ADV
ijassa-329	22	30	and	and	CCONJ
ijassa-329	22	31	swiftly	swiftly	ADV
ijassa-329	22	32	.	.	PUNCT
ijassa-329	23	1	2.our	2.our	NUM
ijassa-329	23	2	approach	approach	NOUN
ijassa-329	23	3	according	accord	VERB
ijassa-329	23	4	to	to	ADP
ijassa-329	23	5	motion	motion	NOUN
ijassa-329	23	6	relativity	relativity	NOUN
ijassa-329	23	7	and	and	CCONJ
ijassa-329	23	8	differential	differential	NOUN
ijassa-329	23	9	geometry	geometry	NOUN
ijassa-329	23	10	theory	theory	NOUN
ijassa-329	23	11	,	,	PUNCT
ijassa-329	23	12	this	this	DET
ijassa-329	23	13	paper	paper	NOUN
ijassa-329	23	14	proposes	propose	VERB
ijassa-329	23	15	a	a	DET
ijassa-329	23	16	motion	motion	NOUN
ijassa-329	23	17	trajectory	trajectory	NOUN
ijassa-329	23	18	analysis	analysis	NOUN
ijassa-329	23	19	method	method	NOUN
ijassa-329	23	20	based	base	VERB
ijassa-329	23	21	on	on	ADP
ijassa-329	23	22	moving	move	VERB
ijassa-329	23	23	axes	axis	NOUN
ijassa-329	23	24	of	of	ADP
ijassa-329	23	25	link	link	NOUN
ijassa-329	23	26	gear	gear	NOUN
ijassa-329	23	27	.	.	PUNCT
ijassa-329	24	1	a	a	DET
ijassa-329	24	2	frame	frame	NOUN
ijassa-329	24	3	of	of	ADP
ijassa-329	24	4	axes	axis	NOUN
ijassa-329	24	5	is	be	AUX
ijassa-329	24	6	fixed	fix	VERB
ijassa-329	24	7	on	on	ADP
ijassa-329	24	8	link	link	PROPN
ijassa-329	24	9	lever	lever	NOUN
ijassa-329	24	10	which	which	PRON
ijassa-329	24	11	produces	produce	VERB
ijassa-329	24	12	a	a	DET
ijassa-329	24	13	moving	move	VERB
ijassa-329	24	14	frame	frame	NOUN
ijassa-329	24	15	of	of	ADP
ijassa-329	24	16	axes	axis	NOUN
ijassa-329	24	17	by	by	ADP
ijassa-329	24	18	using	use	VERB
ijassa-329	24	19	lever	lever	NOUN
ijassa-329	24	20	axes	axis	NOUN
ijassa-329	24	21	as	as	ADP
ijassa-329	24	22	coordinate	coordinate	NOUN
ijassa-329	24	23	.	.	PUNCT
ijassa-329	25	1	it	it	PRON
ijassa-329	25	2	can	can	AUX
ijassa-329	25	3	be	be	AUX
ijassa-329	25	4	very	very	ADV
ijassa-329	25	5	convenient	convenient	ADJ
ijassa-329	25	6	to	to	PART
ijassa-329	25	7	express	express	VERB
ijassa-329	25	8	the	the	DET
ijassa-329	25	9	complex	complex	ADJ
ijassa-329	25	10	structure	structure	NOUN
ijassa-329	25	11	of	of	ADP
ijassa-329	25	12	linkage	linkage	NOUN
ijassa-329	25	13	,	,	PUNCT
ijassa-329	25	14	and	and	CCONJ
ijassa-329	25	15	also	also	ADV
ijassa-329	25	16	can	can	AUX
ijassa-329	25	17	take	take	VERB
ijassa-329	25	18	full	full	ADJ
ijassa-329	25	19	advantage	advantage	NOUN
ijassa-329	25	20	of	of	ADP
ijassa-329	25	21	the	the	DET
ijassa-329	25	22	linkage	linkage	NOUN
ijassa-329	25	23	axes	axis	NOUN
ijassa-329	25	24	calculation	calculation	NOUN
ijassa-329	25	25	to	to	PART
ijassa-329	25	26	simplify	simplify	VERB
ijassa-329	25	27	the	the	DET
ijassa-329	25	28	motion	motion	NOUN
ijassa-329	25	29	calculation	calculation	NOUN
ijassa-329	25	30	on	on	ADP
ijassa-329	25	31	point	point	NOUN
ijassa-329	25	32	groups	group	NOUN
ijassa-329	25	33	,	,	PUNCT
ijassa-329	25	34	thus	thus	ADV
ijassa-329	25	35	realize	realize	VERB
ijassa-329	25	36	the	the	DET
ijassa-329	25	37	comprehensive	comprehensive	ADJ
ijassa-329	25	38	study	study	NOUN
ijassa-329	25	39	on	on	ADP
ijassa-329	25	40	linkage	linkage	NOUN
ijassa-329	25	41	motion	motion	NOUN
ijassa-329	25	42	and	and	CCONJ
ijassa-329	25	43	geometry	geometry	NOUN
ijassa-329	25	44	trajectory	trajectory	NOUN
ijassa-329	25	45	.	.	PUNCT
ijassa-329	26	1	it	it	PRON
ijassa-329	26	2	’s	’	VERB
ijassa-329	26	3	an	an	DET
ijassa-329	26	4	efficient	efficient	ADJ
ijassa-329	26	5	method	method	NOUN
ijassa-329	26	6	to	to	ADP
ijassa-329	26	7	the	the	DET
ijassa-329	26	8	project	project	NOUN
ijassa-329	26	9	is	be	AUX
ijassa-329	26	10	funded	fund	VERB
ijassa-329	26	11	by	by	ADP
ijassa-329	26	12	the	the	DET
ijassa-329	26	13	sichuan	sichuan	PROPN
ijassa-329	26	14	educational	educational	PROPN
ijassa-329	26	15	commission	commission	PROPN
ijassa-329	26	16	in	in	ADP
ijassa-329	26	17	the	the	DET
ijassa-329	26	18	area	area	NOUN
ijassa-329	26	19	of	of	ADP
ijassa-329	26	20	nature	nature	NOUN
ijassa-329	26	21	science	science	NOUN
ijassa-329	26	22	(	(	PUNCT
ijassa-329	26	23	contract	contract	NOUN
ijassa-329	26	24	no	no	INTJ
ijassa-329	26	25	.	.	PROPN
ijassa-329	26	26	2004a163	2004a163	NUM
ijassa-329	26	27	)	)	PUNCT
ijassa-329	26	28	.	.	PUNCT
ijassa-329	27	1	advances	advance	NOUN
ijassa-329	27	2	in	in	ADP
ijassa-329	27	3	systems	system	NOUN
ijassa-329	27	4	science	science	NOUN
ijassa-329	27	5	and	and	CCONJ
ijassa-329	27	6	applications	application	NOUN
ijassa-329	27	7	(	(	PUNCT
ijassa-329	27	8	2011	2011	NUM
ijassa-329	27	9	)	)	PUNCT
ijassa-329	27	10	,	,	PUNCT
ijassa-329	27	11	vol.11	vol.11	PROPN
ijassa-329	27	12	,	,	PUNCT
ijassa-329	27	13	no.3	no.3	NOUN
ijassa-329	27	14	-	-	SYM
ijassa-329	27	15	4	4	NUM
ijassa-329	27	16	349	349	NUM
ijassa-329	27	17	analyze	analyze	VERB
ijassa-329	27	18	the	the	DET
ijassa-329	27	19	motion	motion	NOUN
ijassa-329	27	20	characteristic	characteristic	NOUN
ijassa-329	27	21	of	of	ADP
ijassa-329	27	22	link	link	NOUN
ijassa-329	27	23	gear	gear	NOUN
ijassa-329	27	24	...	...	PUNCT
ijassa-329	28	1	3.new	3.new	ADJ
ijassa-329	28	2	method	method	NOUN
ijassa-329	28	3	for	for	ADP
ijassa-329	28	4	design	design	NOUN
ijassa-329	28	5	of	of	ADP
ijassa-329	28	6	link	link	NOUN
ijassa-329	28	7	mechanism	mechanism	NOUN
ijassa-329	28	8	3.1.1	3.1.1	NOUN
ijassa-329	28	9	the	the	DET
ijassa-329	28	10	basis	basis	NOUN
ijassa-329	28	11	problem	problem	NOUN
ijassa-329	28	12	for	for	ADP
ijassa-329	28	13	trajectory	trajectory	NOUN
ijassa-329	28	14	design	design	NOUN
ijassa-329	28	15	generally	generally	ADV
ijassa-329	28	16	,	,	PUNCT
ijassa-329	28	17	motion	motion	NOUN
ijassa-329	28	18	design	design	NOUN
ijassa-329	28	19	on	on	ADP
ijassa-329	28	20	plane	plane	NOUN
ijassa-329	28	21	link	link	NOUN
ijassa-329	28	22	gear	gear	NOUN
ijassa-329	28	23	can	can	AUX
ijassa-329	28	24	be	be	AUX
ijassa-329	28	25	arranged	arrange	VERB
ijassa-329	28	26	as	as	ADP
ijassa-329	28	27	three	three	NUM
ijassa-329	28	28	basis	basis	NOUN
ijassa-329	28	29	problems	problem	NOUN
ijassa-329	28	30	.	.	PUNCT
ijassa-329	29	1	first	first	ADV
ijassa-329	29	2	,	,	PUNCT
ijassa-329	29	3	component	component	NOUN
ijassa-329	29	4	position	position	NOUN
ijassa-329	29	5	,	,	PUNCT
ijassa-329	29	6	that	that	ADV
ijassa-329	29	7	is	is	ADV
ijassa-329	29	8	,	,	PUNCT
ijassa-329	29	9	the	the	DET
ijassa-329	29	10	link	link	NOUN
ijassa-329	29	11	gear	gear	NOUN
ijassa-329	29	12	can	can	AUX
ijassa-329	29	13	lead	lead	VERB
ijassa-329	29	14	a	a	DET
ijassa-329	29	15	certain	certain	ADJ
ijassa-329	29	16	component	component	NOUN
ijassa-329	29	17	pass	pass	VERB
ijassa-329	29	18	some	some	DET
ijassa-329	29	19	preset	preset	ADJ
ijassa-329	29	20	positions	position	NOUN
ijassa-329	29	21	accurately	accurately	ADV
ijassa-329	29	22	or	or	CCONJ
ijassa-329	29	23	approximately	approximately	ADV
ijassa-329	29	24	according	accord	VERB
ijassa-329	29	25	to	to	ADP
ijassa-329	29	26	prescribed	prescribed	ADJ
ijassa-329	29	27	sequence	sequence	NOUN
ijassa-329	29	28	.	.	PUNCT
ijassa-329	30	1	second	second	ADJ
ijassa-329	30	2	,	,	PUNCT
ijassa-329	30	3	preset	preset	ADJ
ijassa-329	30	4	motion	motion	NOUN
ijassa-329	30	5	rule	rule	NOUN
ijassa-329	30	6	,	,	PUNCT
ijassa-329	30	7	that	that	PRON
ijassa-329	30	8	is	be	AUX
ijassa-329	30	9	the	the	DET
ijassa-329	30	10	driving	drive	VERB
ijassa-329	30	11	part	part	NOUN
ijassa-329	30	12	and	and	CCONJ
ijassa-329	30	13	the	the	DET
ijassa-329	30	14	follower	follower	NOUN
ijassa-329	30	15	meet	meet	VERB
ijassa-329	30	16	some	some	DET
ijassa-329	30	17	required	require	VERB
ijassa-329	30	18	relationship	relationship	NOUN
ijassa-329	30	19	of	of	ADP
ijassa-329	30	20	positions	position	NOUN
ijassa-329	30	21	,	,	PUNCT
ijassa-329	30	22	including	include	VERB
ijassa-329	30	23	definite	definite	ADJ
ijassa-329	30	24	quick	quick	ADJ
ijassa-329	30	25	-	-	PUNCT
ijassa-329	30	26	return	return	NOUN
ijassa-329	30	27	characteristic	characteristic	NOUN
ijassa-329	30	28	.	.	PUNCT
ijassa-329	31	1	or	or	CCONJ
ijassa-329	31	2	,	,	PUNCT
ijassa-329	31	3	when	when	SCONJ
ijassa-329	31	4	the	the	DET
ijassa-329	31	5	motion	motion	NOUN
ijassa-329	31	6	of	of	ADP
ijassa-329	31	7	driving	drive	VERB
ijassa-329	31	8	part	part	NOUN
ijassa-329	31	9	is	be	AUX
ijassa-329	31	10	defined	define	VERB
ijassa-329	31	11	,	,	PUNCT
ijassa-329	31	12	the	the	DET
ijassa-329	31	13	follower	follower	NOUN
ijassa-329	31	14	can	can	AUX
ijassa-329	31	15	move	move	VERB
ijassa-329	31	16	accurately	accurately	ADV
ijassa-329	31	17	or	or	CCONJ
ijassa-329	31	18	approximately	approximately	ADV
ijassa-329	31	19	according	accord	VERB
ijassa-329	31	20	to	to	ADP
ijassa-329	31	21	prescribed	prescribed	ADJ
ijassa-329	31	22	rule	rule	NOUN
ijassa-329	31	23	.	.	PUNCT
ijassa-329	32	1	third	third	ADJ
ijassa-329	32	2	,	,	PUNCT
ijassa-329	32	3	prescribed	prescribe	VERB
ijassa-329	32	4	motion	motion	NOUN
ijassa-329	32	5	trajectory	trajectory	NOUN
ijassa-329	32	6	,	,	PUNCT
ijassa-329	32	7	some	some	DET
ijassa-329	32	8	point	point	NOUN
ijassa-329	32	9	on	on	ADP
ijassa-329	32	10	the	the	DET
ijassa-329	32	11	linkage	linkage	NOUN
ijassa-329	32	12	component	component	NOUN
ijassa-329	32	13	in	in	ADP
ijassa-329	32	14	plane	plane	NOUN
ijassa-329	32	15	motion	motion	NOUN
ijassa-329	32	16	can	can	AUX
ijassa-329	32	17	move	move	VERB
ijassa-329	32	18	accurately	accurately	ADV
ijassa-329	32	19	or	or	CCONJ
ijassa-329	32	20	approximately	approximately	ADV
ijassa-329	32	21	according	accord	VERB
ijassa-329	32	22	to	to	ADP
ijassa-329	32	23	prescribed	prescribe	VERB
ijassa-329	32	24	trajectory	trajectory	NOUN
ijassa-329	32	25	.	.	PUNCT
ijassa-329	33	1	the	the	DET
ijassa-329	33	2	problem	problem	NOUN
ijassa-329	33	3	can	can	AUX
ijassa-329	33	4	be	be	AUX
ijassa-329	33	5	summarized	summarize	VERB
ijassa-329	33	6	as	as	ADP
ijassa-329	33	7	:	:	PUNCT
ijassa-329	33	8	present	present	ADJ
ijassa-329	33	9	digital	digital	ADJ
ijassa-329	33	10	design	design	NOUN
ijassa-329	33	11	needs	need	VERB
ijassa-329	33	12	to	to	PART
ijassa-329	33	13	analyze	analyze	VERB
ijassa-329	33	14	the	the	DET
ijassa-329	33	15	motion	motion	NOUN
ijassa-329	33	16	of	of	ADP
ijassa-329	33	17	some	some	DET
ijassa-329	33	18	point	point	NOUN
ijassa-329	33	19	or	or	CCONJ
ijassa-329	33	20	a	a	DET
ijassa-329	33	21	group	group	NOUN
ijassa-329	33	22	points	point	VERB
ijassa-329	33	23	on	on	ADP
ijassa-329	33	24	the	the	DET
ijassa-329	33	25	component	component	NOUN
ijassa-329	33	26	,	,	PUNCT
ijassa-329	33	27	which	which	PRON
ijassa-329	33	28	requires	require	VERB
ijassa-329	33	29	record	record	NOUN
ijassa-329	33	30	the	the	DET
ijassa-329	33	31	data	datum	NOUN
ijassa-329	33	32	of	of	ADP
ijassa-329	33	33	its	its	PRON
ijassa-329	33	34	trajectory	trajectory	NOUN
ijassa-329	33	35	characteristic	characteristic	NOUN
ijassa-329	33	36	on	on	ADP
ijassa-329	33	37	different	different	ADJ
ijassa-329	33	38	point	point	NOUN
ijassa-329	33	39	.	.	PUNCT
ijassa-329	34	1	the	the	DET
ijassa-329	34	2	specific	specific	ADJ
ijassa-329	34	3	task	task	NOUN
ijassa-329	34	4	of	of	ADP
ijassa-329	34	5	trajectory	trajectory	NOUN
ijassa-329	34	6	motion	motion	NOUN
ijassa-329	34	7	analysis	analysis	NOUN
ijassa-329	34	8	is	be	AUX
ijassa-329	34	9	to	to	PART
ijassa-329	34	10	analyze	analyze	VERB
ijassa-329	34	11	and	and	CCONJ
ijassa-329	34	12	calculate	calculate	VERB
ijassa-329	34	13	several	several	ADJ
ijassa-329	34	14	adjacent	adjacent	ADJ
ijassa-329	34	15	points	point	NOUN
ijassa-329	34	16	,	,	PUNCT
ijassa-329	34	17	define	define	VERB
ijassa-329	34	18	the	the	DET
ijassa-329	34	19	most	most	ADV
ijassa-329	34	20	accordant	accordant	ADJ
ijassa-329	34	21	articulated	articulated	ADJ
ijassa-329	34	22	points	point	NOUN
ijassa-329	34	23	which	which	PRON
ijassa-329	34	24	meet	meet	VERB
ijassa-329	34	25	the	the	DET
ijassa-329	34	26	preset	preset	ADJ
ijassa-329	34	27	trajectory	trajectory	NOUN
ijassa-329	34	28	motion	motion	NOUN
ijassa-329	34	29	requirements	requirement	NOUN
ijassa-329	34	30	.	.	PUNCT
ijassa-329	35	1	on	on	ADP
ijassa-329	35	2	the	the	DET
ijassa-329	35	3	other	other	ADJ
ijassa-329	35	4	hand	hand	NOUN
ijassa-329	35	5	,	,	PUNCT
ijassa-329	35	6	the	the	DET
ijassa-329	35	7	motion	motion	NOUN
ijassa-329	35	8	parameters	parameter	NOUN
ijassa-329	35	9	on	on	ADP
ijassa-329	35	10	nonadjacent	nonadjacent	ADJ
ijassa-329	35	11	points	point	NOUN
ijassa-329	35	12	are	be	AUX
ijassa-329	35	13	calculated	calculate	VERB
ijassa-329	35	14	,	,	PUNCT
ijassa-329	35	15	thus	thus	ADV
ijassa-329	35	16	to	to	PART
ijassa-329	35	17	establish	establish	VERB
ijassa-329	35	18	the	the	DET
ijassa-329	35	19	database	database	NOUN
ijassa-329	35	20	on	on	ADP
ijassa-329	35	21	different	different	ADJ
ijassa-329	35	22	trajectory	trajectory	NOUN
ijassa-329	35	23	motion	motion	NOUN
ijassa-329	35	24	characteristic	characteristic	NOUN
ijassa-329	35	25	,	,	PUNCT
ijassa-329	35	26	and	and	CCONJ
ijassa-329	35	27	prepare	prepare	VERB
ijassa-329	35	28	for	for	ADP
ijassa-329	35	29	the	the	DET
ijassa-329	35	30	design	design	NOUN
ijassa-329	35	31	.	.	PUNCT
ijassa-329	36	1	the	the	DET
ijassa-329	36	2	description	description	NOUN
ijassa-329	36	3	of	of	ADP
ijassa-329	36	4	the	the	DET
ijassa-329	36	5	integrated	integrate	VERB
ijassa-329	36	6	motion	motion	NOUN
ijassa-329	36	7	rule	rule	NOUN
ijassa-329	36	8	of	of	ADP
ijassa-329	36	9	link	link	NOUN
ijassa-329	36	10	gear	gear	NOUN
ijassa-329	36	11	it	it	PRON
ijassa-329	36	12	’s	’	VERB
ijassa-329	36	13	simple	simple	ADJ
ijassa-329	36	14	and	and	CCONJ
ijassa-329	36	15	flexible	flexible	ADJ
ijassa-329	36	16	to	to	PART
ijassa-329	36	17	utilize	utilize	VERB
ijassa-329	36	18	lever	lever	NOUN
ijassa-329	36	19	group	group	NOUN
ijassa-329	36	20	method	method	NOUN
ijassa-329	36	21	to	to	PART
ijassa-329	36	22	analyze	analyze	VERB
ijassa-329	36	23	link	link	NOUN
ijassa-329	36	24	gear	gear	NOUN
ijassa-329	36	25	,	,	PUNCT
ijassa-329	36	26	moreover	moreover	ADV
ijassa-329	36	27	,	,	PUNCT
ijassa-329	36	28	easy	easy	ADJ
ijassa-329	36	29	programming	programming	NOUN
ijassa-329	36	30	.	.	PUNCT
ijassa-329	37	1	paper	paper	NOUN
ijassa-329	38	1	[	[	X
ijassa-329	38	2	1	1	X
ijassa-329	38	3	]	]	PUNCT
ijassa-329	38	4	has	have	AUX
ijassa-329	38	5	worked	work	VERB
ijassa-329	38	6	out	out	ADP
ijassa-329	38	7	a	a	DET
ijassa-329	38	8	general	general	ADJ
ijassa-329	38	9	subprogram	subprogram	NOUN
ijassa-329	38	10	for	for	ADP
ijassa-329	38	11	second	second	ADJ
ijassa-329	38	12	grade	grade	NOUN
ijassa-329	38	13	group	group	NOUN
ijassa-329	38	14	of	of	ADP
ijassa-329	38	15	five	five	NUM
ijassa-329	38	16	basic	basic	ADJ
ijassa-329	38	17	type	type	NOUN
ijassa-329	38	18	,	,	PUNCT
ijassa-329	38	19	and	and	CCONJ
ijassa-329	38	20	also	also	ADV
ijassa-329	38	21	several	several	ADJ
ijassa-329	38	22	three	three	NUM
ijassa-329	38	23	and	and	CCONJ
ijassa-329	38	24	four	four	NUM
ijassa-329	38	25	grade	grade	NOUN
ijassa-329	38	26	lever	lever	NOUN
ijassa-329	38	27	group	group	NOUN
ijassa-329	38	28	in	in	ADP
ijassa-329	38	29	common	common	ADJ
ijassa-329	38	30	use	use	NOUN
ijassa-329	38	31	.	.	PUNCT
ijassa-329	39	1	the	the	DET
ijassa-329	39	2	kinematics	kinematic	NOUN
ijassa-329	39	3	analysis	analysis	NOUN
ijassa-329	39	4	system	system	NOUN
ijassa-329	39	5	of	of	ADP
ijassa-329	39	6	plane	plane	NOUN
ijassa-329	39	7	link	link	NOUN
ijassa-329	39	8	gear	gear	NOUN
ijassa-329	39	9	based	base	VERB
ijassa-329	39	10	on	on	ADP
ijassa-329	39	11	fundamental	fundamental	ADJ
ijassa-329	39	12	lever	lever	NOUN
ijassa-329	39	13	group	group	NOUN
ijassa-329	39	14	and	and	CCONJ
ijassa-329	39	15	single	single	ADJ
ijassa-329	39	16	lever	lever	NOUN
ijassa-329	39	17	automatic	automatic	ADJ
ijassa-329	39	18	identification	identification	NOUN
ijassa-329	39	19	is	be	AUX
ijassa-329	39	20	a	a	DET
ijassa-329	39	21	general	general	ADJ
ijassa-329	39	22	system	system	NOUN
ijassa-329	39	23	for	for	ADP
ijassa-329	39	24	plane	plane	NOUN
ijassa-329	39	25	linkage	linkage	NOUN
ijassa-329	39	26	motional	motional	ADJ
ijassa-329	39	27	performance	performance	NOUN
ijassa-329	39	28	analysis	analysis	NOUN
ijassa-329	39	29	,	,	PUNCT
ijassa-329	39	30	which	which	PRON
ijassa-329	39	31	can	can	AUX
ijassa-329	39	32	analyze	analyze	VERB
ijassa-329	39	33	the	the	DET
ijassa-329	39	34	motion	motion	NOUN
ijassa-329	39	35	of	of	ADP
ijassa-329	39	36	single	single	ADJ
ijassa-329	39	37	and	and	CCONJ
ijassa-329	39	38	multifreedom	multifreedom	NOUN
ijassa-329	39	39	system	system	NOUN
ijassa-329	39	40	in	in	ADP
ijassa-329	39	41	a	a	DET
ijassa-329	39	42	wide	wide	ADJ
ijassa-329	39	43	range	range	NOUN
ijassa-329	39	44	.	.	PUNCT
ijassa-329	40	1	as	as	ADP
ijassa-329	40	2	to	to	ADP
ijassa-329	40	3	its	its	PRON
ijassa-329	40	4	mathematic	mathematic	ADJ
ijassa-329	40	5	model	model	NOUN
ijassa-329	40	6	and	and	CCONJ
ijassa-329	40	7	solving	solving	NOUN
ijassa-329	40	8	process	process	NOUN
ijassa-329	40	9	,	,	PUNCT
ijassa-329	40	10	it	it	PRON
ijassa-329	40	11	’s	’	VERB
ijassa-329	40	12	too	too	ADV
ijassa-329	40	13	complicated	complicated	ADJ
ijassa-329	40	14	.	.	PUNCT
ijassa-329	41	1	normally	normally	ADV
ijassa-329	41	2	the	the	DET
ijassa-329	41	3	results	result	NOUN
ijassa-329	41	4	are	be	AUX
ijassa-329	41	5	angle	angle	NOUN
ijassa-329	41	6	velocity	velocity	NOUN
ijassa-329	41	7	and	and	CCONJ
ijassa-329	41	8	angle	angle	NOUN
ijassa-329	41	9	acceleration	acceleration	NOUN
ijassa-329	41	10	velocity	velocity	NOUN
ijassa-329	41	11	.	.	PUNCT
ijassa-329	42	1	this	this	DET
ijassa-329	42	2	paper	paper	NOUN
ijassa-329	42	3	works	work	VERB
ijassa-329	42	4	on	on	ADP
ijassa-329	42	5	the	the	DET
ijassa-329	42	6	mathematic	mathematic	ADJ
ijassa-329	42	7	modeling	modeling	NOUN
ijassa-329	42	8	of	of	ADP
ijassa-329	42	9	motional	motional	ADJ
ijassa-329	42	10	link	link	NOUN
ijassa-329	42	11	gear	gear	NOUN
ijassa-329	42	12	.	.	PUNCT
ijassa-329	43	1	to	to	PART
ijassa-329	43	2	simplify	simplify	VERB
ijassa-329	43	3	the	the	DET
ijassa-329	43	4	process	process	NOUN
ijassa-329	43	5	,	,	PUNCT
ijassa-329	43	6	the	the	DET
ijassa-329	43	7	model	model	NOUN
ijassa-329	43	8	is	be	AUX
ijassa-329	43	9	a	a	DET
ijassa-329	43	10	four	four	NUM
ijassa-329	43	11	lever	lever	NOUN
ijassa-329	43	12	linkage	linkage	NOUN
ijassa-329	43	13	.	.	PUNCT
ijassa-329	44	1	the	the	DET
ijassa-329	44	2	links	link	NOUN
ijassa-329	44	3	on	on	ADP
ijassa-329	44	4	the	the	DET
ijassa-329	44	5	articulated	articulated	ADJ
ijassa-329	44	6	points	point	NOUN
ijassa-329	44	7	are	be	AUX
ijassa-329	44	8	the	the	DET
ijassa-329	44	9	object	object	NOUN
ijassa-329	44	10	to	to	PART
ijassa-329	44	11	study	study	VERB
ijassa-329	44	12	the	the	DET
ijassa-329	44	13	overall	overall	ADJ
ijassa-329	44	14	motion	motion	NOUN
ijassa-329	44	15	rule	rule	NOUN
ijassa-329	44	16	of	of	ADP
ijassa-329	44	17	linkage	linkage	NOUN
ijassa-329	44	18	.	.	PUNCT
ijassa-329	45	1	fig	fig	NOUN
ijassa-329	45	2	.	.	PUNCT
ijassa-329	46	1	1	1	NUM
ijassa-329	46	2	shows	show	VERB
ijassa-329	46	3	a	a	DET
ijassa-329	46	4	plane	plane	NOUN
ijassa-329	46	5	four	four	NUM
ijassa-329	46	6	lever	lever	NOUN
ijassa-329	46	7	link	link	NOUN
ijassa-329	46	8	gear	gear	NOUN
ijassa-329	46	9	in	in	ADP
ijassa-329	46	10	xoy	xoy	NOUN
ijassa-329	46	11	right	right	ADJ
ijassa-329	46	12	-	-	PUNCT
ijassa-329	46	13	angle	angle	NOUN
ijassa-329	46	14	coordinate	coordinate	NOUN
ijassa-329	46	15	system	system	NOUN
ijassa-329	46	16	.	.	PUNCT
ijassa-329	47	1	supposing	suppose	VERB
ijassa-329	47	2	the	the	DET
ijassa-329	47	3	length	length	NOUN
ijassa-329	47	4	of	of	ADP
ijassa-329	47	5	the	the	DET
ijassa-329	47	6	framework	framework	NOUN
ijassa-329	47	7	is	be	AUX
ijassa-329	47	8	r1	r1	NOUN
ijassa-329	47	9	and	and	CCONJ
ijassa-329	47	10	the	the	DET
ijassa-329	47	11	angle	angle	NOUN
ijassa-329	47	12	θ1	θ1	NOUN
ijassa-329	47	13	（	（	PUNCT
ijassa-329	47	14	θ1=0	θ1=0	PROPN
ijassa-329	47	15	）	）	PROPN
ijassa-329	47	16	;	;	PUNCT
ijassa-329	47	17	the	the	DET
ijassa-329	47	18	length	length	NOUN
ijassa-329	47	19	of	of	ADP
ijassa-329	47	20	the	the	DET
ijassa-329	47	21	crank	crank	NOUN
ijassa-329	47	22	is	be	AUX
ijassa-329	47	23	r2	r2	PROPN
ijassa-329	47	24	and	and	CCONJ
ijassa-329	47	25	the	the	DET
ijassa-329	47	26	angleθ2	angleθ2	NOUN
ijassa-329	47	27	;	;	PUNCT
ijassa-329	47	28	the	the	DET
ijassa-329	47	29	length	length	NOUN
ijassa-329	47	30	of	of	ADP
ijassa-329	47	31	the	the	DET
ijassa-329	47	32	lever	lever	NOUN
ijassa-329	47	33	is	be	AUX
ijassa-329	47	34	r3	r3	PROPN
ijassa-329	47	35	and	and	CCONJ
ijassa-329	47	36	the	the	DET
ijassa-329	47	37	angleθ3	angleθ3	NOUN
ijassa-329	47	38	;	;	PUNCT
ijassa-329	47	39	the	the	DET
ijassa-329	47	40	length	length	NOUN
ijassa-329	47	41	of	of	ADP
ijassa-329	47	42	the	the	DET
ijassa-329	47	43	pendulum	pendulum	NOUN
ijassa-329	47	44	lever	lever	NOUN
ijassa-329	47	45	is	be	AUX
ijassa-329	47	46	r4	r4	ADJ
ijassa-329	47	47	and	and	CCONJ
ijassa-329	47	48	the	the	DET
ijassa-329	47	49	angle	angle	NOUN
ijassa-329	47	50	θ4	θ4	NOUN
ijassa-329	47	51	.	.	PUNCT
ijassa-329	48	1	by	by	ADP
ijassa-329	48	2	using	use	VERB
ijassa-329	48	3	vector	vector	NOUN
ijassa-329	48	4	loop	loop	NOUN
ijassa-329	48	5	method	method	NOUN
ijassa-329	48	6	to	to	PART
ijassa-329	48	7	establish	establish	VERB
ijassa-329	48	8	vector	vector	NOUN
ijassa-329	48	9	equation	equation	NOUN
ijassa-329	48	10	of	of	ADP
ijassa-329	48	11	linkage	linkage	NOUN
ijassa-329	48	12	:	:	PUNCT
ijassa-329	48	13	→→→→	→→→→	PROPN
ijassa-329	48	14	+	+	ADJ
ijassa-329	48	15	=	=	ADJ
ijassa-329	48	16	+	+	SYM
ijassa-329	48	17	4132	4132	NUM
ijassa-329	48	18	rrrr	rrrr	NOUN
ijassa-329	48	19	(	(	PUNCT
ijassa-329	48	20	1	1	X
ijassa-329	48	21	)	)	PUNCT
ijassa-329	48	22	supposing	suppose	VERB
ijassa-329	48	23	the	the	DET
ijassa-329	48	24	angle	angle	NOUN
ijassa-329	48	25	between	between	ADP
ijassa-329	48	26	every	every	DET
ijassa-329	48	27	lever	lever	NOUN
ijassa-329	48	28	and	and	CCONJ
ijassa-329	48	29	x	x	PRON
ijassa-329	48	30	axes	axis	NOUN
ijassa-329	48	31	is	be	AUX
ijassa-329	48	32	positive	positive	ADJ
ijassa-329	48	33	anticlockwise	anticlockwise	NOUN
ijassa-329	48	34	,	,	PUNCT
ijassa-329	48	35	and	and	CCONJ
ijassa-329	48	36	negative	negative	ADJ
ijassa-329	48	37	clockwise	clockwise	NOUN
ijassa-329	48	38	.	.	PUNCT
ijassa-329	49	1	the	the	DET
ijassa-329	49	2	projections	projection	NOUN
ijassa-329	49	3	of	of	ADP
ijassa-329	49	4	every	every	DET
ijassa-329	49	5	vector	vector	NOUN
ijassa-329	49	6	on	on	ADP
ijassa-329	49	7	coordinate	coordinate	NOUN
ijassa-329	49	8	system	system	NOUN
ijassa-329	49	9	:	:	PUNCT
ijassa-329	49	10	b	b	X
ijassa-329	49	11	c	c	NOUN
ijassa-329	49	12	d	d	X
ijassa-329	49	13	fig	fig	NOUN
ijassa-329	49	14	.	.	PUNCT
ijassa-329	50	1	1	1	NUM
ijassa-329	50	2	plane	plane	NOUN
ijassa-329	50	3	four	four	NUM
ijassa-329	50	4	lever	lever	NOUN
ijassa-329	50	5	mechanical	mechanical	ADJ
ijassa-329	50	6	linkage	linkage	NOUN
ijassa-329	50	7	350	350	NUM
ijassa-329	50	8	xu	xu	PROPN
ijassa-329	50	9	:	:	PUNCT
ijassa-329	50	10	group	group	NOUN
ijassa-329	50	11	link	link	NOUN
ijassa-329	50	12	gear	gear	NOUN
ijassa-329	50	13	locus	locus	NOUN
ijassa-329	50	14	modeling	modeling	NOUN
ijassa-329	50	15	based	base	VERB
ijassa-329	50	16	on	on	ADP
ijassa-329	50	17	motion	motion	NOUN
ijassa-329	50	18	relativity	relativity	NOUN
ijassa-329	50	19	0coscoscoscos	0coscoscoscos	PRON
ijassa-329	50	20	44113322	44113322	NUM
ijassa-329	50	21	=	=	SYM
ijassa-329	50	22	−−+	−−+	PROPN
ijassa-329	50	23	θθθθ	θθθθ	PROPN
ijassa-329	50	24	rrrr	rrrr	PROPN
ijassa-329	50	25	(	(	PUNCT
ijassa-329	50	26	2	2	NUM
ijassa-329	50	27	)	)	PUNCT
ijassa-329	50	28	0sinsinsinsin	0sinsinsinsin	X
ijassa-329	50	29	44113322	44113322	NUM
ijassa-329	51	1	=	=	SYM
ijassa-329	51	2	−−+	−−+	PROPN
ijassa-329	51	3	θθθθ	θθθθ	PROPN
ijassa-329	51	4	rrrr	rrrr	PROPN
ijassa-329	51	5	(	(	PUNCT
ijassa-329	51	6	3	3	NUM
ijassa-329	51	7	)	)	PUNCT
ijassa-329	51	8	01	01	NUM
ijassa-329	51	9	=	=	NUM
ijassa-329	51	10	θ	θ	NOUN
ijassa-329	51	11	tωθ	tωθ	NOUN
ijassa-329	51	12	=	=	NOUN
ijassa-329	51	13	2	2	NUM
ijassa-329	51	14	33	33	NUM
ijassa-329	51	15	ωθ	ωθ	NUM
ijassa-329	51	16	=	=	NOUN
ijassa-329	51	17	′	′	NUM
ijassa-329	51	18	44	44	NUM
ijassa-329	52	1	ωθ	ωθ	NUM
ijassa-329	52	2	=	=	NOUN
ijassa-329	52	3	′	′	NOUN
ijassa-329	52	4	33	33	NUM
ijassa-329	52	5	εθ	εθ	NOUN
ijassa-329	52	6	=	=	SYM
ijassa-329	52	7	′′	′′	PROPN
ijassa-329	52	8	44	44	NUM
ijassa-329	52	9	εθ	εθ	NOUN
ijassa-329	52	10	=	=	SYM
ijassa-329	52	11	′′	′′	PROPN
ijassa-329	52	12	22441	22441	NUM
ijassa-329	52	13	2244	2244	NUM
ijassa-329	52	14	3	3	NUM
ijassa-329	52	15	coscos	coscos	PROPN
ijassa-329	52	16	sinsinarctan	sinsinarctan	PROPN
ijassa-329	52	17	θθ	θθ	PRON
ijassa-329	52	18	θθ	θθ	NUM
ijassa-329	52	19	θ	θ	PROPN
ijassa-329	52	20	rrr	rrr	NOUN
ijassa-329	52	21	rr	rr	NOUN
ijassa-329	52	22	−+	−+	NOUN
ijassa-329	52	23	−	−	PROPN
ijassa-329	52	24	=	=	PUNCT
ijassa-329	52	25	(	(	PUNCT
ijassa-329	52	26	4	4	NUM
ijassa-329	52	27	)	)	PUNCT
ijassa-329	52	28	cb	cb	PROPN
ijassa-329	52	29	cbaa	cbaa	PROPN
ijassa-329	52	30	−	−	PROPN
ijassa-329	52	31	−+±	−+±	NUM
ijassa-329	52	32	=	=	SYM
ijassa-329	52	33	222	222	NUM
ijassa-329	52	34	4	4	NUM
ijassa-329	52	35	arctan2θ	arctan2θ	NOUN
ijassa-329	52	36	(	(	PUNCT
ijassa-329	52	37	5	5	X
ijassa-329	52	38	)	)	PUNCT
ijassa-329	52	39	2sinθ−=a	2sinθ−=a	NOUN
ijassa-329	52	40	221	221	NUM
ijassa-329	52	41	cosθ−=	cosθ−=	PROPN
ijassa-329	52	42	rrb	rrb	PROPN
ijassa-329	52	43	42142	42142	NUM
ijassa-329	52	44	2	2	NUM
ijassa-329	52	45	3	3	NUM
ijassa-329	52	46	2	2	NUM
ijassa-329	52	47	4	4	NUM
ijassa-329	52	48	2	2	NUM
ijassa-329	52	49	2	2	NUM
ijassa-329	52	50	2	2	NUM
ijassa-329	52	51	)	)	PUNCT
ijassa-329	52	52	cos(2	cos(2	VERB
ijassa-329	52	53	1	1	NUM
ijassa-329	52	54	rrrr	rrrr	PROPN
ijassa-329	52	55	rrrr	rrrr	PROPN
ijassa-329	52	56	c	c	PROPN
ijassa-329	52	57	θ−	θ−	PROPN
ijassa-329	52	58	−++	−++	ADV
ijassa-329	52	59	=	=	SYM
ijassa-329	53	1	2	2	NUM
ijassa-329	53	2	433	433	NUM
ijassa-329	53	3	422	422	NUM
ijassa-329	53	4	3	3	NUM
ijassa-329	53	5	)	)	PUNCT
ijassa-329	53	6	sin	sin	NOUN
ijassa-329	53	7	(	(	PUNCT
ijassa-329	53	8	)	)	PUNCT
ijassa-329	53	9	sin	sin	NOUN
ijassa-329	53	10	(	(	PUNCT
ijassa-329	53	11	θ	θ	NOUN
ijassa-329	53	12	θθ	θθ	VERB
ijassa-329	53	13	θθ	θθ	NUM
ijassa-329	53	14	θ	θ	PROPN
ijassa-329	53	15	−−	−−	NOUN
ijassa-329	53	16	−−	−−	NOUN
ijassa-329	53	17	=	=	PUNCT
ijassa-329	53	18	r	r	NOUN
ijassa-329	53	19	r	r	NOUN
ijassa-329	53	20	2	2	NUM
ijassa-329	53	21	344	344	NUM
ijassa-329	53	22	322	322	NUM
ijassa-329	53	23	4	4	NUM
ijassa-329	53	24	)	)	PUNCT
ijassa-329	53	25	sin	sin	NOUN
ijassa-329	53	26	(	(	PUNCT
ijassa-329	53	27	)	)	PUNCT
ijassa-329	53	28	sin	sin	NOUN
ijassa-329	53	29	(	(	PUNCT
ijassa-329	53	30	θ	θ	NOUN
ijassa-329	53	31	θθ	θθ	VERB
ijassa-329	53	32	θθθ	θθθ	PROPN
ijassa-329	53	33	′	′	NUM
ijassa-329	53	34	−−	−−	NOUN
ijassa-329	53	35	−−	−−	NOUN
ijassa-329	53	36	=	=	NOUN
ijassa-329	53	37	′	′	NUM
ijassa-329	53	38	r	r	NOUN
ijassa-329	53	39	r	r	NOUN
ijassa-329	53	40	)	)	PUNCT
ijassa-329	53	41	sin	sin	NOUN
ijassa-329	53	42	(	(	PUNCT
ijassa-329	53	43	)	)	PUNCT
ijassa-329	53	44	cos()cos	cos()co	NOUN
ijassa-329	53	45	(	(	PUNCT
ijassa-329	53	46	343	343	NUM
ijassa-329	53	47	2	2	NUM
ijassa-329	53	48	2134	2134	NUM
ijassa-329	53	49	2	2	NUM
ijassa-329	53	50	23422	23422	NUM
ijassa-329	53	51	3	3	NUM
ijassa-329	53	52	θθ	θθ	NUM
ijassa-329	53	53	θθθθθθθ	θθθθθθθ	PROPN
ijassa-329	53	54	−−	−−	NOUN
ijassa-329	53	55	′−−′+−−	′−−′+−−	NOUN
ijassa-329	53	56	=	=	SYM
ijassa-329	53	57	′′	′′	PROPN
ijassa-329	53	58	r	r	NOUN
ijassa-329	53	59	rrcr	rrcr	ADV
ijassa-329	53	60	)	)	PUNCT
ijassa-329	53	61	sin	sin	NOUN
ijassa-329	53	62	(	(	PUNCT
ijassa-329	53	63	)	)	PUNCT
ijassa-329	53	64	cos()cos	cos()co	NOUN
ijassa-329	53	65	(	(	PUNCT
ijassa-329	53	66	341	341	NUM
ijassa-329	53	67	34	34	NUM
ijassa-329	53	68	2	2	NUM
ijassa-329	53	69	44	44	NUM
ijassa-329	53	70	2	2	NUM
ijassa-329	53	71	3332	3332	NUM
ijassa-329	53	72	2	2	NUM
ijassa-329	53	73	22	22	NUM
ijassa-329	53	74	4	4	NUM
ijassa-329	53	75	θθ	θθ	NOUN
ijassa-329	53	76	θθθθθθθθ	θθθθθθθθ	NOUN
ijassa-329	53	77	−	−	NOUN
ijassa-329	53	78	−′−′+−′	−′−′+−′	PUNCT
ijassa-329	53	79	=	=	SYM
ijassa-329	53	80	′′	′′	NOUN
ijassa-329	53	81	r	r	NOUN
ijassa-329	53	82	rrcr	rrcr	ADV
ijassa-329	53	83	for	for	ADP
ijassa-329	53	84	displacement	displacement	ADJ
ijassa-329	53	85	solution	solution	NOUN
ijassa-329	53	86	of	of	ADP
ijassa-329	53	87	linkage	linkage	NOUN
ijassa-329	53	88	,	,	PUNCT
ijassa-329	53	89	the	the	DET
ijassa-329	53	90	key	key	ADJ
ijassa-329	53	91	problems	problem	NOUN
ijassa-329	53	92	are	be	AUX
ijassa-329	53	93	to	to	PART
ijassa-329	53	94	solve	solve	VERB
ijassa-329	53	95	angle	angle	NOUN
ijassa-329	53	96	,	,	PUNCT
ijassa-329	53	97	angle	angle	NOUN
ijassa-329	53	98	velocity	velocity	NOUN
ijassa-329	53	99	and	and	CCONJ
ijassa-329	53	100	angle	angle	NOUN
ijassa-329	53	101	acceleration	acceleration	NOUN
ijassa-329	53	102	velocity	velocity	NOUN
ijassa-329	53	103	,	,	PUNCT
ijassa-329	53	104	on	on	ADP
ijassa-329	53	105	the	the	DET
ijassa-329	53	106	base	base	NOUN
ijassa-329	53	107	of	of	ADP
ijassa-329	53	108	which	which	PRON
ijassa-329	53	109	to	to	PART
ijassa-329	53	110	solve	solve	VERB
ijassa-329	53	111	those	those	PRON
ijassa-329	53	112	of	of	ADP
ijassa-329	53	113	one	one	NUM
ijassa-329	53	114	point	point	NOUN
ijassa-329	53	115	.	.	PUNCT
ijassa-329	54	1	when	when	SCONJ
ijassa-329	54	2	crank	crank	NOUN
ijassa-329	54	3	angle	angle	NOUN
ijassa-329	54	4	changes	change	VERB
ijassa-329	54	5	between0~360	between0~360	NOUN
ijassa-329	54	6	°	°	NOUN
ijassa-329	54	7	,the	,the	PUNCT
ijassa-329	54	8	displacement	displacement	NOUN
ijassa-329	54	9	of	of	ADP
ijassa-329	54	10	that	that	DET
ijassa-329	54	11	point	point	NOUN
ijassa-329	54	12	changes	change	NOUN
ijassa-329	54	13	accordingly	accordingly	ADV
ijassa-329	54	14	.	.	PUNCT
ijassa-329	55	1	if	if	SCONJ
ijassa-329	55	2	the	the	DET
ijassa-329	55	3	length	length	NOUN
ijassa-329	55	4	of	of	ADP
ijassa-329	55	5	every	every	DET
ijassa-329	55	6	lever	lever	NOUN
ijassa-329	55	7	and	and	CCONJ
ijassa-329	55	8	crank	crank	PROPN
ijassa-329	55	9	angleθ2	angleθ2	PROPN
ijassa-329	55	10	are	be	AUX
ijassa-329	55	11	preset	preset	ADJ
ijassa-329	55	12	,	,	PUNCT
ijassa-329	55	13	θ3	θ3	NOUN
ijassa-329	55	14	and	and	CCONJ
ijassa-329	55	15	θ4	θ4	NOUN
ijassa-329	55	16	can	can	AUX
ijassa-329	55	17	be	be	AUX
ijassa-329	55	18	produced	produce	VERB
ijassa-329	55	19	by	by	ADP
ijassa-329	55	20	the	the	DET
ijassa-329	55	21	equation	equation	NOUN
ijassa-329	55	22	(	(	PUNCT
ijassa-329	55	23	2	2	NUM
ijassa-329	55	24	)	)	PUNCT
ijassa-329	55	25	(	(	PUNCT
ijassa-329	55	26	3	3	NUM
ijassa-329	55	27	)	)	PUNCT
ijassa-329	55	28	.	.	PUNCT
ijassa-329	56	1	because	because	SCONJ
ijassa-329	56	2	θ2	θ2	PROPN
ijassa-329	56	3	is	be	AUX
ijassa-329	56	4	the	the	DET
ijassa-329	56	5	function	function	NOUN
ijassa-329	56	6	of	of	ADP
ijassa-329	56	7	t	t	PROPN
ijassa-329	56	8	,	,	PUNCT
ijassa-329	56	9	so	so	ADV
ijassa-329	56	10	are	be	AUX
ijassa-329	56	11	θ3	θ3	ADJ
ijassa-329	56	12	and	and	CCONJ
ijassa-329	56	13	θ4,supposing	θ4,suppose	VERB
ijassa-329	56	14	：	：	PUNCT
ijassa-329	56	15	)	)	PUNCT
ijassa-329	56	16	(	(	PUNCT
ijassa-329	56	17	13	13	NUM
ijassa-329	56	18	tf	tf	NUM
ijassa-329	56	19	=	=	NOUN
ijassa-329	56	20	θ	θ	NOUN
ijassa-329	56	21	)	)	PUNCT
ijassa-329	56	22	(	(	PUNCT
ijassa-329	56	23	24	24	NUM
ijassa-329	56	24	tf	tf	NOUN
ijassa-329	56	25	=	=	NOUN
ijassa-329	56	26	θ	θ	NOUN
ijassa-329	56	27	differentiate	differentiate	VERB
ijassa-329	56	28	θ3	θ3	NOUN
ijassa-329	56	29	and	and	CCONJ
ijassa-329	56	30	θ4,we	θ4,we	PROPN
ijassa-329	56	31	can	can	AUX
ijassa-329	56	32	get	get	VERB
ijassa-329	56	33	the	the	DET
ijassa-329	56	34	angle	angle	NOUN
ijassa-329	56	35	velocity	velocity	NOUN
ijassa-329	56	36	and	and	CCONJ
ijassa-329	56	37	angle	angle	NOUN
ijassa-329	56	38	acceleration	acceleration	NOUN
ijassa-329	56	39	velocity	velocity	NOUN
ijassa-329	56	40	ω3,ε3,ω4,ε4	ω3,ε3,ω4,ε4	PROPN
ijassa-329	56	41	from	from	ADP
ijassa-329	56	42	lever	lever	NOUN
ijassa-329	56	43	and	and	CCONJ
ijassa-329	56	44	pendulum	pendulum	NOUN
ijassa-329	56	45	lever	lever	NOUN
ijassa-329	56	46	.	.	PUNCT
ijassa-329	57	1	because	because	SCONJ
ijassa-329	57	2	the	the	DET
ijassa-329	57	3	differentiation	differentiation	NOUN
ijassa-329	57	4	process	process	NOUN
ijassa-329	57	5	is	be	AUX
ijassa-329	57	6	very	very	ADV
ijassa-329	57	7	complicated	complicated	ADJ
ijassa-329	57	8	,	,	PUNCT
ijassa-329	57	9	so	so	CCONJ
ijassa-329	57	10	if	if	SCONJ
ijassa-329	57	11	the	the	DET
ijassa-329	57	12	result	result	NOUN
ijassa-329	57	13	can	can	AUX
ijassa-329	57	14	not	not	PART
ijassa-329	57	15	be	be	AUX
ijassa-329	57	16	in	in	ADP
ijassa-329	57	17	full	full	ADJ
ijassa-329	57	18	use	use	NOUN
ijassa-329	57	19	,	,	PUNCT
ijassa-329	57	20	it	it	PRON
ijassa-329	57	21	will	will	AUX
ijassa-329	57	22	be	be	AUX
ijassa-329	57	23	a	a	DET
ijassa-329	57	24	big	big	ADJ
ijassa-329	57	25	waste	waste	NOUN
ijassa-329	57	26	.	.	PUNCT
ijassa-329	58	1	we	we	PRON
ijassa-329	58	2	use	use	VERB
ijassa-329	58	3	these	these	DET
ijassa-329	58	4	parameter	parameter	NOUN
ijassa-329	58	5	in	in	ADP
ijassa-329	58	6	point	point	NOUN
ijassa-329	58	7	group	group	NOUN
ijassa-329	58	8	calculation	calculation	NOUN
ijassa-329	58	9	.	.	PUNCT
ijassa-329	59	1	4.motion	4.motion	NUM
ijassa-329	59	2	analysis	analysis	NOUN
ijassa-329	59	3	of	of	ADP
ijassa-329	59	4	moving	move	VERB
ijassa-329	59	5	axes	axis	NOUN
ijassa-329	59	6	on	on	ADP
ijassa-329	59	7	linkage	linkage	NOUN
ijassa-329	59	8	4.1.1	4.1.1	NUM
ijassa-329	59	9	trajectory	trajectory	NOUN
ijassa-329	59	10	and	and	CCONJ
ijassa-329	59	11	displacement	displacement	ADJ
ijassa-329	59	12	solution	solution	NOUN
ijassa-329	59	13	of	of	ADP
ijassa-329	59	14	any	any	DET
ijassa-329	59	15	point	point	NOUN
ijassa-329	59	16	m	m	VERB
ijassa-329	59	17	on	on	ADP
ijassa-329	59	18	link	link	NOUN
ijassa-329	59	19	gear	gear	NOUN
ijassa-329	59	20	when	when	SCONJ
ijassa-329	59	21	link	link	NOUN
ijassa-329	59	22	gear	gear	NOUN
ijassa-329	59	23	with	with	ADP
ijassa-329	59	24	diversified	diversified	ADJ
ijassa-329	59	25	shape	shape	NOUN
ijassa-329	59	26	moves	move	NOUN
ijassa-329	59	27	in	in	ADP
ijassa-329	59	28	a	a	DET
ijassa-329	59	29	plane	plane	NOUN
ijassa-329	59	30	,	,	PUNCT
ijassa-329	59	31	the	the	DET
ijassa-329	59	32	description	description	NOUN
ijassa-329	59	33	will	will	AUX
ijassa-329	59	34	be	be	AUX
ijassa-329	59	35	very	very	ADV
ijassa-329	59	36	complicated	complicated	ADJ
ijassa-329	59	37	in	in	ADP
ijassa-329	59	38	fixed	fix	VERB
ijassa-329	59	39	coordinates	coordinate	NOUN
ijassa-329	59	40	.	.	PUNCT
ijassa-329	60	1	coordinates	coordinate	NOUN
ijassa-329	60	2	show	show	VERB
ijassa-329	60	3	in	in	ADP
ijassa-329	60	4	fig	fig	NOUN
ijassa-329	60	5	.	.	PUNCT
ijassa-329	61	1	2	2	NUM
ijassa-329	61	2	are	be	AUX
ijassa-329	61	3	established	establish	VERB
ijassa-329	61	4	on	on	ADP
ijassa-329	61	5	lever	lever	NOUN
ijassa-329	61	6	,	,	PUNCT
ijassa-329	61	7	so	so	ADV
ijassa-329	61	8	relative	relative	ADJ
ijassa-329	61	9	position	position	NOUN
ijassa-329	61	10	of	of	ADP
ijassa-329	61	11	any	any	DET
ijassa-329	61	12	point	point	NOUN
ijassa-329	61	13	on	on	ADP
ijassa-329	61	14	lever	lever	NOUN
ijassa-329	61	15	can	can	AUX
ijassa-329	61	16	be	be	AUX
ijassa-329	61	17	expressed	express	VERB
ijassa-329	61	18	by	by	ADP
ijassa-329	61	19	one	one	NUM
ijassa-329	61	20	group	group	NOUN
ijassa-329	61	21	of	of	ADP
ijassa-329	61	22	local	local	ADJ
ijassa-329	61	23	coordinate	coordinate	NOUN
ijassa-329	61	24	,	,	PUNCT
ijassa-329	61	25	which	which	PRON
ijassa-329	61	26	wo	will	AUX
ijassa-329	61	27	n’t	not	PART
ijassa-329	61	28	x	x	SYM
ijassa-329	61	29	r	r	NOUN
ijassa-329	61	30	fig	fig	NOUN
ijassa-329	61	31	.	.	PUNCT
ijassa-329	62	1	2	2	NUM
ijassa-329	62	2	vector	vector	NOUN
ijassa-329	62	3	rm	rm	NOUN
ijassa-329	62	4	point	point	NOUN
ijassa-329	62	5	m	m	VERB
ijassa-329	62	6	on	on	ADP
ijassa-329	62	7	plane	plane	NOUN
ijassa-329	63	1	four	four	NUM
ijassa-329	63	2	lever	lever	NOUN
ijassa-329	63	3	linkage	linkage	NOUN
ijassa-329	63	4	b	b	PROPN
ijassa-329	63	5	c	c	NOUN
ijassa-329	64	1	d	d	NOUN
ijassa-329	64	2	m	m	VERB
ijassa-329	64	3	r	r	NOUN
ijassa-329	64	4	m	m	NOUN
ijassa-329	64	5	r	r	NOUN
ijassa-329	64	6	r	r	NOUN
ijassa-329	64	7	y	y	NOUN
ijassa-329	64	8	r	r	NOUN
ijassa-329	64	9	x	x	NOUN
ijassa-329	64	10	m	m	VERB
ijassa-329	64	11	1	1	NUM
ijassa-329	64	12	m	m	NUM
ijassa-329	64	13	2	2	NUM
ijassa-329	64	14	m	m	NOUN
ijassa-329	64	15	3	3	NUM
ijassa-329	64	16	m	m	NOUN
ijassa-329	64	17	4	4	NUM
ijassa-329	64	18	m	m	NUM
ijassa-329	64	19	6	6	NUM
ijassa-329	64	20	m	m	NOUN
ijassa-329	64	21	7	7	NUM
ijassa-329	64	22	m	m	NUM
ijassa-329	64	23	5	5	NUM
ijassa-329	64	24	advances	advance	NOUN
ijassa-329	64	25	in	in	ADP
ijassa-329	64	26	systems	system	NOUN
ijassa-329	64	27	science	science	NOUN
ijassa-329	64	28	and	and	CCONJ
ijassa-329	64	29	applications	application	NOUN
ijassa-329	64	30	(	(	PUNCT
ijassa-329	64	31	2011	2011	NUM
ijassa-329	64	32	)	)	PUNCT
ijassa-329	64	33	,	,	PUNCT
ijassa-329	64	34	vol.11	vol.11	PROPN
ijassa-329	64	35	,	,	PUNCT
ijassa-329	64	36	no.3	no.3	NOUN
ijassa-329	64	37	-	-	SYM
ijassa-329	64	38	4	4	NUM
ijassa-329	64	39	351	351	NUM
ijassa-329	64	40	change	change	NOUN
ijassa-329	64	41	according	accord	VERB
ijassa-329	64	42	to	to	ADP
ijassa-329	64	43	the	the	DET
ijassa-329	64	44	moving	moving	NOUN
ijassa-329	64	45	of	of	ADP
ijassa-329	64	46	linkage	linkage	NOUN
ijassa-329	64	47	.	.	PUNCT
ijassa-329	65	1	no	no	ADV
ijassa-329	65	2	matter	matter	ADV
ijassa-329	65	3	how	how	SCONJ
ijassa-329	65	4	complex	complex	ADJ
ijassa-329	65	5	of	of	ADP
ijassa-329	65	6	linkage	linkage	NOUN
ijassa-329	65	7	,	,	PUNCT
ijassa-329	65	8	the	the	DET
ijassa-329	65	9	size	size	NOUN
ijassa-329	65	10	of	of	ADP
ijassa-329	65	11	linkage	linkage	NOUN
ijassa-329	65	12	can	can	AUX
ijassa-329	65	13	be	be	AUX
ijassa-329	65	14	expressed	express	VERB
ijassa-329	65	15	fully	fully	ADV
ijassa-329	65	16	and	and	CCONJ
ijassa-329	65	17	normatively	normatively	ADV
ijassa-329	65	18	.	.	PUNCT
ijassa-329	66	1	the	the	DET
ijassa-329	66	2	absolute	absolute	ADJ
ijassa-329	66	3	position	position	NOUN
ijassa-329	66	4	of	of	ADP
ijassa-329	66	5	any	any	DET
ijassa-329	66	6	point	point	NOUN
ijassa-329	66	7	can	can	AUX
ijassa-329	66	8	be	be	AUX
ijassa-329	66	9	expressed	express	VERB
ijassa-329	66	10	by	by	ADP
ijassa-329	66	11	relative	relative	ADJ
ijassa-329	66	12	coordinate	coordinate	NOUN
ijassa-329	66	13	and	and	CCONJ
ijassa-329	66	14	the	the	DET
ijassa-329	66	15	origin	origin	NOUN
ijassa-329	66	16	of	of	ADP
ijassa-329	66	17	local	local	ADJ
ijassa-329	66	18	coordinate	coordinate	NOUN
ijassa-329	66	19	.	.	PUNCT
ijassa-329	67	1	according	accord	VERB
ijassa-329	67	2	to	to	ADP
ijassa-329	67	3	fig	fig	NOUN
ijassa-329	67	4	.	.	PUNCT
ijassa-329	68	1	2	2	NUM
ijassa-329	68	2	,	,	PUNCT
ijassa-329	68	3	position	position	NOUN
ijassa-329	68	4	vector	vector	NOUN
ijassa-329	68	5	equation	equation	NOUN
ijassa-329	68	6	of	of	ADP
ijassa-329	68	7	any	any	DET
ijassa-329	68	8	point	point	NOUN
ijassa-329	68	9	m	m	VERB
ijassa-329	68	10	is	be	AUX
ijassa-329	68	11	:	:	PUNCT
ijassa-329	68	12	rmm	rmm	NOUN
ijassa-329	68	13	rrr	rrr	PROPN
ijassa-329	69	1	+	+	NOUN
ijassa-329	69	2	=	=	SYM
ijassa-329	69	3	2	2	NUM
ijassa-329	69	4	(	(	PUNCT
ijassa-329	69	5	6	6	NUM
ijassa-329	69	6	)	)	PUNCT
ijassa-329	69	7	supposing	suppose	VERB
ijassa-329	69	8	the	the	DET
ijassa-329	69	9	angle	angle	NOUN
ijassa-329	69	10	is	be	AUX
ijassa-329	69	11	positive	positive	ADJ
ijassa-329	69	12	anticlockwise	anticlockwise	NOUN
ijassa-329	69	13	,	,	PUNCT
ijassa-329	69	14	the	the	DET
ijassa-329	69	15	coordinate	coordinate	NOUN
ijassa-329	69	16	of	of	ADP
ijassa-329	69	17	point	point	NOUN
ijassa-329	69	18	m	m	VERB
ijassa-329	69	19	is	be	AUX
ijassa-329	69	20	:	:	PUNCT
ijassa-329	69	21	322	322	NUM
ijassa-329	69	22	coscos	cosco	NOUN
ijassa-329	69	23	θθ	θθ	ADV
ijassa-329	69	24	rmm	rmm	PROPN
ijassa-329	69	25	xrx	xrx	PROPN
ijassa-329	70	1	+	+	NOUN
ijassa-329	70	2	=	=	X
ijassa-329	70	3	(	(	PUNCT
ijassa-329	70	4	7	7	NUM
ijassa-329	70	5	)	)	PUNCT
ijassa-329	70	6	322	322	NUM
ijassa-329	70	7	sinsin	sinsin	NOUN
ijassa-329	70	8	θθ	θθ	PROPN
ijassa-329	70	9	rmm	rmm	PROPN
ijassa-329	70	10	yry	yry	NOUN
ijassa-329	70	11	+	+	PROPN
ijassa-329	70	12	=	=	X
ijassa-329	70	13	(	(	PUNCT
ijassa-329	70	14	8)	8)	NUM
ijassa-329	70	15	among	among	ADP
ijassa-329	70	16	which	which	PRON
ijassa-329	70	17	:	:	PUNCT
ijassa-329	70	18	xrm	xrm	NOUN
ijassa-329	70	19	,	,	PUNCT
ijassa-329	70	20	yrm	yrm	NOUN
ijassa-329	70	21	are	be	AUX
ijassa-329	70	22	the	the	DET
ijassa-329	70	23	coordinates	coordinate	NOUN
ijassa-329	70	24	of	of	ADP
ijassa-329	70	25	point	point	NOUN
ijassa-329	70	26	m	m	VERB
ijassa-329	70	27	in	in	ADP
ijassa-329	70	28	local	local	ADJ
ijassa-329	70	29	axes	axis	NOUN
ijassa-329	70	30	,	,	PUNCT
ijassa-329	70	31	xm	xm	PROPN
ijassa-329	70	32	,	,	PUNCT
ijassa-329	70	33	ym	ym	PROPN
ijassa-329	70	34	are	be	AUX
ijassa-329	70	35	the	the	DET
ijassa-329	70	36	absolute	absolute	ADJ
ijassa-329	70	37	coordinates	coordinate	NOUN
ijassa-329	70	38	of	of	ADP
ijassa-329	70	39	point	point	NOUN
ijassa-329	70	40	m.	m.	NOUN
ijassa-329	70	41	when	when	SCONJ
ijassa-329	70	42	preset	preset	VERB
ijassa-329	70	43	a	a	DET
ijassa-329	70	44	crank	crank	PROPN
ijassa-329	70	45	angle	angle	PROPN
ijassa-329	70	46	θ2	θ2	PROPN
ijassa-329	70	47	,	,	PUNCT
ijassa-329	70	48	the	the	DET
ijassa-329	70	49	displacements	displacement	NOUN
ijassa-329	70	50	in	in	ADP
ijassa-329	70	51	both	both	PRON
ijassa-329	70	52	x	x	SYM
ijassa-329	70	53	and	and	CCONJ
ijassa-329	70	54	y	y	PROPN
ijassa-329	70	55	direction	direction	NOUN
ijassa-329	70	56	can	can	AUX
ijassa-329	70	57	be	be	AUX
ijassa-329	70	58	produced	produce	VERB
ijassa-329	70	59	on	on	ADP
ijassa-329	70	60	point	point	NOUN
ijassa-329	70	61	m	m	VERB
ijassa-329	70	62	with	with	ADP
ijassa-329	70	63	angleθ2	angleθ2	NOUN
ijassa-329	70	64	by	by	ADP
ijassa-329	70	65	putting	put	VERB
ijassa-329	70	66	angle	angle	NOUN
ijassa-329	70	67	θ3,θ4	θ3,θ4	PROPN
ijassa-329	70	68	from	from	ADP
ijassa-329	70	69	equation(4	equation(4	PROPN
ijassa-329	70	70	)	)	PUNCT
ijassa-329	70	71	,	,	PUNCT
ijassa-329	70	72	(	(	PUNCT
ijassa-329	70	73	5)into	5)into	NUM
ijassa-329	70	74	them	they	PRON
ijassa-329	70	75	.	.	PUNCT
ijassa-329	71	1	if	if	SCONJ
ijassa-329	71	2	preset	preset	ADJ
ijassa-329	71	3	:	:	PUNCT
ijassa-329	71	4	θ2=0~360	θ2=0~360	NOUN
ijassa-329	71	5	°	°	NOUN
ijassa-329	71	6	,	,	PUNCT
ijassa-329	71	7	step	step	NOUN
ijassa-329	71	8	5	5	NUM
ijassa-329	71	9	°	°	NUM
ijassa-329	71	10	,	,	PUNCT
ijassa-329	71	11	and	and	CCONJ
ijassa-329	71	12	make	make	VERB
ijassa-329	71	13	72	72	NUM
ijassa-329	71	14	step	step	NOUN
ijassa-329	71	15	loop	loop	NOUN
ijassa-329	71	16	computing	computing	NOUN
ijassa-329	71	17	,	,	PUNCT
ijassa-329	71	18	then	then	ADV
ijassa-329	71	19	we	we	PRON
ijassa-329	71	20	can	can	AUX
ijassa-329	71	21	get	get	VERB
ijassa-329	71	22	the	the	DET
ijassa-329	71	23	trajectory	trajectory	NOUN
ijassa-329	71	24	point	point	NOUN
ijassa-329	71	25	of	of	ADP
ijassa-329	71	26	point	point	NOUN
ijassa-329	71	27	m	m	VERB
ijassa-329	71	28	in	in	ADP
ijassa-329	71	29	this	this	DET
ijassa-329	71	30	range	range	NOUN
ijassa-329	71	31	.	.	PUNCT
ijassa-329	72	1	these	these	DET
ijassa-329	72	2	coordinates	coordinate	NOUN
ijassa-329	72	3	are	be	AUX
ijassa-329	72	4	more	more	ADV
ijassa-329	72	5	precise	precise	ADJ
ijassa-329	72	6	than	than	ADP
ijassa-329	72	7	those	those	DET
ijassa-329	72	8	data	datum	NOUN
ijassa-329	72	9	produced	produce	VERB
ijassa-329	72	10	by	by	ADP
ijassa-329	72	11	graphic	graphic	ADJ
ijassa-329	72	12	chart	chart	NOUN
ijassa-329	72	13	.	.	PUNCT
ijassa-329	73	1	differentiate	differentiate	VERB
ijassa-329	73	2	equation(7	equation(7	PROPN
ijassa-329	73	3	)	)	PUNCT
ijassa-329	73	4	,	,	PUNCT
ijassa-329	73	5	(	(	PUNCT
ijassa-329	73	6	8)	8)	NUM
ijassa-329	73	7	,	,	PUNCT
ijassa-329	73	8	the	the	DET
ijassa-329	73	9	velocity	velocity	NOUN
ijassa-329	73	10	and	and	CCONJ
ijassa-329	73	11	acceleration	acceleration	NOUN
ijassa-329	73	12	velocity	velocity	NOUN
ijassa-329	73	13	on	on	ADP
ijassa-329	73	14	point	point	NOUN
ijassa-329	73	15	m	m	VERB
ijassa-329	73	16	can	can	AUX
ijassa-329	73	17	be	be	AUX
ijassa-329	73	18	produced	produce	VERB
ijassa-329	73	19	.	.	PUNCT
ijassa-329	74	1	4.1.2	4.1.2	NUM
ijassa-329	74	2	trajectory	trajectory	NOUN
ijassa-329	74	3	solution	solution	NOUN
ijassa-329	74	4	of	of	ADP
ijassa-329	74	5	point	point	NOUN
ijassa-329	74	6	group	group	NOUN
ijassa-329	74	7	on	on	ADP
ijassa-329	74	8	mechanical	mechanical	ADJ
ijassa-329	74	9	linkage	linkage	NOUN
ijassa-329	74	10	by	by	ADP
ijassa-329	74	11	trajectory	trajectory	NOUN
ijassa-329	74	12	graphic	graphic	ADJ
ijassa-329	74	13	chart	chart	NOUN
ijassa-329	74	14	,	,	PUNCT
ijassa-329	74	15	the	the	DET
ijassa-329	74	16	size	size	NOUN
ijassa-329	74	17	of	of	ADP
ijassa-329	74	18	lever	lever	NOUN
ijassa-329	74	19	and	and	CCONJ
ijassa-329	74	20	trajectory	trajectory	NOUN
ijassa-329	74	21	points	point	NOUN
ijassa-329	74	22	can	can	AUX
ijassa-329	74	23	be	be	AUX
ijassa-329	74	24	defined	define	VERB
ijassa-329	74	25	approximately	approximately	ADV
ijassa-329	74	26	.	.	PUNCT
ijassa-329	75	1	component	component	NOUN
ijassa-329	75	2	size	size	NOUN
ijassa-329	75	3	can	can	AUX
ijassa-329	75	4	be	be	AUX
ijassa-329	75	5	determined	determine	VERB
ijassa-329	75	6	by	by	ADP
ijassa-329	75	7	using	use	VERB
ijassa-329	75	8	the	the	DET
ijassa-329	75	9	range	range	NOUN
ijassa-329	75	10	of	of	ADP
ijassa-329	75	11	trajectory	trajectory	NOUN
ijassa-329	75	12	size	size	NOUN
ijassa-329	75	13	,	,	PUNCT
ijassa-329	75	14	and	and	CCONJ
ijassa-329	75	15	point	point	NOUN
ijassa-329	75	16	position	position	NOUN
ijassa-329	75	17	can	can	AUX
ijassa-329	75	18	be	be	AUX
ijassa-329	75	19	chosen	choose	VERB
ijassa-329	75	20	by	by	ADP
ijassa-329	75	21	trajectory	trajectory	NOUN
ijassa-329	75	22	shape	shape	NOUN
ijassa-329	75	23	.	.	PUNCT
ijassa-329	76	1	even	even	ADV
ijassa-329	76	2	lever	lever	ADJ
ijassa-329	76	3	size	size	NOUN
ijassa-329	76	4	has	have	AUX
ijassa-329	76	5	been	be	AUX
ijassa-329	76	6	determined	determine	VERB
ijassa-329	76	7	,	,	PUNCT
ijassa-329	76	8	but	but	CCONJ
ijassa-329	76	9	calculation	calculation	NOUN
ijassa-329	76	10	and	and	CCONJ
ijassa-329	76	11	analysis	analysis	NOUN
ijassa-329	76	12	are	be	AUX
ijassa-329	76	13	still	still	ADV
ijassa-329	76	14	necessary	necessary	ADJ
ijassa-329	76	15	for	for	ADP
ijassa-329	76	16	determination	determination	NOUN
ijassa-329	76	17	whether	whether	SCONJ
ijassa-329	76	18	point	point	NOUN
ijassa-329	76	19	trajectory	trajectory	NOUN
ijassa-329	76	20	and	and	CCONJ
ijassa-329	76	21	motion	motion	NOUN
ijassa-329	76	22	parameter	parameter	NOUN
ijassa-329	76	23	meet	meet	NOUN
ijassa-329	76	24	requirements	requirement	NOUN
ijassa-329	76	25	.	.	PUNCT
ijassa-329	77	1	generally	generally	ADV
ijassa-329	77	2	speaking	speak	VERB
ijassa-329	77	3	,	,	PUNCT
ijassa-329	77	4	tiny	tiny	ADJ
ijassa-329	77	5	difference	difference	NOUN
ijassa-329	77	6	on	on	ADP
ijassa-329	77	7	point	point	NOUN
ijassa-329	77	8	position	position	NOUN
ijassa-329	77	9	can	can	AUX
ijassa-329	77	10	produce	produce	VERB
ijassa-329	77	11	huge	huge	ADJ
ijassa-329	77	12	one	one	NUM
ijassa-329	77	13	on	on	ADP
ijassa-329	77	14	trajectory	trajectory	NOUN
ijassa-329	77	15	and	and	CCONJ
ijassa-329	77	16	motion	motion	NOUN
ijassa-329	77	17	characteristic	characteristic	NOUN
ijassa-329	77	18	.	.	PUNCT
ijassa-329	78	1	trajectories	trajectory	NOUN
ijassa-329	78	2	form	form	VERB
ijassa-329	78	3	different	different	ADJ
ijassa-329	78	4	points	point	NOUN
ijassa-329	78	5	on	on	ADP
ijassa-329	78	6	lever	lever	NOUN
ijassa-329	78	7	are	be	AUX
ijassa-329	78	8	shown	show	VERB
ijassa-329	78	9	in	in	ADP
ijassa-329	78	10	fig	fig	NOUN
ijassa-329	78	11	.	.	PUNCT
ijassa-329	79	1	3	3	X
ijassa-329	79	2	.	.	X
ijassa-329	79	3	the	the	DET
ijassa-329	79	4	shape	shape	NOUN
ijassa-329	79	5	of	of	ADP
ijassa-329	79	6	trajectory	trajectory	NOUN
ijassa-329	79	7	on	on	ADP
ijassa-329	79	8	different	different	ADJ
ijassa-329	79	9	point	point	NOUN
ijassa-329	79	10	of	of	ADP
ijassa-329	79	11	lever	lever	NOUN
ijassa-329	79	12	differs	differ	NOUN
ijassa-329	79	13	.	.	PUNCT
ijassa-329	80	1	we	we	PRON
ijassa-329	80	2	can	can	AUX
ijassa-329	80	3	suppose	suppose	VERB
ijassa-329	80	4	that	that	SCONJ
ijassa-329	80	5	in	in	ADP
ijassa-329	80	6	xrbyr	xrbyr	PROPN
ijassa-329	80	7	coordinate	coordinate	NOUN
ijassa-329	80	8	system	system	NOUN
ijassa-329	80	9	,	,	PUNCT
ijassa-329	80	10	there	there	PRON
ijassa-329	80	11	be	be	VERB
ijassa-329	80	12	at	at	ADV
ijassa-329	80	13	least	least	ADV
ijassa-329	80	14	one	one	NUM
ijassa-329	80	15	point	point	NOUN
ijassa-329	80	16	can	can	AUX
ijassa-329	80	17	meet	meet	VERB
ijassa-329	80	18	trajectory	trajectory	NOUN
ijassa-329	80	19	requirements	requirement	NOUN
ijassa-329	80	20	.	.	PUNCT
ijassa-329	81	1	the	the	DET
ijassa-329	81	2	ideal	ideal	ADJ
ijassa-329	81	3	point	point	NOUN
ijassa-329	81	4	may	may	AUX
ijassa-329	81	5	be	be	AUX
ijassa-329	81	6	near	near	ADP
ijassa-329	81	7	the	the	DET
ijassa-329	81	8	one	one	NOUN
ijassa-329	81	9	picked	pick	VERB
ijassa-329	81	10	by	by	ADP
ijassa-329	81	11	graphic	graphic	ADJ
ijassa-329	81	12	chart	chart	NOUN
ijassa-329	81	13	,	,	PUNCT
ijassa-329	81	14	so	so	SCONJ
ijassa-329	81	15	we	we	PRON
ijassa-329	81	16	need	need	VERB
ijassa-329	81	17	to	to	PART
ijassa-329	81	18	choose	choose	VERB
ijassa-329	81	19	one	one	NUM
ijassa-329	81	20	group	group	NOUN
ijassa-329	81	21	of	of	ADP
ijassa-329	81	22	points	point	NOUN
ijassa-329	81	23	nearby	nearby	ADV
ijassa-329	81	24	for	for	ADP
ijassa-329	81	25	analysis	analysis	NOUN
ijassa-329	81	26	and	and	CCONJ
ijassa-329	81	27	calculation	calculation	NOUN
ijassa-329	81	28	.	.	PUNCT
ijassa-329	82	1	those	those	DET
ijassa-329	82	2	points	point	NOUN
ijassa-329	82	3	are	be	AUX
ijassa-329	82	4	all	all	ADV
ijassa-329	82	5	on	on	ADP
ijassa-329	82	6	one	one	NUM
ijassa-329	82	7	component	component	NOUN
ijassa-329	82	8	,	,	PUNCT
ijassa-329	82	9	and	and	CCONJ
ijassa-329	82	10	share	share	VERB
ijassa-329	82	11	the	the	DET
ijassa-329	82	12	same	same	ADJ
ijassa-329	82	13	angle	angle	NOUN
ijassa-329	82	14	velocity	velocity	NOUN
ijassa-329	82	15	and	and	CCONJ
ijassa-329	82	16	angle	angle	NOUN
ijassa-329	82	17	acceleration	acceleration	NOUN
ijassa-329	82	18	velocity	velocity	NOUN
ijassa-329	82	19	ω3,ε3	ω3,ε3	PROPN
ijassa-329	82	20	.	.	PUNCT
ijassa-329	83	1	as	as	ADP
ijassa-329	83	2	before	before	ADV
ijassa-329	83	3	,	,	PUNCT
ijassa-329	83	4	we	we	PRON
ijassa-329	83	5	take	take	VERB
ijassa-329	83	6	origin	origin	NOUN
ijassa-329	83	7	b	b	NOUN
ijassa-329	83	8	as	as	ADP
ijassa-329	83	9	basing	base	VERB
ijassa-329	83	10	-	-	PUNCT
ijassa-329	83	11	point	point	NOUN
ijassa-329	83	12	,	,	PUNCT
ijassa-329	83	13	the	the	DET
ijassa-329	83	14	moving	move	VERB
ijassa-329	83	15	point	point	NOUN
ijassa-329	83	16	for	for	ADP
ijassa-329	83	17	calculation	calculation	NOUN
ijassa-329	83	18	.	.	PUNCT
ijassa-329	84	1	the	the	DET
ijassa-329	84	2	motion	motion	NOUN
ijassa-329	84	3	of	of	ADP
ijassa-329	84	4	the	the	DET
ijassa-329	84	5	moving	move	VERB
ijassa-329	84	6	point	point	NOUN
ijassa-329	84	7	can	can	AUX
ijassa-329	84	8	be	be	AUX
ijassa-329	84	9	separated	separate	VERB
ijassa-329	84	10	to	to	ADP
ijassa-329	84	11	translational	translational	ADJ
ijassa-329	84	12	moving	moving	NOUN
ijassa-329	84	13	of	of	ADP
ijassa-329	84	14	basing	base	VERB
ijassa-329	84	15	-	-	PUNCT
ijassa-329	84	16	point	point	NOUN
ijassa-329	84	17	and	and	CCONJ
ijassa-329	84	18	rotary	rotary	NOUN
ijassa-329	84	19	moving	moving	NOUN
ijassa-329	84	20	of	of	ADP
ijassa-329	84	21	moving	move	VERB
ijassa-329	84	22	point	point	NOUN
ijassa-329	84	23	.	.	PUNCT
ijassa-329	85	1	as	as	ADP
ijassa-329	85	2	to	to	ADP
ijassa-329	85	3	moving	move	VERB
ijassa-329	85	4	points	point	NOUN
ijassa-329	85	5	group	group	NOUN
ijassa-329	85	6	,	,	PUNCT
ijassa-329	85	7	which	which	PRON
ijassa-329	85	8	have	have	VERB
ijassa-329	85	9	identical	identical	ADJ
ijassa-329	85	10	angle	angle	NOUN
ijassa-329	85	11	velocity	velocity	NOUN
ijassa-329	85	12	,	,	PUNCT
ijassa-329	85	13	angle	angle	NOUN
ijassa-329	85	14	acceleration	acceleration	NOUN
ijassa-329	85	15	velocity	velocity	NOUN
ijassa-329	85	16	and	and	CCONJ
ijassa-329	85	17	basing	base	VERB
ijassa-329	85	18	-	-	PUNCT
ijassa-329	85	19	point	point	NOUN
ijassa-329	85	20	,	,	PUNCT
ijassa-329	85	21	the	the	DET
ijassa-329	85	22	calculation	calculation	NOUN
ijassa-329	85	23	load	load	NOUN
ijassa-329	85	24	are	be	AUX
ijassa-329	85	25	no	no	ADV
ijassa-329	85	26	more	more	ADJ
ijassa-329	85	27	than	than	ADP
ijassa-329	85	28	those	those	PRON
ijassa-329	85	29	of	of	ADP
ijassa-329	85	30	one	one	NUM
ijassa-329	85	31	point	point	NOUN
ijassa-329	85	32	,	,	PUNCT
ijassa-329	85	33	but	but	CCONJ
ijassa-329	85	34	the	the	DET
ijassa-329	85	35	results	result	NOUN
ijassa-329	85	36	multiply	multiply	VERB
ijassa-329	85	37	.	.	PUNCT
ijassa-329	86	1	l	l	NOUN
ijassa-329	86	2	n	n	NUM
ijassa-329	86	3	fig	fig	NOUN
ijassa-329	86	4	.	.	PUNCT
ijassa-329	87	1	3	3	NUM
ijassa-329	87	2	trajectory	trajectory	NOUN
ijassa-329	87	3	from	from	ADP
ijassa-329	87	4	different	different	ADJ
ijassa-329	87	5	point	point	NOUN
ijassa-329	87	6	on	on	ADP
ijassa-329	87	7	lever	lever	NOUN
ijassa-329	87	8	xr	xr	PROPN
ijassa-329	87	9	yr	yr	PROPN
ijassa-329	88	1	x	x	PROPN
ijassa-329	88	2	y	y	PROPN
ijassa-329	88	3	352	352	NUM
ijassa-329	88	4	xu	xu	NUM
ijassa-329	88	5	:	:	PUNCT
ijassa-329	88	6	group	group	NOUN
ijassa-329	88	7	link	link	NOUN
ijassa-329	88	8	gear	gear	NOUN
ijassa-329	88	9	locus	locus	NOUN
ijassa-329	88	10	modeling	modeling	NOUN
ijassa-329	88	11	based	base	VERB
ijassa-329	88	12	on	on	ADP
ijassa-329	88	13	motion	motion	NOUN
ijassa-329	88	14	relativity	relativity	NOUN
ijassa-329	88	15	5.data	5.data	NUM
ijassa-329	88	16	processing	processing	NOUN
ijassa-329	88	17	of	of	ADP
ijassa-329	88	18	lever	lever	PROPN
ijassa-329	88	19	’s	’s	PART
ijassa-329	88	20	moting	mote	VERB
ijassa-329	88	21	5.1.1	5.1.1	NOUN
ijassa-329	88	22	the	the	DET
ijassa-329	88	23	establishing	establishing	NOUN
ijassa-329	88	24	of	of	ADP
ijassa-329	88	25	trajectory	trajectory	NOUN
ijassa-329	88	26	data	datum	NOUN
ijassa-329	88	27	group	group	NOUN
ijassa-329	88	28	of	of	ADP
ijassa-329	88	29	point	point	NOUN
ijassa-329	88	30	group	group	NOUN
ijassa-329	88	31	on	on	ADP
ijassa-329	88	32	link	link	PROPN
ijassa-329	88	33	gear	gear	NOUN
ijassa-329	88	34	the	the	DET
ijassa-329	88	35	calculation	calculation	NOUN
ijassa-329	88	36	of	of	ADP
ijassa-329	88	37	adjacent	adjacent	ADJ
ijassa-329	88	38	point	point	NOUN
ijassa-329	88	39	group	group	NOUN
ijassa-329	88	40	solved	solve	VERB
ijassa-329	88	41	the	the	DET
ijassa-329	88	42	trajectory	trajectory	NOUN
ijassa-329	88	43	character	character	NOUN
ijassa-329	88	44	problem	problem	NOUN
ijassa-329	88	45	of	of	ADP
ijassa-329	88	46	comparison	comparison	NOUN
ijassa-329	88	47	and	and	CCONJ
ijassa-329	88	48	selection	selection	NOUN
ijassa-329	88	49	.	.	PUNCT
ijassa-329	89	1	calculation	calculation	NOUN
ijassa-329	89	2	on	on	ADP
ijassa-329	89	3	different	different	ADJ
ijassa-329	89	4	point	point	NOUN
ijassa-329	89	5	can	can	AUX
ijassa-329	89	6	solve	solve	VERB
ijassa-329	89	7	the	the	DET
ijassa-329	89	8	moving	move	VERB
ijassa-329	89	9	character	character	NOUN
ijassa-329	89	10	problem	problem	NOUN
ijassa-329	89	11	of	of	ADP
ijassa-329	89	12	analysis	analysis	NOUN
ijassa-329	89	13	and	and	CCONJ
ijassa-329	89	14	storage	storage	NOUN
ijassa-329	89	15	for	for	ADP
ijassa-329	89	16	many	many	ADJ
ijassa-329	89	17	trajectories	trajectory	NOUN
ijassa-329	89	18	.	.	PUNCT
ijassa-329	90	1	nonadjacent	nonadjacent	ADJ
ijassa-329	90	2	points	point	NOUN
ijassa-329	90	3	on	on	ADP
ijassa-329	90	4	lever	lever	NOUN
ijassa-329	90	5	also	also	ADV
ijassa-329	90	6	have	have	VERB
ijassa-329	90	7	the	the	DET
ijassa-329	90	8	same	same	ADJ
ijassa-329	90	9	angle	angle	NOUN
ijassa-329	90	10	velocity	velocity	NOUN
ijassa-329	90	11	,	,	PUNCT
ijassa-329	90	12	angle	angle	NOUN
ijassa-329	90	13	acceleration	acceleration	NOUN
ijassa-329	90	14	velocity	velocity	NOUN
ijassa-329	90	15	and	and	CCONJ
ijassa-329	90	16	basing	base	VERB
ijassa-329	90	17	-	-	PUNCT
ijassa-329	90	18	point	point	NOUN
ijassa-329	90	19	,	,	PUNCT
ijassa-329	90	20	the	the	DET
ijassa-329	90	21	calculation	calculation	NOUN
ijassa-329	90	22	load	load	NOUN
ijassa-329	90	23	of	of	ADP
ijassa-329	90	24	point	point	NOUN
ijassa-329	90	25	group	group	NOUN
ijassa-329	90	26	are	be	AUX
ijassa-329	90	27	no	no	ADV
ijassa-329	90	28	more	more	ADJ
ijassa-329	90	29	than	than	ADP
ijassa-329	90	30	those	those	PRON
ijassa-329	90	31	of	of	ADP
ijassa-329	90	32	one	one	NUM
ijassa-329	90	33	point	point	NOUN
ijassa-329	90	34	,	,	PUNCT
ijassa-329	90	35	but	but	CCONJ
ijassa-329	90	36	the	the	DET
ijassa-329	90	37	analysis	analysis	NOUN
ijassa-329	90	38	can	can	AUX
ijassa-329	90	39	be	be	AUX
ijassa-329	90	40	very	very	ADV
ijassa-329	90	41	accurate	accurate	ADJ
ijassa-329	90	42	for	for	ADP
ijassa-329	90	43	many	many	ADJ
ijassa-329	90	44	kinds	kind	NOUN
ijassa-329	90	45	of	of	ADP
ijassa-329	90	46	trajectory	trajectory	NOUN
ijassa-329	90	47	motion	motion	NOUN
ijassa-329	90	48	rule	rule	NOUN
ijassa-329	90	49	.	.	PUNCT
ijassa-329	91	1	as	as	ADP
ijassa-329	91	2	to	to	ADP
ijassa-329	91	3	the	the	DET
ijassa-329	91	4	plane	plane	NOUN
ijassa-329	91	5	link	link	NOUN
ijassa-329	91	6	gear	gear	NOUN
ijassa-329	91	7	shown	show	VERB
ijassa-329	91	8	in	in	ADP
ijassa-329	91	9	fig.1	fig.1	PROPN
ijassa-329	91	10	,	,	PUNCT
ijassa-329	91	11	we	we	PRON
ijassa-329	91	12	can	can	AUX
ijassa-329	91	13	set	set	VERB
ijassa-329	91	14	the	the	DET
ijassa-329	91	15	number	number	NOUN
ijassa-329	91	16	of	of	ADP
ijassa-329	91	17	the	the	DET
ijassa-329	91	18	lever	lever	NOUN
ijassa-329	91	19	as	as	ADP
ijassa-329	91	20	1	1	NUM
ijassa-329	91	21	,	,	PUNCT
ijassa-329	91	22	other	other	ADJ
ijassa-329	91	23	moving	move	VERB
ijassa-329	91	24	levers	lever	NOUN
ijassa-329	91	25	are	be	AUX
ijassa-329	91	26	2	2	NUM
ijassa-329	91	27	,	,	PUNCT
ijassa-329	91	28	3	3	NUM
ijassa-329	91	29	,	,	PUNCT
ijassa-329	91	30	…	…	PUNCT
ijassa-329	91	31	randomly	randomly	ADV
ijassa-329	91	32	.	.	PUNCT
ijassa-329	92	1	similarly	similarly	ADV
ijassa-329	92	2	,	,	PUNCT
ijassa-329	92	3	all	all	DET
ijassa-329	92	4	the	the	DET
ijassa-329	92	5	moving	move	VERB
ijassa-329	92	6	point	point	NOUN
ijassa-329	92	7	for	for	ADP
ijassa-329	92	8	calculation	calculation	NOUN
ijassa-329	92	9	can	can	AUX
ijassa-329	92	10	be	be	AUX
ijassa-329	92	11	set	set	VERB
ijassa-329	92	12	as	as	ADP
ijassa-329	92	13	1,2,3,	1,2,3,	NUM
ijassa-329	92	14	…	…	NUM
ijassa-329	92	15	,n2	,n2	PUNCT
ijassa-329	92	16	randomly	randomly	ADV
ijassa-329	92	17	.	.	PUNCT
ijassa-329	93	1	form	form	VERB
ijassa-329	93	2	a	a	DET
ijassa-329	93	3	three	three	NUM
ijassa-329	93	4	-	-	PUNCT
ijassa-329	93	5	dimensional	dimensional	ADJ
ijassa-329	93	6	data	datum	NOUN
ijassa-329	93	7	group	group	NOUN
ijassa-329	93	8	grid1(n	grid1(n	NOUN
ijassa-329	93	9	,	,	PUNCT
ijassa-329	93	10	q	q	NOUN
ijassa-329	93	11	,	,	PUNCT
ijassa-329	93	12	l	l	NOUN
ijassa-329	93	13	)	)	PUNCT
ijassa-329	93	14	,	,	PUNCT
ijassa-329	93	15	which	which	PRON
ijassa-329	93	16	has	have	VERB
ijassa-329	93	17	n+l	n+l	NUM
ijassa-329	93	18	line	line	NOUN
ijassa-329	93	19	,	,	PUNCT
ijassa-329	93	20	q+1	q+1	NOUN
ijassa-329	93	21	column	column	NOUN
ijassa-329	93	22	and	and	CCONJ
ijassa-329	93	23	2	2	NUM
ijassa-329	93	24	page	page	NOUN
ijassa-329	93	25	.	.	PUNCT
ijassa-329	94	1	suppose	suppose	VERB
ijassa-329	94	2	the	the	DET
ijassa-329	94	3	coordinates	coordinate	NOUN
ijassa-329	94	4	of	of	ADP
ijassa-329	94	5	point	point	NOUN
ijassa-329	94	6	m	m	VERB
ijassa-329	94	7	on	on	ADP
ijassa-329	94	8	link	link	NOUN
ijassa-329	94	9	gear	gear	NOUN
ijassa-329	94	10	to	to	PART
ijassa-329	94	11	be	be	AUX
ijassa-329	94	12	(	(	PUNCT
ijassa-329	94	13	xnm	xnm	INTJ
ijassa-329	94	14	,	,	PUNCT
ijassa-329	94	15	ynm	ynm	PROPN
ijassa-329	94	16	)	)	PUNCT
ijassa-329	94	17	,	,	PUNCT
ijassa-329	94	18	grid(n	grid(n	PROPN
ijassa-329	94	19	,	,	PUNCT
ijassa-329	94	20	m,0)=	m,0)=	X
ijassa-329	94	21	xnm	xnm	PROPN
ijassa-329	94	22	and	and	CCONJ
ijassa-329	94	23	grid(n	grid(n	PROPN
ijassa-329	94	24	,	,	PUNCT
ijassa-329	94	25	m,1)=	m,1)=	PROPN
ijassa-329	94	26	ynm	ynm	PROPN
ijassa-329	94	27	,	,	PUNCT
ijassa-329	94	28	according	accord	VERB
ijassa-329	94	29	to	to	ADP
ijassa-329	94	30	the	the	DET
ijassa-329	94	31	simple	simple	ADJ
ijassa-329	94	32	rule	rule	NOUN
ijassa-329	94	33	above	above	ADV
ijassa-329	94	34	,	,	PUNCT
ijassa-329	94	35	we	we	PRON
ijassa-329	94	36	can	can	AUX
ijassa-329	94	37	put	put	VERB
ijassa-329	94	38	all	all	DET
ijassa-329	94	39	the	the	DET
ijassa-329	94	40	point	point	NOUN
ijassa-329	94	41	coordinates	coordinate	NOUN
ijassa-329	94	42	into	into	ADP
ijassa-329	94	43	data	datum	NOUN
ijassa-329	94	44	group	group	NOUN
ijassa-329	94	45	grid	grid	NOUN
ijassa-329	94	46	.	.	PUNCT
ijassa-329	95	1	by	by	ADP
ijassa-329	95	2	accessing	access	VERB
ijassa-329	95	3	data	datum	NOUN
ijassa-329	95	4	group	group	NOUN
ijassa-329	95	5	grid	grid	NOUN
ijassa-329	95	6	,	,	PUNCT
ijassa-329	95	7	we	we	PRON
ijassa-329	95	8	can	can	AUX
ijassa-329	95	9	get	get	VERB
ijassa-329	95	10	length	length	NOUN
ijassa-329	95	11	between	between	ADP
ijassa-329	95	12	p	p	NOUN
ijassa-329	95	13	and	and	CCONJ
ijassa-329	95	14	q	q	NOUN
ijassa-329	95	15	on	on	ADP
ijassa-329	95	16	any	any	DET
ijassa-329	95	17	component	component	NOUN
ijassa-329	95	18	l	l	NOUN
ijassa-329	95	19	:	:	PUNCT
ijassa-329	95	20	length=[(xlp	length=[(xlp	NOUN
ijassa-329	95	21	-	-	PUNCT
ijassa-329	95	22	xlq)2+(ylp	xlq)2+(ylp	PROPN
ijassa-329	95	23	-	-	PUNCT
ijassa-329	95	24	ylq)2]1/2	ylq)2]1/2	PROPN
ijassa-329	95	25	among	among	ADP
ijassa-329	95	26	which	which	PRON
ijassa-329	95	27	,	,	PUNCT
ijassa-329	95	28	the	the	DET
ijassa-329	95	29	local	local	ADJ
ijassa-329	95	30	coordinates	coordinate	NOUN
ijassa-329	95	31	of	of	ADP
ijassa-329	95	32	point	point	NOUN
ijassa-329	95	33	p	p	NOUN
ijassa-329	95	34	on	on	ADP
ijassa-329	95	35	lever	lever	NOUN
ijassa-329	95	36	l	l	NOUN
ijassa-329	95	37	are	be	AUX
ijassa-329	95	38	xlp	xlp	NOUN
ijassa-329	95	39	=	=	ADJ
ijassa-329	95	40	grid	grid	NOUN
ijassa-329	95	41	(	(	PUNCT
ijassa-329	95	42	l	l	NOUN
ijassa-329	95	43	,	,	PUNCT
ijassa-329	95	44	p,0),ylq	p,0),ylq	PUNCT
ijassa-329	95	45	=	=	AUX
ijassa-329	95	46	grid	grid	NOUN
ijassa-329	95	47	(	(	PUNCT
ijassa-329	95	48	l	l	NOUN
ijassa-329	95	49	,	,	PUNCT
ijassa-329	95	50	p,1	p,1	NOUN
ijassa-329	95	51	)	)	PUNCT
ijassa-329	95	52	,	,	PUNCT
ijassa-329	95	53	those	those	PRON
ijassa-329	95	54	of	of	ADP
ijassa-329	95	55	point	point	NOUN
ijassa-329	95	56	q	q	PROPN
ijassa-329	95	57	are	be	AUX
ijassa-329	95	58	xlq	xlq	NOUN
ijassa-329	95	59	=	=	ADJ
ijassa-329	95	60	grid	grid	ADJ
ijassa-329	95	61	(	(	PUNCT
ijassa-329	95	62	l	l	NOUN
ijassa-329	95	63	,	,	PUNCT
ijassa-329	95	64	q,0),ylq	q,0),ylq	PROPN
ijassa-329	95	65	=	=	PRON
ijassa-329	95	66	grid	grid	NOUN
ijassa-329	95	67	(	(	PUNCT
ijassa-329	95	68	l	l	NOUN
ijassa-329	95	69	,	,	PUNCT
ijassa-329	95	70	q,1	q,1	NUM
ijassa-329	95	71	)	)	PUNCT
ijassa-329	95	72	.	.	PUNCT
ijassa-329	96	1	5.1.2	5.1.2	NUM
ijassa-329	96	2	trajectory	trajectory	NOUN
ijassa-329	96	3	motion	motion	NOUN
ijassa-329	96	4	analysis	analysis	NOUN
ijassa-329	96	5	based	base	VERB
ijassa-329	96	6	on	on	ADP
ijassa-329	96	7	local	local	ADJ
ijassa-329	96	8	coordinate	coordinate	NOUN
ijassa-329	96	9	system	system	NOUN
ijassa-329	96	10	by	by	ADP
ijassa-329	96	11	accessing	access	VERB
ijassa-329	96	12	data	datum	NOUN
ijassa-329	96	13	group	group	NOUN
ijassa-329	96	14	grid	grid	NOUN
ijassa-329	96	15	,	,	PUNCT
ijassa-329	96	16	we	we	PRON
ijassa-329	96	17	can	can	AUX
ijassa-329	96	18	also	also	ADV
ijassa-329	96	19	calculate	calculate	VERB
ijassa-329	96	20	motion	motion	NOUN
ijassa-329	96	21	parameter	parameter	NOUN
ijassa-329	96	22	of	of	ADP
ijassa-329	96	23	point	point	NOUN
ijassa-329	96	24	group	group	NOUN
ijassa-329	96	25	.	.	PUNCT
ijassa-329	97	1	the	the	DET
ijassa-329	97	2	absolute	absolute	ADJ
ijassa-329	97	3	coordinate	coordinate	NOUN
ijassa-329	97	4	of	of	ADP
ijassa-329	97	5	any	any	DET
ijassa-329	97	6	point	point	NOUN
ijassa-329	97	7	l	l	NOUN
ijassa-329	97	8	equals	equal	VERB
ijassa-329	97	9	to	to	ADP
ijassa-329	97	10	its	its	PRON
ijassa-329	97	11	local	local	ADJ
ijassa-329	97	12	coordinate	coordinate	NOUN
ijassa-329	97	13	plus	plus	CCONJ
ijassa-329	97	14	the	the	DET
ijassa-329	97	15	absolute	absolute	ADJ
ijassa-329	97	16	coordinate	coordinate	NOUN
ijassa-329	97	17	of	of	ADP
ijassa-329	97	18	point	point	NOUN
ijassa-329	97	19	b.	b.	PROPN
ijassa-329	98	1	the	the	DET
ijassa-329	98	2	calculation	calculation	NOUN
ijassa-329	98	3	shows	show	VERB
ijassa-329	98	4	in	in	ADP
ijassa-329	98	5	(	(	PUNCT
ijassa-329	98	6	7	7	NUM
ijassa-329	98	7	)	)	PUNCT
ijassa-329	98	8	,	,	PUNCT
ijassa-329	98	9	(	(	PUNCT
ijassa-329	98	10	8)	8)	X
ijassa-329	98	11	.	.	PUNCT
ijassa-329	99	1	as	as	SCONJ
ijassa-329	99	2	shown	show	VERB
ijassa-329	99	3	in	in	ADP
ijassa-329	99	4	fig.3	fig.3	PROPN
ijassa-329	99	5	,	,	PUNCT
ijassa-329	99	6	the	the	DET
ijassa-329	99	7	motion	motion	NOUN
ijassa-329	99	8	of	of	ADP
ijassa-329	99	9	point	point	NOUN
ijassa-329	99	10	m	m	VERB
ijassa-329	99	11	is	be	AUX
ijassa-329	99	12	an	an	DET
ijassa-329	99	13	overlap	overlap	NOUN
ijassa-329	99	14	of	of	ADP
ijassa-329	99	15	two	two	NUM
ijassa-329	99	16	motions	motion	NOUN
ijassa-329	99	17	(	(	PUNCT
ijassa-329	99	18	translational	translational	ADJ
ijassa-329	99	19	moving	moving	NOUN
ijassa-329	99	20	of	of	ADP
ijassa-329	99	21	basing	base	VERB
ijassa-329	99	22	-	-	PUNCT
ijassa-329	99	23	point	point	NOUN
ijassa-329	99	24	b	b	NOUN
ijassa-329	99	25	and	and	CCONJ
ijassa-329	99	26	rotary	rotary	NOUN
ijassa-329	99	27	moving	moving	NOUN
ijassa-329	99	28	of	of	ADP
ijassa-329	99	29	point	point	NOUN
ijassa-329	99	30	m	m	VERB
ijassa-329	99	31	around	around	ADP
ijassa-329	99	32	b	b	NOUN
ijassa-329	99	33	)	)	PUNCT
ijassa-329	99	34	.	.	PUNCT
ijassa-329	100	1	the	the	DET
ijassa-329	100	2	velocities	velocity	NOUN
ijassa-329	100	3	of	of	ADP
ijassa-329	100	4	b	b	PROPN
ijassa-329	100	5	and	and	CCONJ
ijassa-329	100	6	m	m	PROPN
ijassa-329	100	7	are	be	AUX
ijassa-329	100	8	vb	vb	NOUN
ijassa-329	100	9	and	and	CCONJ
ijassa-329	100	10	vm	vm	PROPN
ijassa-329	100	11	,	,	PUNCT
ijassa-329	100	12	the	the	DET
ijassa-329	100	13	rotary	rotary	ADJ
ijassa-329	100	14	velocity	velocity	NOUN
ijassa-329	100	15	of	of	ADP
ijassa-329	100	16	point	point	NOUN
ijassa-329	100	17	m	m	VERB
ijassa-329	100	18	relative	relative	ADJ
ijassa-329	100	19	to	to	ADP
ijassa-329	100	20	b	b	NOUN
ijassa-329	100	21	is	be	AUX
ijassa-329	100	22	vmb	vmb	ADP
ijassa-329	100	23	:	:	PUNCT
ijassa-329	100	24	(	(	PUNCT
ijassa-329	100	25	)	)	PUNCT
ijassa-329	101	1	(	(	PUNCT
ijassa-329	101	2	)	)	PUNCT
ijassa-329	101	3	jyixjyixrv	jyixjyixrv	ADV
ijassa-329	101	4	bbbbb	bbbbb	PROPN
ijassa-329	101	5	22222	22222	NUM
ijassa-329	101	6	ωωωω	ωωωω	NOUN
ijassa-329	101	7	+	+	NOUN
ijassa-329	101	8	=	=	ADJ
ijassa-329	101	9	+	+	ADJ
ijassa-329	101	10	=	=	NOUN
ijassa-329	101	11	×=	×=	NOUN
ijassa-329	101	12	(	(	PUNCT
ijassa-329	101	13	)	)	PUNCT
ijassa-329	101	14	jyixjyixrv	jyixjyixrv	ADV
ijassa-329	101	15	mbmbmbmbrmmb	mbmbmbmbrmmb	VERB
ijassa-329	101	16	3333	3333	NUM
ijassa-329	101	17	ωωωω	ωωωω	NOUN
ijassa-329	101	18	+	+	NOUN
ijassa-329	101	19	=	=	ADJ
ijassa-329	101	20	+	+	ADJ
ijassa-329	101	21	=	=	ADJ
ijassa-329	101	22	×=	×=	NOUN
ijassa-329	101	23	jyyixxvvv	jyyixxvvv	NOUN
ijassa-329	101	24	mbbmbbbmbm	mbbmbbbmbm	NOUN
ijassa-329	101	25	)	)	PUNCT
ijassa-329	101	26	(	(	PUNCT
ijassa-329	101	27	)	)	PUNCT
ijassa-329	101	28	(	(	PUNCT
ijassa-329	101	29	3131	3131	NUM
ijassa-329	101	30	ωωωω	ωωωω	NOUN
ijassa-329	101	31	+	+	PROPN
ijassa-329	101	32	+	+	ADJ
ijassa-329	101	33	+	+	ADJ
ijassa-329	101	34	=	=	ADJ
ijassa-329	101	35	+	+	NOUN
ijassa-329	101	36	=	=	X
ijassa-329	101	37	the	the	DET
ijassa-329	101	38	acceleration	acceleration	NOUN
ijassa-329	101	39	velocity	velocity	NOUN
ijassa-329	101	40	of	of	ADP
ijassa-329	101	41	point	point	NOUN
ijassa-329	101	42	m	m	PROPN
ijassa-329	101	43	:	:	PUNCT
ijassa-329	101	44	33	33	NUM
ijassa-329	101	45	2	2	NUM
ijassa-329	101	46	2	2	NUM
ijassa-329	101	47	2	2	NUM
ijassa-329	101	48	2	2	NUM
ijassa-329	101	49	εωω	εωω	NOUN
ijassa-329	101	50	τ	τ	PROPN
ijassa-329	101	51	×+×+×=	×+×+×=	ADP
ijassa-329	101	52	+	+	PROPN
ijassa-329	101	53	+	+	NOUN
ijassa-329	101	54	=	=	ADJ
ijassa-329	101	55	rmrm	rmrm	ADJ
ijassa-329	101	56	mbmb	mbmb	NOUN
ijassa-329	101	57	n	n	PROPN
ijassa-329	101	58	bm	bm	PROPN
ijassa-329	101	59	rrr	rrr	PROPN
ijassa-329	101	60	aaaa	aaaa	NOUN
ijassa-329	101	61	the	the	DET
ijassa-329	101	62	equations	equation	NOUN
ijassa-329	101	63	above	above	ADV
ijassa-329	101	64	are	be	AUX
ijassa-329	101	65	combination	combination	NOUN
ijassa-329	101	66	of	of	ADP
ijassa-329	101	67	coordinates	coordinate	NOUN
ijassa-329	101	68	,	,	PUNCT
ijassa-329	101	69	angle	angle	NOUN
ijassa-329	101	70	velocity	velocity	NOUN
ijassa-329	101	71	and	and	CCONJ
ijassa-329	101	72	angle	angle	NOUN
ijassa-329	101	73	acceleration	acceleration	NOUN
ijassa-329	101	74	velocity	velocity	NOUN
ijassa-329	101	75	.	.	PUNCT
ijassa-329	102	1	after	after	SCONJ
ijassa-329	102	2	the	the	DET
ijassa-329	102	3	size	size	NOUN
ijassa-329	102	4	of	of	ADP
ijassa-329	102	5	linkage	linkage	NOUN
ijassa-329	102	6	and	and	CCONJ
ijassa-329	102	7	the	the	DET
ijassa-329	102	8	angle	angle	NOUN
ijassa-329	102	9	velocity	velocity	NOUN
ijassa-329	102	10	of	of	ADP
ijassa-329	102	11	crank	crank	NOUN
ijassa-329	102	12	have	have	AUX
ijassa-329	102	13	been	be	AUX
ijassa-329	102	14	given	give	VERB
ijassa-329	102	15	,	,	PUNCT
ijassa-329	102	16	we	we	PRON
ijassa-329	102	17	can	can	AUX
ijassa-329	102	18	calculate	calculate	VERB
ijassa-329	102	19	the	the	DET
ijassa-329	102	20	position	position	NOUN
ijassa-329	102	21	,	,	PUNCT
ijassa-329	102	22	velocity	velocity	NOUN
ijassa-329	102	23	and	and	CCONJ
ijassa-329	102	24	acceleration	acceleration	NOUN
ijassa-329	102	25	velocity	velocity	NOUN
ijassa-329	102	26	of	of	ADP
ijassa-329	102	27	moving	move	VERB
ijassa-329	102	28	point	point	NOUN
ijassa-329	102	29	.	.	PUNCT
ijassa-329	103	1	equally	equally	ADV
ijassa-329	103	2	,	,	PUNCT
ijassa-329	103	3	we	we	PRON
ijassa-329	103	4	can	can	AUX
ijassa-329	103	5	define	define	VERB
ijassa-329	103	6	two	two	NUM
ijassa-329	103	7	-	-	PUNCT
ijassa-329	103	8	dimensional	dimensional	ADJ
ijassa-329	103	9	data	datum	NOUN
ijassa-329	103	10	group	group	NOUN
ijassa-329	103	11	,	,	PUNCT
ijassa-329	103	12	record	record	NOUN
ijassa-329	103	13	position	position	NOUN
ijassa-329	103	14	,	,	PUNCT
ijassa-329	103	15	velocity	velocity	NOUN
ijassa-329	103	16	and	and	CCONJ
ijassa-329	103	17	acceleration	acceleration	NOUN
ijassa-329	103	18	velocity	velocity	NOUN
ijassa-329	103	19	curve	curve	NOUN
ijassa-329	103	20	on	on	ADP
ijassa-329	103	21	trajectory	trajectory	NOUN
ijassa-329	103	22	.	.	PUNCT
ijassa-329	104	1	5.1.3	5.1.3	NUM
ijassa-329	104	2	trajectory	trajectory	NOUN
ijassa-329	104	3	programming	programming	NOUN
ijassa-329	104	4	of	of	ADP
ijassa-329	104	5	point	point	NOUN
ijassa-329	104	6	group	group	NOUN
ijassa-329	104	7	trajectory	trajectory	NOUN
ijassa-329	104	8	programming	programming	NOUN
ijassa-329	104	9	is	be	AUX
ijassa-329	104	10	computer	computer	NOUN
ijassa-329	104	11	-	-	PUNCT
ijassa-329	104	12	aided	aid	VERB
ijassa-329	104	13	computing	computing	NOUN
ijassa-329	104	14	.	.	PUNCT
ijassa-329	105	1	because	because	SCONJ
ijassa-329	105	2	of	of	ADP
ijassa-329	105	3	the	the	DET
ijassa-329	105	4	unification	unification	NOUN
ijassa-329	105	5	and	and	CCONJ
ijassa-329	105	6	standardization	standardization	NOUN
ijassa-329	105	7	of	of	ADP
ijassa-329	105	8	equation	equation	NOUN
ijassa-329	105	9	,	,	PUNCT
ijassa-329	105	10	the	the	DET
ijassa-329	105	11	programs	program	NOUN
ijassa-329	105	12	for	for	ADP
ijassa-329	105	13	one	one	NUM
ijassa-329	105	14	motion	motion	NOUN
ijassa-329	105	15	parameter	parameter	NOUN
ijassa-329	105	16	are	be	AUX
ijassa-329	105	17	the	the	DET
ijassa-329	105	18	same	same	ADJ
ijassa-329	105	19	model	model	NOUN
ijassa-329	105	20	.	.	PUNCT
ijassa-329	106	1	given	give	VERB
ijassa-329	106	2	crank	crank	NOUN
ijassa-329	106	3	’s	’s	PART
ijassa-329	106	4	position	position	NOUN
ijassa-329	106	5	(	(	PUNCT
ijassa-329	106	6	angle	angle	NOUN
ijassa-329	106	7	)	)	PUNCT
ijassa-329	106	8	and	and	CCONJ
ijassa-329	106	9	lever	lever	PROPN
ijassa-329	106	10	’s	’s	PART
ijassa-329	106	11	length	length	NOUN
ijassa-329	106	12	,	,	PUNCT
ijassa-329	106	13	you	you	PRON
ijassa-329	106	14	can	can	AUX
ijassa-329	106	15	calculate	calculate	VERB
ijassa-329	106	16	trajectory	trajectory	NOUN
ijassa-329	106	17	(	(	PUNCT
ijassa-329	106	18	position	position	NOUN
ijassa-329	106	19	)	)	PUNCT
ijassa-329	106	20	,	,	PUNCT
ijassa-329	106	21	velocity	velocity	NOUN
ijassa-329	106	22	and	and	CCONJ
ijassa-329	106	23	acceleration	acceleration	NOUN
ijassa-329	106	24	velocity	velocity	NOUN
ijassa-329	106	25	curve	curve	NOUN
ijassa-329	106	26	by	by	ADP
ijassa-329	106	27	accessing	access	VERB
ijassa-329	106	28	program	program	NOUN
ijassa-329	106	29	model	model	NOUN
ijassa-329	106	30	.	.	PUNCT
ijassa-329	107	1	this	this	DET
ijassa-329	107	2	method	method	NOUN
ijassa-329	107	3	can	can	AUX
ijassa-329	107	4	analyze	analyze	VERB
ijassa-329	107	5	point	point	VERB
ijassa-329	107	6	motion	motion	NOUN
ijassa-329	107	7	on	on	ADP
ijassa-329	107	8	component	component	NOUN
ijassa-329	107	9	precisely	precisely	ADV
ijassa-329	107	10	.	.	PUNCT
ijassa-329	108	1	on	on	ADP
ijassa-329	108	2	the	the	DET
ijassa-329	108	3	other	other	ADJ
ijassa-329	108	4	hand	hand	NOUN
ijassa-329	108	5	,	,	PUNCT
ijassa-329	108	6	it	it	PRON
ijassa-329	108	7	can	can	AUX
ijassa-329	108	8	process	process	VERB
ijassa-329	108	9	many	many	ADJ
ijassa-329	108	10	points	point	NOUN
ijassa-329	108	11	together	together	ADV
ijassa-329	108	12	,	,	PUNCT
ijassa-329	108	13	and	and	CCONJ
ijassa-329	108	14	store	store	VERB
ijassa-329	108	15	the	the	DET
ijassa-329	108	16	calculation	calculation	NOUN
ijassa-329	108	17	results	result	NOUN
ijassa-329	108	18	as	as	ADP
ijassa-329	108	19	a	a	DET
ijassa-329	108	20	database	database	NOUN
ijassa-329	108	21	,	,	PUNCT
ijassa-329	108	22	so	so	SCONJ
ijassa-329	108	23	as	as	SCONJ
ijassa-329	108	24	to	to	PART
ijassa-329	108	25	analyze	analyze	VERB
ijassa-329	108	26	the	the	DET
ijassa-329	108	27	motion	motion	NOUN
ijassa-329	108	28	character	character	NOUN
ijassa-329	108	29	on	on	ADP
ijassa-329	108	30	different	different	ADJ
ijassa-329	108	31	point	point	NOUN
ijassa-329	108	32	with	with	ADP
ijassa-329	108	33	digital	digital	ADJ
ijassa-329	108	34	method	method	NOUN
ijassa-329	108	35	.	.	PUNCT
ijassa-329	109	1	with	with	ADP
ijassa-329	109	2	fourier	fourier	PROPN
ijassa-329	109	3	series	series	NOUN
ijassa-329	109	4	proposed	propose	VERB
ijassa-329	109	5	by	by	ADP
ijassa-329	109	6	zahn	zahn	PROPN
ijassa-329	109	7	c	c	PROPN
ijassa-329	109	8	t	t	PROPN
ijassa-329	109	9	,	,	PUNCT
ijassa-329	109	10	roskies	roskie	NOUN
ijassa-329	109	11	r	r	NOUN
ijassa-329	109	12	z	z	NOUN
ijassa-329	109	13	to	to	PART
ijassa-329	109	14	fit	fit	VERB
ijassa-329	109	15	lever	lever	PROPN
ijassa-329	109	16	’s	’s	PART
ijassa-329	109	17	curve	curve	NOUN
ijassa-329	109	18	,	,	PUNCT
ijassa-329	109	19	we	we	PRON
ijassa-329	109	20	can	can	AUX
ijassa-329	109	21	fit	fit	VERB
ijassa-329	109	22	discrete	discrete	ADJ
ijassa-329	109	23	point	point	NOUN
ijassa-329	109	24	into	into	ADP
ijassa-329	109	25	mathematics	mathematic	NOUN
ijassa-329	109	26	equation	equation	NOUN
ijassa-329	109	27	.	.	PUNCT
ijassa-329	110	1	or	or	CCONJ
ijassa-329	110	2	,	,	PUNCT
ijassa-329	110	3	we	we	PRON
ijassa-329	110	4	can	can	AUX
ijassa-329	110	5	pick	pick	VERB
ijassa-329	110	6	out	out	ADP
ijassa-329	110	7	the	the	DET
ijassa-329	110	8	shape	shape	NOUN
ijassa-329	110	9	character	character	NOUN
ijassa-329	110	10	of	of	ADP
ijassa-329	110	11	graphs	graph	NOUN
ijassa-329	110	12	,	,	PUNCT
ijassa-329	110	13	and	and	CCONJ
ijassa-329	110	14	with	with	ADP
ijassa-329	110	15	computer	computer	NOUN
ijassa-329	110	16	-	-	PUNCT
ijassa-329	110	17	aided	aid	VERB
ijassa-329	110	18	function	function	NOUN
ijassa-329	110	19	to	to	PART
ijassa-329	110	20	analyze	analyze	VERB
ijassa-329	110	21	trajectory	trajectory	NOUN
ijassa-329	110	22	character	character	NOUN
ijassa-329	110	23	of	of	ADP
ijassa-329	110	24	plane	plane	NOUN
ijassa-329	110	25	linkage	linkage	NOUN
ijassa-329	110	26	curve	curve	NOUN
ijassa-329	110	27	and	and	CCONJ
ijassa-329	110	28	its	its	PRON
ijassa-329	110	29	distribution	distribution	NOUN
ijassa-329	110	30	rule	rule	NOUN
ijassa-329	110	31	.	.	PUNCT
ijassa-329	111	1	advances	advance	NOUN
ijassa-329	111	2	in	in	ADP
ijassa-329	111	3	systems	system	NOUN
ijassa-329	111	4	science	science	NOUN
ijassa-329	111	5	and	and	CCONJ
ijassa-329	111	6	applications	application	NOUN
ijassa-329	111	7	(	(	PUNCT
ijassa-329	111	8	2011	2011	NUM
ijassa-329	111	9	)	)	PUNCT
ijassa-329	111	10	,	,	PUNCT
ijassa-329	111	11	vol.11	vol.11	PROPN
ijassa-329	111	12	,	,	PUNCT
ijassa-329	111	13	no.3	no.3	NOUN
ijassa-329	111	14	-	-	SYM
ijassa-329	111	15	4	4	NUM
ijassa-329	111	16	353	353	NUM
ijassa-329	111	17	the	the	DET
ijassa-329	111	18	calculation	calculation	NOUN
ijassa-329	111	19	process	process	NOUN
ijassa-329	111	20	is	be	AUX
ijassa-329	111	21	the	the	DET
ijassa-329	111	22	same	same	ADJ
ijassa-329	111	23	for	for	ADP
ijassa-329	111	24	the	the	DET
ijassa-329	111	25	same	same	ADJ
ijassa-329	111	26	type	type	NOUN
ijassa-329	111	27	of	of	ADP
ijassa-329	111	28	plane	plane	NOUN
ijassa-329	111	29	linkage	linkage	NOUN
ijassa-329	111	30	,	,	PUNCT
ijassa-329	111	31	just	just	ADV
ijassa-329	111	32	to	to	PART
ijassa-329	111	33	input	input	VERB
ijassa-329	111	34	different	different	ADJ
ijassa-329	111	35	structure	structure	NOUN
ijassa-329	111	36	parameter	parameter	NOUN
ijassa-329	111	37	and	and	CCONJ
ijassa-329	111	38	original	original	ADJ
ijassa-329	111	39	condition	condition	NOUN
ijassa-329	111	40	,	,	PUNCT
ijassa-329	111	41	and	and	CCONJ
ijassa-329	111	42	you	you	PRON
ijassa-329	111	43	can	can	AUX
ijassa-329	111	44	get	get	VERB
ijassa-329	111	45	the	the	DET
ijassa-329	111	46	trajectory	trajectory	NOUN
ijassa-329	111	47	and	and	CCONJ
ijassa-329	111	48	displacement	displacement	NOUN
ijassa-329	111	49	.	.	PUNCT
ijassa-329	112	1	for	for	ADP
ijassa-329	112	2	other	other	ADJ
ijassa-329	112	3	types	type	NOUN
ijassa-329	112	4	of	of	ADP
ijassa-329	112	5	plane	plane	NOUN
ijassa-329	112	6	linkage	linkage	NOUN
ijassa-329	112	7	such	such	ADJ
ijassa-329	112	8	as	as	ADP
ijassa-329	112	9	crank	crank	NOUN
ijassa-329	112	10	block	block	NOUN
ijassa-329	112	11	,	,	PUNCT
ijassa-329	112	12	we	we	PRON
ijassa-329	112	13	can	can	AUX
ijassa-329	112	14	deduce	deduce	VERB
ijassa-329	112	15	its	its	PRON
ijassa-329	112	16	overall	overall	ADJ
ijassa-329	112	17	motion	motion	NOUN
ijassa-329	112	18	equation	equation	NOUN
ijassa-329	112	19	with	with	ADP
ijassa-329	112	20	local	local	ADJ
ijassa-329	112	21	axes	axis	NOUN
ijassa-329	112	22	,	,	PUNCT
ijassa-329	112	23	that	that	ADV
ijassa-329	112	24	is	is	ADV
ijassa-329	112	25	,	,	PUNCT
ijassa-329	112	26	the	the	DET
ijassa-329	112	27	motion	motion	NOUN
ijassa-329	112	28	rule	rule	NOUN
ijassa-329	112	29	of	of	ADP
ijassa-329	112	30	moving	move	VERB
ijassa-329	112	31	axes	axis	NOUN
ijassa-329	112	32	,	,	PUNCT
ijassa-329	112	33	then	then	ADV
ijassa-329	112	34	the	the	DET
ijassa-329	112	35	calculation	calculation	NOUN
ijassa-329	112	36	equation	equation	NOUN
ijassa-329	112	37	of	of	ADP
ijassa-329	112	38	position	position	NOUN
ijassa-329	112	39	,	,	PUNCT
ijassa-329	112	40	velocity	velocity	NOUN
ijassa-329	112	41	and	and	CCONJ
ijassa-329	112	42	acceleration	acceleration	NOUN
ijassa-329	112	43	velocity	velocity	NOUN
ijassa-329	112	44	on	on	ADP
ijassa-329	112	45	the	the	DET
ijassa-329	112	46	component	component	NOUN
ijassa-329	112	47	,	,	PUNCT
ijassa-329	112	48	then	then	ADV
ijassa-329	112	49	program	program	NOUN
ijassa-329	112	50	according	accord	VERB
ijassa-329	112	51	to	to	ADP
ijassa-329	112	52	process	process	NOUN
ijassa-329	112	53	.	.	PUNCT
ijassa-329	113	1	the	the	DET
ijassa-329	113	2	structure	structure	NOUN
ijassa-329	113	3	is	be	AUX
ijassa-329	113	4	different	different	ADJ
ijassa-329	113	5	,	,	PUNCT
ijassa-329	113	6	but	but	CCONJ
ijassa-329	113	7	the	the	DET
ijassa-329	113	8	method	method	NOUN
ijassa-329	113	9	is	be	AUX
ijassa-329	113	10	the	the	DET
ijassa-329	113	11	same	same	ADJ
ijassa-329	113	12	.	.	PUNCT
ijassa-329	114	1	6.analysis	6.analysis	NUM
ijassa-329	114	2	example	example	NOUN
ijassa-329	114	3	for	for	ADP
ijassa-329	114	4	linkage	linkage	NOUN
ijassa-329	114	5	motion	motion	NOUN
ijassa-329	114	6	for	for	ADP
ijassa-329	114	7	four	four	NUM
ijassa-329	114	8	-	-	PUNCT
ijassa-329	114	9	lever	lever	NOUN
ijassa-329	114	10	linkage	linkage	NOUN
ijassa-329	114	11	n	n	CCONJ
ijassa-329	114	12	,	,	PUNCT
ijassa-329	114	13	imaginary	imaginary	ADJ
ijassa-329	114	14	line	line	NOUN
ijassa-329	114	15	shown	show	VERB
ijassa-329	114	16	in	in	ADP
ijassa-329	114	17	fig.2	fig.2	PROPN
ijassa-329	114	18	(	(	PUNCT
ijassa-329	114	19	rectangle	rectangle	NOUN
ijassa-329	114	20	with	with	ADP
ijassa-329	114	21	round	round	ADJ
ijassa-329	114	22	angle	angle	NOUN
ijassa-329	114	23	)	)	PUNCT
ijassa-329	114	24	,	,	PUNCT
ijassa-329	114	25	when	when	SCONJ
ijassa-329	114	26	move	move	VERB
ijassa-329	114	27	in	in	ADP
ijassa-329	114	28	a	a	DET
ijassa-329	114	29	plane	plane	NOUN
ijassa-329	114	30	,	,	PUNCT
ijassa-329	114	31	we	we	PRON
ijassa-329	114	32	use	use	VERB
ijassa-329	114	33	local	local	ADJ
ijassa-329	114	34	axes	axis	NOUN
ijassa-329	114	35	xrbyr	xrbyr	NOUN
ijassa-329	114	36	,	,	PUNCT
ijassa-329	114	37	then	then	ADV
ijassa-329	114	38	the	the	DET
ijassa-329	114	39	coordinate	coordinate	NOUN
ijassa-329	114	40	of	of	ADP
ijassa-329	114	41	any	any	DET
ijassa-329	114	42	point	point	NOUN
ijassa-329	114	43	m	m	VERB
ijassa-329	114	44	can	can	AUX
ijassa-329	114	45	be	be	AUX
ijassa-329	114	46	expressed	express	VERB
ijassa-329	114	47	as	as	ADP
ijassa-329	114	48	（	（	PROPN
ijassa-329	114	49	xrmi	xrmi	PROPN
ijassa-329	114	50	,	,	PUNCT
ijassa-329	114	51	yrmi	yrmi	PROPN
ijassa-329	114	52	)	)	PUNCT
ijassa-329	114	53	.	.	PUNCT
ijassa-329	115	1	θ3	θ3	PROPN
ijassa-329	115	2	,	,	PUNCT
ijassa-329	115	3	ωn	ωn	PRON
ijassa-329	115	4	,	,	PUNCT
ijassa-329	115	5	εn	εn	ADJ
ijassa-329	115	6	are	be	AUX
ijassa-329	115	7	angle	angle	NOUN
ijassa-329	115	8	movement	movement	NOUN
ijassa-329	115	9	of	of	ADP
ijassa-329	115	10	local	local	ADJ
ijassa-329	115	11	axes	axis	NOUN
ijassa-329	115	12	xrbyr	xrbyr	PROPN
ijassa-329	115	13	.	.	PUNCT
ijassa-329	116	1	all	all	DET
ijassa-329	116	2	the	the	DET
ijassa-329	116	3	points	point	NOUN
ijassa-329	116	4	’	'	PUNCT
ijassa-329	116	5	local	local	ADJ
ijassa-329	116	6	coordinates	coordinate	NOUN
ijassa-329	116	7	are	be	AUX
ijassa-329	116	8	in	in	ADP
ijassa-329	116	9	data	data	NOUN
ijassa-329	116	10	group	group	NOUN
ijassa-329	116	11	grid	grid	NOUN
ijassa-329	116	12	.	.	PUNCT
ijassa-329	117	1	basing	base	VERB
ijassa-329	117	2	-	-	PUNCT
ijassa-329	117	3	point	point	NOUN
ijassa-329	117	4	is	be	AUX
ijassa-329	117	5	b	b	NOUN
ijassa-329	117	6	,	,	PUNCT
ijassa-329	117	7	solve	solve	VERB
ijassa-329	117	8	position	position	NOUN
ijassa-329	117	9	and	and	CCONJ
ijassa-329	117	10	motion	motion	NOUN
ijassa-329	117	11	parameters	parameter	NOUN
ijassa-329	117	12	on	on	ADP
ijassa-329	117	13	point	point	NOUN
ijassa-329	117	14	m1,m2,	m1,m2,	PROPN
ijassa-329	117	15	…	…	X
ijassa-329	117	16	…	…	PUNCT
ijassa-329	117	17	,mn	,mn	PUNCT
ijassa-329	117	18	at	at	ADP
ijassa-329	117	19	any	any	DET
ijassa-329	117	20	moment	moment	NOUN
ijassa-329	117	21	t	t	PRON
ijassa-329	117	22	:	:	PUNCT
ijassa-329	117	23	rmi	rmi	NOUN
ijassa-329	117	24	,	,	PUNCT
ijassa-329	117	25	vmix	vmix	PROPN
ijassa-329	117	26	,	,	PUNCT
ijassa-329	117	27	vmiy	vmiy	NOUN
ijassa-329	117	28	,	,	PUNCT
ijassa-329	117	29	amix	amix	NOUN
ijassa-329	117	30	,	,	PUNCT
ijassa-329	117	31	amiy	amiy	NOUN
ijassa-329	117	32	。	。	NOUN
ijassa-329	117	33	solution	solution	NOUN
ijassa-329	117	34	:	:	PUNCT
ijassa-329	117	35	position	position	NOUN
ijassa-329	117	36	vector	vector	NOUN
ijassa-329	117	37	equation	equation	NOUN
ijassa-329	117	38	at	at	ADP
ijassa-329	117	39	any	any	DET
ijassa-329	117	40	moment	moment	NOUN
ijassa-329	117	41	322	322	NUM
ijassa-329	117	42	coscos	cosco	NOUN
ijassa-329	117	43	11	11	NUM
ijassa-329	117	44	θθ	θθ	ADP
ijassa-329	117	45	rmnm	rmnm	ADV
ijassa-329	117	46	xrx	xrx	PROPN
ijassa-329	118	1	+	+	NOUN
ijassa-329	118	2	=	=	SYM
ijassa-329	118	3	322	322	NUM
ijassa-329	118	4	sinsin	sinsin	NOUN
ijassa-329	118	5	11	11	NUM
ijassa-329	118	6	θθ	θθ	PROPN
ijassa-329	118	7	rmnm	rmnm	PROPN
ijassa-329	118	8	yry	yry	NOUN
ijassa-329	118	9	+	+	PROPN
ijassa-329	118	10	=	=	PROPN
ijassa-329	118	11	…	…	PUNCT
ijassa-329	118	12	…	…	PUNCT
ijassa-329	118	13	322	322	NUM
ijassa-329	118	14	coscos	cosco	NOUN
ijassa-329	118	15	θθ	θθ	PROPN
ijassa-329	118	16	ii	ii	PROPN
ijassa-329	118	17	rmnm	rmnm	PROPN
ijassa-329	118	18	xrx	xrx	PROPN
ijassa-329	119	1	+	+	NOUN
ijassa-329	119	2	=	=	SYM
ijassa-329	119	3	322	322	NUM
ijassa-329	119	4	sinsin	sinsin	NOUN
ijassa-329	119	5	θθ	θθ	PROPN
ijassa-329	119	6	ii	ii	PROPN
ijassa-329	119	7	rmnm	rmnm	PROPN
ijassa-329	119	8	yry	yry	PROPN
ijassa-329	119	9	+	+	PROPN
ijassa-329	119	10	=	=	SYM
ijassa-329	119	11	velocity	velocity	NOUN
ijassa-329	119	12	vector	vector	NOUN
ijassa-329	119	13	equation	equation	NOUN
ijassa-329	119	14	at	at	ADP
ijassa-329	119	15	any	any	DET
ijassa-329	119	16	moment	moment	NOUN
ijassa-329	119	17	t	t	X
ijassa-329	119	18	:	:	PUNCT
ijassa-329	119	19	jyyixxvvv	jyyixxvvv	PROPN
ijassa-329	119	20	bmbbmbbbmm	bmbbmbbbmm	PROPN
ijassa-329	119	21	)	)	PUNCT
ijassa-329	119	22	(	(	PUNCT
ijassa-329	119	23	)	)	PUNCT
ijassa-329	119	24	(	(	PUNCT
ijassa-329	119	25	3131	3131	NUM
ijassa-329	119	26	1111	1111	NUM
ijassa-329	119	27	ωωωω	ωωωω	NOUN
ijassa-329	119	28	+	+	PROPN
ijassa-329	119	29	+	+	ADJ
ijassa-329	119	30	+	+	ADJ
ijassa-329	119	31	=	=	ADJ
ijassa-329	119	32	+	+	NOUN
ijassa-329	119	33	=	=	ADJ
ijassa-329	119	34	…	…	PUNCT
ijassa-329	119	35	…	…	PUNCT
ijassa-329	119	36	jyyixxvvv	jyyixxvvv	NOUN
ijassa-329	119	37	bmbbmbbbmm	bmbbmbbbmm	NOUN
ijassa-329	119	38	iiii	iiii	PROPN
ijassa-329	119	39	)	)	PUNCT
ijassa-329	119	40	(	(	PUNCT
ijassa-329	119	41	)	)	PUNCT
ijassa-329	119	42	(	(	PUNCT
ijassa-329	119	43	3131	3131	NUM
ijassa-329	119	44	ωωωω	ωωωω	NOUN
ijassa-329	120	1	+	+	PROPN
ijassa-329	120	2	+	+	ADJ
ijassa-329	120	3	+	+	ADJ
ijassa-329	120	4	=	=	ADJ
ijassa-329	120	5	+	+	NOUN
ijassa-329	120	6	=	=	NOUN
ijassa-329	120	7	we	we	PRON
ijassa-329	120	8	can	can	AUX
ijassa-329	120	9	see	see	VERB
ijassa-329	120	10	from	from	ADP
ijassa-329	120	11	above	above	ADV
ijassa-329	120	12	,	,	PUNCT
ijassa-329	120	13	the	the	DET
ijassa-329	120	14	equation	equation	NOUN
ijassa-329	120	15	for	for	ADP
ijassa-329	120	16	any	any	DET
ijassa-329	120	17	point	point	NOUN
ijassa-329	120	18	mi	mi	PROPN
ijassa-329	120	19	is	be	AUX
ijassa-329	120	20	the	the	DET
ijassa-329	120	21	same	same	ADJ
ijassa-329	120	22	as	as	ADP
ijassa-329	120	23	for	for	ADP
ijassa-329	120	24	point	point	NOUN
ijassa-329	120	25	m1	m1	NOUN
ijassa-329	120	26	,	,	PUNCT
ijassa-329	120	27	so	so	ADV
ijassa-329	120	28	is	be	AUX
ijassa-329	120	29	the	the	DET
ijassa-329	120	30	program	program	NOUN
ijassa-329	120	31	.	.	PUNCT
ijassa-329	121	1	similarly	similarly	ADV
ijassa-329	121	2	,	,	PUNCT
ijassa-329	121	3	the	the	DET
ijassa-329	121	4	calculation	calculation	NOUN
ijassa-329	121	5	of	of	ADP
ijassa-329	121	6	acceleration	acceleration	NOUN
ijassa-329	121	7	velocity	velocity	NOUN
ijassa-329	121	8	also	also	ADV
ijassa-329	121	9	has	have	VERB
ijassa-329	121	10	common	common	ADJ
ijassa-329	121	11	calculation	calculation	NOUN
ijassa-329	121	12	equation	equation	NOUN
ijassa-329	121	13	and	and	CCONJ
ijassa-329	121	14	program	program	NOUN
ijassa-329	121	15	.	.	PUNCT
ijassa-329	122	1	the	the	DET
ijassa-329	122	2	basic	basic	ADJ
ijassa-329	122	3	process	process	NOUN
ijassa-329	122	4	to	to	PART
ijassa-329	122	5	establish	establish	VERB
ijassa-329	122	6	linkage	linkage	NOUN
ijassa-329	122	7	curve	curve	NOUN
ijassa-329	122	8	database	database	NOUN
ijassa-329	122	9	is	be	AUX
ijassa-329	122	10	:	:	PUNCT
ijassa-329	122	11	1)set	1)set	NUM
ijassa-329	122	12	linkage	linkage	NOUN
ijassa-329	122	13	basic	basic	ADJ
ijassa-329	122	14	size	size	NOUN
ijassa-329	122	15	r1,r2,r3,r4	r1,r2,r3,r4	PROPN
ijassa-329	122	16	,	,	PUNCT
ijassa-329	122	17	if	if	SCONJ
ijassa-329	122	18	only	only	ADJ
ijassa-329	122	19	proportion	proportion	NOUN
ijassa-329	122	20	factor	factor	NOUN
ijassa-329	122	21	matters	matter	VERB
ijassa-329	122	22	for	for	ADP
ijassa-329	122	23	curve	curve	NOUN
ijassa-329	122	24	character	character	NOUN
ijassa-329	122	25	calculation	calculation	NOUN
ijassa-329	122	26	,	,	PUNCT
ijassa-329	122	27	then	then	ADV
ijassa-329	122	28	suppose	suppose	VERB
ijassa-329	122	29	r2=1	r2=1	PROPN
ijassa-329	122	30	;	;	PUNCT
ijassa-329	122	31	2)set	2)set	NUM
ijassa-329	122	32	position	position	NOUN
ijassa-329	122	33	parameter	parameter	NOUN
ijassa-329	122	34	rrmi	rrmi	NOUN
ijassa-329	122	35	of	of	ADP
ijassa-329	122	36	point	point	NOUN
ijassa-329	122	37	m	m	NOUN
ijassa-329	122	38	;	;	PUNCT
ijassa-329	122	39	3)use	3)use	NUM
ijassa-329	122	40	plane	plane	NOUN
ijassa-329	122	41	linkage	linkage	NOUN
ijassa-329	122	42	kinematics	kinematic	NOUN
ijassa-329	122	43	based	base	VERB
ijassa-329	122	44	on	on	ADP
ijassa-329	122	45	basic	basic	ADJ
ijassa-329	122	46	lever	lever	NOUN
ijassa-329	122	47	group	group	NOUN
ijassa-329	122	48	and	and	CCONJ
ijassa-329	122	49	single	single	ADJ
ijassa-329	122	50	automatic	automatic	ADJ
ijassa-329	122	51	identification	identification	NOUN
ijassa-329	122	52	to	to	PART
ijassa-329	122	53	analyze	analyze	VERB
ijassa-329	122	54	system	system	NOUN
ijassa-329	122	55	,	,	PUNCT
ijassa-329	122	56	and	and	CCONJ
ijassa-329	122	57	calculate	calculate	VERB
ijassa-329	122	58	the	the	DET
ijassa-329	122	59	overall	overall	ADJ
ijassa-329	122	60	motion	motion	NOUN
ijassa-329	122	61	rule	rule	NOUN
ijassa-329	122	62	of	of	ADP
ijassa-329	122	63	component	component	NOUN
ijassa-329	122	64	;	;	PUNCT
ijassa-329	122	65	4)calculate	4)calculate	NUM
ijassa-329	122	66	motion	motion	NOUN
ijassa-329	122	67	trajectory	trajectory	NOUN
ijassa-329	122	68	parameter	parameter	NOUN
ijassa-329	122	69	of	of	ADP
ijassa-329	122	70	point	point	NOUN
ijassa-329	122	71	m	m	NOUN
ijassa-329	122	72	;	;	PUNCT
ijassa-329	122	73	5)solve	5)solve	NUM
ijassa-329	122	74	character	character	NOUN
ijassa-329	122	75	parameter	parameter	NOUN
ijassa-329	122	76	t	t	PROPN
ijassa-329	122	77	for	for	ADP
ijassa-329	122	78	trajectory	trajectory	NOUN
ijassa-329	122	79	graph	graph	NOUN
ijassa-329	122	80	;	;	PUNCT
ijassa-329	122	81	6)store	6)store	NUM
ijassa-329	122	82	basic	basic	ADJ
ijassa-329	122	83	parameter	parameter	NOUN
ijassa-329	122	84	p	p	NOUN
ijassa-329	122	85	and	and	CCONJ
ijassa-329	122	86	character	character	NOUN
ijassa-329	122	87	parameter	parameter	PROPN
ijassa-329	122	88	t	t	PROPN
ijassa-329	122	89	according	accord	VERB
ijassa-329	122	90	to	to	ADP
ijassa-329	122	91	certain	certain	ADJ
ijassa-329	122	92	data	datum	NOUN
ijassa-329	122	93	group	group	NOUN
ijassa-329	122	94	grid1(n	grid1(n	NOUN
ijassa-329	122	95	,	,	PUNCT
ijassa-329	122	96	q	q	NOUN
ijassa-329	122	97	,	,	PUNCT
ijassa-329	122	98	l	l	NOUN
ijassa-329	122	99	)	)	PUNCT
ijassa-329	122	100	format	format	NOUN
ijassa-329	122	101	.	.	PUNCT
ijassa-329	123	1	repeat	repeat	VERB
ijassa-329	123	2	the	the	DET
ijassa-329	123	3	step	step	NOUN
ijassa-329	123	4	above	above	ADV
ijassa-329	123	5	,	,	PUNCT
ijassa-329	123	6	we	we	PRON
ijassa-329	123	7	can	can	AUX
ijassa-329	123	8	get	get	VERB
ijassa-329	123	9	character	character	NOUN
ijassa-329	123	10	parameter	parameter	NOUN
ijassa-329	123	11	database	database	NOUN
ijassa-329	123	12	of	of	ADP
ijassa-329	123	13	linkage	linkage	NOUN
ijassa-329	123	14	curve	curve	NOUN
ijassa-329	123	15	for	for	ADP
ijassa-329	123	16	different	different	ADJ
ijassa-329	123	17	linkage	linkage	NOUN
ijassa-329	123	18	and	and	CCONJ
ijassa-329	123	19	point	point	NOUN
ijassa-329	123	20	.	.	PUNCT
ijassa-329	124	1	7.conclusion	7.conclusion	NUM
ijassa-329	124	2	the	the	DET
ijassa-329	124	3	trajectory	trajectory	NOUN
ijassa-329	124	4	parameter	parameter	NOUN
ijassa-329	124	5	calculation	calculation	NOUN
ijassa-329	124	6	method	method	NOUN
ijassa-329	124	7	is	be	AUX
ijassa-329	124	8	based	base	VERB
ijassa-329	124	9	on	on	ADP
ijassa-329	124	10	motion	motion	NOUN
ijassa-329	124	11	relativity	relativity	NOUN
ijassa-329	124	12	and	and	CCONJ
ijassa-329	124	13	differential	differential	NOUN
ijassa-329	124	14	geometry	geometry	NOUN
ijassa-329	124	15	theory	theory	NOUN
ijassa-329	124	16	,	,	PUNCT
ijassa-329	124	17	which	which	PRON
ijassa-329	124	18	calculates	calculate	VERB
ijassa-329	124	19	points	point	NOUN
ijassa-329	124	20	group	group	NOUN
ijassa-329	124	21	motion	motion	NOUN
ijassa-329	124	22	parameter	parameter	NOUN
ijassa-329	124	23	.	.	PUNCT
ijassa-329	125	1	it	it	PRON
ijassa-329	125	2	takes	take	VERB
ijassa-329	125	3	full	full	ADJ
ijassa-329	125	4	advantage	advantage	NOUN
ijassa-329	125	5	of	of	ADP
ijassa-329	125	6	the	the	DET
ijassa-329	125	7	simple	simple	ADJ
ijassa-329	125	8	math	math	NOUN
ijassa-329	125	9	relationship	relationship	NOUN
ijassa-329	125	10	between	between	ADP
ijassa-329	125	11	local	local	ADJ
ijassa-329	125	12	coordinates	coordinate	NOUN
ijassa-329	125	13	and	and	CCONJ
ijassa-329	125	14	the	the	DET
ijassa-329	125	15	basing	base	VERB
ijassa-329	125	16	-	-	PUNCT
ijassa-329	125	17	point	point	NOUN
ijassa-329	125	18	and	and	CCONJ
ijassa-329	125	19	overall	overall	ADJ
ijassa-329	125	20	motion	motion	NOUN
ijassa-329	125	21	rule	rule	NOUN
ijassa-329	125	22	,	,	PUNCT
ijassa-329	125	23	which	which	PRON
ijassa-329	125	24	makes	make	VERB
ijassa-329	125	25	the	the	DET
ijassa-329	125	26	equation	equation	NOUN
ijassa-329	125	27	’s	’s	PART
ijassa-329	125	28	deduction	deduction	NOUN
ijassa-329	125	29	more	more	ADV
ijassa-329	125	30	simple	simple	ADJ
ijassa-329	125	31	,	,	PUNCT
ijassa-329	125	32	flexible	flexible	ADJ
ijassa-329	125	33	and	and	CCONJ
ijassa-329	125	34	systematic	systematic	ADJ
ijassa-329	125	35	,	,	PUNCT
ijassa-329	125	36	the	the	DET
ijassa-329	125	37	programming	programming	NOUN
ijassa-329	125	38	and	and	CCONJ
ijassa-329	125	39	accessing	access	VERB
ijassa-329	125	40	of	of	ADP
ijassa-329	125	41	subprogram	subprogram	NOUN
ijassa-329	125	42	more	more	ADV
ijassa-329	125	43	handy	handy	ADJ
ijassa-329	125	44	,	,	PUNCT
ijassa-329	125	45	and	and	CCONJ
ijassa-329	125	46	accessing	access	VERB
ijassa-329	125	47	of	of	ADP
ijassa-329	125	48	data	datum	NOUN
ijassa-329	125	49	and	and	CCONJ
ijassa-329	125	50	analysis	analysis	NOUN
ijassa-329	125	51	of	of	ADP
ijassa-329	125	52	graph	graph	NOUN
ijassa-329	125	53	more	more	ADV
ijassa-329	125	54	convenient	convenient	ADJ
ijassa-329	125	55	.	.	PUNCT
ijassa-329	126	1	local	local	ADJ
ijassa-329	126	2	coordinate	coordinate	NOUN
ijassa-329	126	3	makes	make	VERB
ijassa-329	126	4	it	it	PRON
ijassa-329	126	5	more	more	ADV
ijassa-329	126	6	simple	simple	ADJ
ijassa-329	126	7	to	to	PART
ijassa-329	126	8	construct	construct	VERB
ijassa-329	126	9	storage	storage	NOUN
ijassa-329	126	10	model	model	NOUN
ijassa-329	126	11	for	for	ADP
ijassa-329	126	12	linkage	linkage	NOUN
ijassa-329	126	13	size	size	NOUN
ijassa-329	126	14	information	information	NOUN
ijassa-329	126	15	.	.	PUNCT
ijassa-329	127	1	it	it	PRON
ijassa-329	127	2	makes	make	VERB
ijassa-329	127	3	the	the	DET
ijassa-329	127	4	best	good	ADJ
ijassa-329	127	5	of	of	ADP
ijassa-329	127	6	the	the	DET
ijassa-329	127	7	middle	middle	ADJ
ijassa-329	127	8	results	result	NOUN
ijassa-329	127	9	for	for	ADP
ijassa-329	127	10	calculation	calculation	NOUN
ijassa-329	127	11	,	,	PUNCT
ijassa-329	127	12	which	which	PRON
ijassa-329	127	13	reduced	reduce	VERB
ijassa-329	127	14	repetition	repetition	NOUN
ijassa-329	127	15	in	in	ADP
ijassa-329	127	16	point	point	NOUN
ijassa-329	127	17	group	group	NOUN
ijassa-329	127	18	trajectory	trajectory	NOUN
ijassa-329	127	19	parameter	parameter	NOUN
ijassa-329	127	20	calculation	calculation	NOUN
ijassa-329	127	21	.	.	PUNCT
ijassa-329	128	1	it	it	PRON
ijassa-329	128	2	’s	’	VERB
ijassa-329	128	3	a	a	DET
ijassa-329	128	4	very	very	ADV
ijassa-329	128	5	effective	effective	ADJ
ijassa-329	128	6	resolution	resolution	NOUN
ijassa-329	128	7	method	method	NOUN
ijassa-329	128	8	.	.	PUNCT
ijassa-329	129	1	acknowledgements	acknowledgement	NOUN
ijassa-329	129	2	the	the	DET
ijassa-329	129	3	project	project	NOUN
ijassa-329	129	4	is	be	AUX
ijassa-329	129	5	funded	fund	VERB
ijassa-329	129	6	by	by	ADP
ijassa-329	129	7	the	the	DET
ijassa-329	129	8	sichuan	sichuan	PROPN
ijassa-329	129	9	educational	educational	PROPN
ijassa-329	129	10	commission	commission	PROPN
ijassa-329	129	11	in	in	ADP
ijassa-329	129	12	the	the	DET
ijassa-329	129	13	area	area	NOUN
ijassa-329	129	14	of	of	ADP
ijassa-329	129	15	nature	nature	NOUN
ijassa-329	129	16	science	science	NOUN
ijassa-329	129	17	(	(	PUNCT
ijassa-329	129	18	contract	contract	NOUN
ijassa-329	129	19	no	no	INTJ
ijassa-329	129	20	.	.	PROPN
ijassa-329	129	21	2004a163	2004a163	NUM
ijassa-329	129	22	)	)	PUNCT
ijassa-329	129	23	.	.	PUNCT
ijassa-329	130	1	354	354	NUM
ijassa-329	130	2	xu	xu	PRON
ijassa-329	130	3	:	:	PUNCT
ijassa-329	130	4	group	group	NOUN
ijassa-329	130	5	link	link	NOUN
ijassa-329	130	6	gear	gear	NOUN
ijassa-329	130	7	locus	locus	NOUN
ijassa-329	130	8	modeling	modeling	NOUN
ijassa-329	130	9	based	base	VERB
ijassa-329	130	10	on	on	ADP
ijassa-329	130	11	motion	motion	NOUN
ijassa-329	130	12	relativity	relativity	NOUN
ijassa-329	130	13	references	reference	NOUN
ijassa-329	130	14	[	[	X
ijassa-329	130	15	1	1	NUM
ijassa-329	130	16	]	]	X
ijassa-329	130	17	zahn	zahn	PROPN
ijassa-329	130	18	c	c	PROPN
ijassa-329	130	19	t	t	PROPN
ijassa-329	130	20	,	,	PUNCT
ijassa-329	130	21	roskies	roskie	NOUN
ijassa-329	130	22	r	r	NOUN
ijassa-329	130	23	z.	z.	PROPN
ijassa-329	130	24	fourier	fourier	NOUN
ijassa-329	130	25	descriptors	descriptor	NOUN
ijassa-329	130	26	for	for	ADP
ijassa-329	130	27	plane	plane	NOUN
ijassa-329	130	28	closed	close	VERB
ijassa-329	130	29	curves	curve	NOUN
ijassa-329	130	30	.	.	PUNCT
ijassa-329	131	1	ieee	ieee	NOUN
ijassa-329	131	2	transaction	transaction	NOUN
ijassa-329	131	3	on	on	ADP
ijassa-329	131	4	pattern	pattern	NOUN
ijassa-329	131	5	analysis	analysis	NOUN
ijassa-329	131	6	and	and	CCONJ
ijassa-329	131	7	machine	machine	NOUN
ijassa-329	131	8	intelligence	intelligence	NOUN
ijassa-329	131	9	.	.	PUNCT
ijassa-329	132	1	c-21(3	c-21(3	VERB
ijassa-329	132	2	)	)	PUNCT
ijassa-329	132	3	(	(	PUNCT
ijassa-329	132	4	1992):269~281	1992):269~281	X
ijassa-329	132	5	.	.	PUNCT
ijassa-329	133	1	[	[	X
ijassa-329	133	2	2	2	NUM
ijassa-329	133	3	]	]	PUNCT
ijassa-329	133	4	francois	francois	NOUN
ijassa-329	133	5	isnard	isnard	PROPN
ijassa-329	133	6	,	,	PUNCT
ijassa-329	133	7	gordon	gordon	PROPN
ijassa-329	133	8	dodds	dodd	VERB
ijassa-329	133	9	.	.	PUNCT
ijassa-329	134	1	dynamic	dynamic	ADJ
ijassa-329	134	2	positioning	positioning	NOUN
ijassa-329	134	3	ofclosed	ofclose	VERB
ijassa-329	134	4	chain	chain	NOUN
ijassa-329	134	5	robot	robot	NOUN
ijassa-329	134	6	mechanisms	mechanism	NOUN
ijassa-329	134	7	in	in	ADP
ijassa-329	134	8	virtual	virtual	ADJ
ijassa-329	134	9	reality	reality	NOUN
ijassa-329	134	10	environments	environment	NOUN
ijassa-329	134	11	.	.	PUNCT
ijassa-329	135	1	international	international	ADJ
ijassa-329	135	2	conference	conference	NOUN
ijassa-329	135	3	on	on	ADP
ijassa-329	135	4	intelligent	intelligent	ADJ
ijassa-329	135	5	robots	robot	NOUN
ijassa-329	135	6	and	and	CCONJ
ijassa-329	135	7	systems	system	NOUN
ijassa-329	135	8	,	,	PUNCT
ijassa-329	135	9	victoria	victoria	PROPN
ijassa-329	135	10	,	,	PUNCT
ijassa-329	135	11	b.	b.	PROPN
ijassa-329	135	12	c.	c.	PROPN
ijassa-329	135	13	,	,	PUNCT
ijassa-329	135	14	canada	canada	PROPN
ijassa-329	135	15	,	,	PUNCT
ijassa-329	135	16	1998	1998	NUM
ijassa-329	135	17	.	.	PUNCT
ijassa-329	136	1	[	[	X
ijassa-329	136	2	3	3	NUM
ijassa-329	136	3	]	]	X
ijassa-329	136	4	luokang	luokang	NOUN
ijassa-329	136	5	,	,	PUNCT
ijassa-329	136	6	xiongnan	xiongnan	PROPN
ijassa-329	136	7	the	the	DET
ijassa-329	136	8	structure	structure	NOUN
ijassa-329	136	9	identification	identification	NOUN
ijassa-329	136	10	of	of	ADP
ijassa-329	136	11	link	link	NOUN
ijassa-329	136	12	gear	gear	NOUN
ijassa-329	136	13	based	base	VERB
ijassa-329	136	14	on	on	ADP
ijassa-329	136	15	connected	connected	ADJ
ijassa-329	136	16	matrix	matrix	NOUN
ijassa-329	136	17	aggregtion	aggregtion	NOUN
ijassa-329	136	18	operation	operation	NOUN
ijassa-329	136	19	,	,	PUNCT
ijassa-329	136	20	sichuan	sichuan	PROPN
ijassa-329	136	21	industry	industry	PROPN
ijassa-329	136	22	technology	technology	PROPN
ijassa-329	136	23	college	college	NOUN
ijassa-329	136	24	scientific	scientific	ADJ
ijassa-329	136	25	journal	journal	NOUN
ijassa-329	136	26	,	,	PUNCT
ijassa-329	136	27	19	19	NUM
ijassa-329	136	28	(	(	PUNCT
ijassa-329	136	29	2	2	NUM
ijassa-329	136	30	)	)	PUNCT
ijassa-329	136	31	(	(	PUNCT
ijassa-329	136	32	2000	2000	NUM
ijassa-329	136	33	)	)	PUNCT
ijassa-329	137	1	35∶	35∶	NUM
ijassa-329	137	2	～	～	NOUN
ijassa-329	137	3	37	37	NUM
ijassa-329	137	4	.	.	PUNCT
ijassa-329	138	1	[	[	X
ijassa-329	138	2	4	4	X
ijassa-329	138	3	]	]	X
ijassa-329	138	4	wang	wang	PROPN
ijassa-329	138	5	shuang	shuang	PROPN
ijassa-329	138	6	.	.	PUNCT
ijassa-329	138	7	functional	functional	ADJ
ijassa-329	138	8	analysis	analysis	NOUN
ijassa-329	138	9	and	and	CCONJ
ijassa-329	138	10	optimization	optimization	NOUN
ijassa-329	138	11	theory	theory	NOUN
ijassa-329	138	12	[	[	X
ijassa-329	138	13	m	m	X
ijassa-329	138	14	]	]	X
ijassa-329	138	15	.	.	PUNCT
ijassa-329	139	1	beijing	beijing	PROPN
ijassa-329	139	2	:	:	PUNCT
ijassa-329	139	3	beijing	beijing	PROPN
ijassa-329	139	4	aerospace	aerospace	PROPN
ijassa-329	139	5	university	university	PROPN
ijassa-329	139	6	press	press	NOUN
ijassa-329	139	7	,	,	PUNCT
ijassa-329	139	8	2004	2004	NUM
ijassa-329	139	9	.	.	PUNCT
ijassa-329	140	1	[	[	X
ijassa-329	140	2	5	5	NUM
ijassa-329	140	3	]	]	PUNCT
ijassa-329	140	4	isnard	isnard	PROPN
ijassa-329	140	5	f	f	PROPN
ijassa-329	140	6	,	,	PUNCT
ijassa-329	140	7	dodds	dodds	PROPN
ijassa-329	140	8	g	g	PROPN
ijassa-329	140	9	,	,	PUNCT
ijassa-329	140	10	claude	claude	PROPN
ijassa-329	140	11	vallée	vallée	NOUN
ijassa-329	140	12	.	.	PUNCT
ijassa-329	141	1	efficient	efficient	ADJ
ijassa-329	141	2	multi	multi	ADJ
ijassa-329	141	3	arm	arm	NOUN
ijassa-329	141	4	closed	close	VERB
ijassa-329	141	5	chain	chain	NOUN
ijassa-329	141	6	dynamics	dynamic	NOUN
ijassa-329	141	7	computation	computation	NOUN
ijassa-329	141	8	for	for	ADP
ijassa-329	141	9	visualisation	visualisation	NOUN
ijassa-329	141	10	.	.	PUNCT
ijassa-329	142	1	international	international	ADJ
ijassa-329	142	2	conference	conference	NOUN
ijassa-329	142	3	on	on	ADP
ijassa-329	142	4	intelligent	intelligent	ADJ
ijassa-329	142	5	robots	robot	NOUN
ijassa-329	142	6	and	and	CCONJ
ijassa-329	142	7	sys2	sys2	VERB
ijassa-329	142	8	tems	tem	NOUN
ijassa-329	142	9	,	,	PUNCT
ijassa-329	142	10	grenoble	grenoble	ADJ
ijassa-329	142	11	,	,	PUNCT
ijassa-329	142	12	france	france	PROPN
ijassa-329	142	13	,	,	PUNCT
ijassa-329	142	14	1997	1997	NUM
ijassa-329	142	15	.	.	PUNCT