id	sid	tid	token	lemma	pos
alkej-528	1	1	al	al	PROPN
alkej-528	1	2	-	-	PUNCT
alkej-528	1	3	khwarizmi	khwarizmi	PROPN
alkej-528	1	4	engineering	engineering	PROPN
alkej-528	1	5	journal	journal	PROPN
alkej-528	1	6	al	al	PROPN
alkej-528	1	7	-	-	PUNCT
alkej-528	1	8	khwarizmi	khwarizmi	PROPN
alkej-528	1	9	engineering	engineering	NOUN
alkej-528	1	10	journal	journal	PROPN
alkej-528	1	11	,	,	PUNCT
alkej-528	1	12	vol.4	vol.4	PROPN
alkej-528	1	13	,	,	PUNCT
alkej-528	1	14	no.1	no.1	X
alkej-528	1	15	,	,	PUNCT
alkej-528	1	16	pp	pp	ADP
alkej-528	1	17	1726	1726	NUM
alkej-528	1	18	(	(	PUNCT
alkej-528	1	19	2008	2008	NUM
alkej-528	1	20	)	)	PUNCT
alkej-528	1	21	minimizing	minimize	VERB
alkej-528	1	22	error	error	NOUN
alkej-528	1	23	in	in	ADP
alkej-528	1	24	robot	robot	NOUN
alkej-528	1	25	arm	arm	NOUN
alkej-528	1	26	based	base	VERB
alkej-528	1	27	on	on	ADP
alkej-528	1	28	design	design	NOUN
alkej-528	1	29	optimization	optimization	NOUN
alkej-528	1	30	for	for	ADP
alkej-528	1	31	high	high	ADJ
alkej-528	1	32	stiffness	stiffness	NOUN
alkej-528	1	33	to	to	ADP
alkej-528	1	34	weight	weight	NOUN
alkej-528	1	35	ratio	ratio	NOUN
alkej-528	1	36	.	.	PUNCT
alkej-528	2	1	ahmed	ahmed	PROPN
alkej-528	2	2	abdul	abdul	PROPN
alkej-528	2	3	hussain	hussain	PROPN
alkej-528	2	4	ali	ali	PROPN
alkej-528	2	5	university	university	PROPN
alkej-528	2	6	of	of	ADP
alkej-528	2	7	baghdad	baghdad	PROPN
alkej-528	2	8	college	college	PROPN
alkej-528	2	9	of	of	ADP
alkej-528	2	10	engineering	engineering	NOUN
alkej-528	2	11	,	,	PUNCT
alkej-528	2	12	mech	mech	NOUN
alkej-528	2	13	.	.	PUNCT
alkej-528	3	1	department	department	PROPN
alkej-528	3	2	(	(	PUNCT
alkej-528	3	3	received	receive	VERB
alkej-528	3	4	8	8	NUM
alkej-528	3	5	may	may	PROPN
alkej-528	3	6	2007	2007	NUM
alkej-528	3	7	;	;	PUNCT
alkej-528	3	8	accepted	accept	VERB
alkej-528	3	9	3	3	NUM
alkej-528	3	10	december	december	PROPN
alkej-528	3	11	2007	2007	NUM
alkej-528	3	12	)	)	PUNCT
alkej-528	3	13	abstract	abstract	NOUN
alkej-528	3	14	:	:	PUNCT
alkej-528	3	15	in	in	ADP
alkej-528	3	16	this	this	DET
alkej-528	3	17	work	work	NOUN
alkej-528	3	18	the	the	DET
alkej-528	3	19	effect	effect	NOUN
alkej-528	3	20	of	of	ADP
alkej-528	3	21	choosing	choose	VERB
alkej-528	3	22	tri	tri	ADJ
alkej-528	3	23	-	-	ADJ
alkej-528	3	24	circular	circular	ADJ
alkej-528	3	25	tube	tube	NOUN
alkej-528	3	26	section	section	NOUN
alkej-528	3	27	had	have	AUX
alkej-528	3	28	been	be	AUX
alkej-528	3	29	addressed	address	VERB
alkej-528	3	30	to	to	PART
alkej-528	3	31	minimize	minimize	VERB
alkej-528	3	32	the	the	DET
alkej-528	3	33	end	end	NOUN
alkej-528	3	34	effector	effector	NOUN
alkej-528	3	35	’s	’s	PART
alkej-528	3	36	error	error	NOUN
alkej-528	3	37	,	,	PUNCT
alkej-528	3	38	a	a	DET
alkej-528	3	39	comparison	comparison	NOUN
alkej-528	3	40	had	have	AUX
alkej-528	3	41	been	be	AUX
alkej-528	3	42	made	make	VERB
alkej-528	3	43	between	between	ADP
alkej-528	3	44	the	the	DET
alkej-528	3	45	tri	tri	ADJ
alkej-528	3	46	-	-	ADJ
alkej-528	3	47	tube	tube	ADJ
alkej-528	3	48	section	section	NOUN
alkej-528	3	49	and	and	CCONJ
alkej-528	3	50	the	the	DET
alkej-528	3	51	traditional	traditional	ADJ
alkej-528	3	52	square	square	PROPN
alkej-528	3	53	cross	cross	PROPN
alkej-528	3	54	section	section	NOUN
alkej-528	3	55	for	for	ADP
alkej-528	3	56	a	a	DET
alkej-528	3	57	robot	robot	NOUN
alkej-528	3	58	arm	arm	NOUN
alkej-528	3	59	,	,	PUNCT
alkej-528	3	60	the	the	DET
alkej-528	3	61	study	study	NOUN
alkej-528	3	62	shows	show	VERB
alkej-528	3	63	that	that	SCONJ
alkej-528	3	64	for	for	ADP
alkej-528	3	65	the	the	DET
alkej-528	3	66	same	same	ADJ
alkej-528	3	67	weight	weight	NOUN
alkej-528	3	68	of	of	ADP
alkej-528	3	69	square	square	ADJ
alkej-528	3	70	section	section	NOUN
alkej-528	3	71	and	and	CCONJ
alkej-528	3	72	tritube	tritube	NOUN
alkej-528	3	73	section	section	NOUN
alkej-528	3	74	the	the	DET
alkej-528	3	75	error	error	NOUN
alkej-528	3	76	may	may	AUX
alkej-528	3	77	be	be	AUX
alkej-528	3	78	reduced	reduce	VERB
alkej-528	3	79	by	by	ADP
alkej-528	3	80	about	about	ADV
alkej-528	3	81	33	33	NUM
alkej-528	3	82	%	%	NOUN
alkej-528	3	83	.	.	PUNCT
alkej-528	4	1	a	a	DET
alkej-528	4	2	program	program	NOUN
alkej-528	4	3	had	have	AUX
alkej-528	4	4	been	be	AUX
alkej-528	4	5	built	build	VERB
alkej-528	4	6	up	up	ADP
alkej-528	4	7	by	by	ADP
alkej-528	4	8	the	the	DET
alkej-528	4	9	use	use	NOUN
alkej-528	4	10	of	of	ADP
alkej-528	4	11	mathcad	mathcad	PROPN
alkej-528	4	12	software	software	PROPN
alkej-528	4	13	to	to	PART
alkej-528	4	14	calculate	calculate	VERB
alkej-528	4	15	the	the	DET
alkej-528	4	16	minimum	minimum	ADJ
alkej-528	4	17	weight	weight	NOUN
alkej-528	4	18	of	of	ADP
alkej-528	4	19	a	a	DET
alkej-528	4	20	square	square	ADJ
alkej-528	4	21	section	section	NOUN
alkej-528	4	22	robot	robot	NOUN
alkej-528	4	23	arm	arm	NOUN
alkej-528	4	24	that	that	PRON
alkej-528	4	25	could	could	AUX
alkej-528	4	26	with	with	AUX
alkej-528	4	27	stand	stand	VERB
alkej-528	4	28	a	a	DET
alkej-528	4	29	given	give	VERB
alkej-528	4	30	pay	pay	NOUN
alkej-528	4	31	load	load	NOUN
alkej-528	4	32	and	and	CCONJ
alkej-528	4	33	gives	give	VERB
alkej-528	4	34	a	a	DET
alkej-528	4	35	minimum	minimum	ADJ
alkej-528	4	36	deflection	deflection	NOUN
alkej-528	4	37	.	.	PUNCT
alkej-528	5	1	the	the	DET
alkej-528	5	2	second	second	ADJ
alkej-528	5	3	part	part	NOUN
alkej-528	5	4	of	of	ADP
alkej-528	5	5	the	the	DET
alkej-528	5	6	program	program	NOUN
alkej-528	5	7	makes	make	VERB
alkej-528	5	8	an	an	DET
alkej-528	5	9	optimization	optimization	NOUN
alkej-528	5	10	process	process	NOUN
alkej-528	5	11	for	for	ADP
alkej-528	5	12	the	the	DET
alkej-528	5	13	dimension	dimension	NOUN
alkej-528	5	14	of	of	ADP
alkej-528	5	15	the	the	DET
alkej-528	5	16	cross	cross	NOUN
alkej-528	5	17	section	section	NOUN
alkej-528	5	18	and	and	CCONJ
alkej-528	5	19	gives	give	VERB
alkej-528	5	20	the	the	DET
alkej-528	5	21	dimensions	dimension	NOUN
alkej-528	5	22	of	of	ADP
alkej-528	5	23	the	the	DET
alkej-528	5	24	tri	tri	ADJ
alkej-528	5	25	-	-	ADJ
alkej-528	5	26	circular	circular	ADJ
alkej-528	5	27	tube	tube	NOUN
alkej-528	5	28	cross	cross	NOUN
alkej-528	5	29	section	section	NOUN
alkej-528	5	30	that	that	PRON
alkej-528	5	31	have	have	VERB
alkej-528	5	32	the	the	DET
alkej-528	5	33	same	same	ADJ
alkej-528	5	34	weight	weight	NOUN
alkej-528	5	35	of	of	ADP
alkej-528	5	36	the	the	DET
alkej-528	5	37	corresponding	corresponding	ADJ
alkej-528	5	38	square	square	ADJ
alkej-528	5	39	section	section	NOUN
alkej-528	5	40	but	but	CCONJ
alkej-528	5	41	with	with	ADP
alkej-528	5	42	less	less	ADJ
alkej-528	5	43	deflection	deflection	NOUN
alkej-528	5	44	.	.	PUNCT
alkej-528	6	1	key	key	ADJ
alkej-528	6	2	word	word	NOUN
alkej-528	6	3	:	:	PUNCT
alkej-528	6	4	robot	robot	NOUN
alkej-528	6	5	arm	arm	NOUN
alkej-528	6	6	stiffness	stiffness	NOUN
alkej-528	6	7	,	,	PUNCT
alkej-528	6	8	flexible	flexible	ADJ
alkej-528	6	9	manipulator	manipulator	NOUN
alkej-528	6	10	,	,	PUNCT
alkej-528	6	11	robot	robot	NOUN
alkej-528	6	12	structure	structure	NOUN
alkej-528	6	13	analysis	analysis	NOUN
alkej-528	6	14	,	,	PUNCT
alkej-528	6	15	flexible	flexible	ADJ
alkej-528	6	16	link	link	NOUN
alkej-528	6	17	robot	robot	NOUN
alkej-528	6	18	.	.	PUNCT
alkej-528	7	1	introduction	introduction	NOUN
alkej-528	7	2	:	:	PUNCT
alkej-528	7	3	the	the	DET
alkej-528	7	4	links	link	NOUN
alkej-528	7	5	of	of	ADP
alkej-528	7	6	serial	serial	ADJ
alkej-528	7	7	manipulators	manipulator	NOUN
alkej-528	7	8	are	be	AUX
alkej-528	7	9	usually	usually	ADV
alkej-528	7	10	over	over	ADP
alkej-528	7	11	designed	design	VERB
alkej-528	7	12	in	in	ADP
alkej-528	7	13	order	order	NOUN
alkej-528	7	14	to	to	PART
alkej-528	7	15	be	be	AUX
alkej-528	7	16	able	able	ADJ
alkej-528	7	17	to	to	PART
alkej-528	7	18	support	support	VERB
alkej-528	7	19	the	the	DET
alkej-528	7	20	subsequent	subsequent	ADJ
alkej-528	7	21	links	link	NOUN
alkej-528	7	22	on	on	ADP
alkej-528	7	23	the	the	DET
alkej-528	7	24	chain	chain	NOUN
alkej-528	7	25	and	and	CCONJ
alkej-528	7	26	the	the	DET
alkej-528	7	27	pay	pay	NOUN
alkej-528	7	28	load	load	NOUN
alkej-528	7	29	to	to	PART
alkej-528	7	30	be	be	AUX
alkej-528	7	31	manipulated	manipulate	VERB
alkej-528	7	32	.	.	PUNCT
alkej-528	8	1	however	however	ADV
alkej-528	8	2	,	,	PUNCT
alkej-528	8	3	increasing	increase	VERB
alkej-528	8	4	the	the	DET
alkej-528	8	5	size	size	NOUN
alkej-528	8	6	of	of	ADP
alkej-528	8	7	the	the	DET
alkej-528	8	8	links	link	NOUN
alkej-528	8	9	unnecessarily	unnecessarily	ADV
alkej-528	8	10	requires	require	VERB
alkej-528	8	11	the	the	DET
alkej-528	8	12	use	use	NOUN
alkej-528	8	13	of	of	ADP
alkej-528	8	14	larger	large	ADJ
alkej-528	8	15	actuators	actuator	NOUN
alkej-528	8	16	resulting	result	VERB
alkej-528	8	17	in	in	ADP
alkej-528	8	18	higher	high	ADJ
alkej-528	8	19	power	power	NOUN
alkej-528	8	20	requirements	requirement	NOUN
alkej-528	8	21	.	.	PUNCT
alkej-528	9	1	optimum	optimum	ADJ
alkej-528	9	2	robot	robot	NOUN
alkej-528	9	3	design	design	NOUN
alkej-528	9	4	has	have	AUX
alkej-528	9	5	been	be	AUX
alkej-528	9	6	addressed	address	VERB
alkej-528	9	7	by	by	ADP
alkej-528	9	8	many	many	ADJ
alkej-528	9	9	researchers	researcher	NOUN
alkej-528	9	10	as	as	SCONJ
alkej-528	9	11	found	find	VERB
alkej-528	9	12	in	in	ADP
alkej-528	9	13	the	the	DET
alkej-528	9	14	open	open	ADJ
alkej-528	9	15	literature	literature	NOUN
alkej-528	9	16	;	;	PUNCT
alkej-528	9	17	shiakolas	shiakola	NOUN
alkej-528	9	18	and	and	CCONJ
alkej-528	9	19	koladiye	koladiye	NOUN
alkej-528	9	20	[	[	X
alkej-528	9	21	1	1	X
alkej-528	9	22	]	]	PUNCT
alkej-528	9	23	discuss	discuss	VERB
alkej-528	9	24	the	the	DET
alkej-528	9	25	application	application	NOUN
alkej-528	9	26	and	and	CCONJ
alkej-528	9	27	comparison	comparison	NOUN
alkej-528	9	28	of	of	ADP
alkej-528	9	29	the	the	DET
alkej-528	9	30	evolutionary	evolutionary	ADJ
alkej-528	9	31	techniques	technique	NOUN
alkej-528	9	32	for	for	ADP
alkej-528	9	33	optimum	optimum	ADJ
alkej-528	9	34	design	design	NOUN
alkej-528	9	35	of	of	ADP
alkej-528	9	36	serial	serial	ADJ
alkej-528	9	37	link	link	NOUN
alkej-528	9	38	robot	robot	NOUN
alkej-528	9	39	manipulators	manipulator	NOUN
alkej-528	9	40	based	base	VERB
alkej-528	9	41	on	on	ADP
alkej-528	9	42	task	task	NOUN
alkej-528	9	43	specifications	specification	NOUN
alkej-528	9	44	.	.	PUNCT
alkej-528	10	1	the	the	DET
alkej-528	10	2	objective	objective	ADJ
alkej-528	10	3	function	function	NOUN
alkej-528	10	4	minimizes	minimize	VERB
alkej-528	10	5	the	the	DET
alkej-528	10	6	required	require	VERB
alkej-528	10	7	torque	torque	NOUN
alkej-528	10	8	for	for	ADP
alkej-528	10	9	a	a	DET
alkej-528	10	10	defined	define	VERB
alkej-528	10	11	motion	motion	NOUN
alkej-528	10	12	subjected	subject	VERB
alkej-528	10	13	to	to	ADP
alkej-528	10	14	various	various	ADJ
alkej-528	10	15	constraints	constraint	NOUN
alkej-528	10	16	which	which	PRON
alkej-528	10	17	considering	consider	VERB
alkej-528	10	18	kinematics	kinematic	NOUN
alkej-528	10	19	,	,	PUNCT
alkej-528	10	20	dynamic	dynamic	ADJ
alkej-528	10	21	and	and	CCONJ
alkej-528	10	22	structural	structural	ADJ
alkej-528	10	23	conditions	condition	NOUN
alkej-528	10	24	.	.	PUNCT
alkej-528	11	1	the	the	DET
alkej-528	11	2	design	design	NOUN
alkej-528	11	3	variables	variable	NOUN
alkej-528	11	4	examined	examine	VERB
alkej-528	11	5	are	be	AUX
alkej-528	11	6	the	the	DET
alkej-528	11	7	link	link	NOUN
alkej-528	11	8	parameters	parameter	NOUN
alkej-528	11	9	and	and	CCONJ
alkej-528	11	10	the	the	DET
alkej-528	11	11	link	link	PROPN
alkej-528	11	12	cross	cross	PROPN
alkej-528	11	13	sectional	sectional	PROPN
alkej-528	11	14	characteristics	characteristic	NOUN
alkej-528	11	15	,	,	PUNCT
alkej-528	11	16	the	the	DET
alkej-528	11	17	developed	develop	VERB
alkej-528	11	18	environment	environment	NOUN
alkej-528	11	19	was	be	AUX
alkej-528	11	20	employed	employ	VERB
alkej-528	11	21	in	in	ADP
alkej-528	11	22	optimizing	optimize	VERB
alkej-528	11	23	the	the	DET
alkej-528	11	24	design	design	NOUN
alkej-528	11	25	variables	variable	NOUN
alkej-528	11	26	for	for	ADP
alkej-528	11	27	a	a	DET
alkej-528	11	28	scara	scara	NOUN
alkej-528	11	29	and	and	CCONJ
alkej-528	11	30	an	an	DET
alkej-528	11	31	articulated	articulated	ADJ
alkej-528	11	32	3	3	NUM
alkej-528	11	33	-	-	PUNCT
alkej-528	11	34	dof	dof	ADJ
alkej-528	11	35	puma	puma	NOUN
alkej-528	11	36	type	type	NOUN
alkej-528	11	37	manipulators	manipulator	NOUN
alkej-528	11	38	.	.	PUNCT
alkej-528	12	1	in	in	ADP
alkej-528	12	2	the	the	DET
alkej-528	12	3	work	work	NOUN
alkej-528	12	4	developed	develop	VERB
alkej-528	12	5	by	by	ADP
alkej-528	12	6	marcus	marcus	PROPN
alkej-528	12	7	pettersson	pettersson	PROPN
alkej-528	12	8	et	et	PROPN
alkej-528	12	9	al	al	PROPN
alkej-528	12	10	.	.	PUNCT
alkej-528	13	1	[	[	X
alkej-528	13	2	2	2	X
alkej-528	13	3	]	]	PUNCT
alkej-528	13	4	an	an	DET
alkej-528	13	5	optimization	optimization	NOUN
alkej-528	13	6	problem	problem	NOUN
alkej-528	13	7	are	be	AUX
alkej-528	13	8	formulated	formulate	VERB
alkej-528	13	9	to	to	PART
alkej-528	13	10	minimize	minimize	VERB
alkej-528	13	11	the	the	DET
alkej-528	13	12	weight	weight	NOUN
alkej-528	13	13	of	of	ADP
alkej-528	13	14	the	the	DET
alkej-528	13	15	gearboxes	gearbox	NOUN
alkej-528	13	16	,	,	PUNCT
alkej-528	13	17	by	by	ADP
alkej-528	13	18	choosing	choose	VERB
alkej-528	13	19	different	different	ADJ
alkej-528	13	20	discrete	discrete	ADJ
alkej-528	13	21	gear	gear	NOUN
alkej-528	13	22	boxes	box	NOUN
alkej-528	13	23	,	,	PUNCT
alkej-528	13	24	and	and	CCONJ
alkej-528	13	25	changing	change	VERB
alkej-528	13	26	the	the	DET
alkej-528	13	27	lengths	length	NOUN
alkej-528	13	28	of	of	ADP
alkej-528	13	29	the	the	DET
alkej-528	13	30	arms	arm	NOUN
alkej-528	13	31	continuously	continuously	ADV
alkej-528	13	32	,	,	PUNCT
alkej-528	13	33	subjected	subject	VERB
alkej-528	13	34	to	to	ADP
alkej-528	13	35	a	a	DET
alkej-528	13	36	few	few	ADJ
alkej-528	13	37	requirements	requirement	NOUN
alkej-528	13	38	on	on	ADP
alkej-528	13	39	acceleration	acceleration	NOUN
alkej-528	13	40	capability	capability	NOUN
alkej-528	13	41	reach	reach	NOUN
alkej-528	13	42	and	and	CCONJ
alkej-528	13	43	pay	pay	VERB
alkej-528	13	44	load	load	NOUN
alkej-528	13	45	capacity	capacity	NOUN
alkej-528	13	46	.	.	PUNCT
alkej-528	14	1	analysis	analysis	NOUN
alkej-528	14	2	of	of	ADP
alkej-528	14	3	stiffness	stiffness	NOUN
alkej-528	14	4	of	of	ADP
alkej-528	14	5	manipulator	manipulator	NOUN
alkej-528	14	6	link	link	NOUN
alkej-528	14	7	can	can	AUX
alkej-528	14	8	be	be	AUX
alkej-528	14	9	found	find	VERB
alkej-528	14	10	in	in	ADP
alkej-528	14	11	abdel	abdel	PROPN
alkej-528	14	12	malek	malek	PROPN
alkej-528	14	13	,	,	PUNCT
alkej-528	14	14	k.	k.	PROPN
alkej-528	14	15	and	and	CCONJ
alkej-528	14	16	paul	paul	PROPN
alkej-528	14	17	,	,	PUNCT
alkej-528	14	18	b.[3	b.[3	PROPN
alkej-528	14	19	]	]	PUNCT
alkej-528	14	20	where	where	SCONJ
alkej-528	14	21	aspects	aspect	NOUN
alkej-528	14	22	of	of	ADP
alkej-528	14	23	the	the	DET
alkej-528	14	24	structural	structural	ADJ
alkej-528	14	25	design	design	NOUN
alkej-528	14	26	of	of	ADP
alkej-528	14	27	the	the	DET
alkej-528	14	28	manipulator	manipulator	NOUN
alkej-528	14	29	arm	arm	NOUN
alkej-528	14	30	are	be	AUX
alkej-528	14	31	presented	present	VERB
alkej-528	14	32	.	.	PUNCT
alkej-528	15	1	prismatic	prismatic	ADJ
alkej-528	15	2	joints	joint	NOUN
alkej-528	15	3	of	of	ADP
alkej-528	15	4	manipulator	manipulator	NOUN
alkej-528	15	5	arm	arm	NOUN
alkej-528	15	6	are	be	AUX
alkej-528	15	7	based	base	VERB
alkej-528	15	8	upon	upon	SCONJ
alkej-528	15	9	a	a	DET
alkej-528	15	10	cross	cross	ADJ
alkej-528	15	11	sectional	sectional	ADJ
alkej-528	15	12	design	design	NOUN
alkej-528	15	13	of	of	ADP
alkej-528	15	14	the	the	DET
alkej-528	15	15	links	link	NOUN
alkej-528	15	16	that	that	PRON
alkej-528	15	17	provides	provide	VERB
alkej-528	15	18	a	a	DET
alkej-528	15	19	high	high	ADJ
alkej-528	15	20	stiffness	stiffness	NOUN
alkej-528	15	21	to	to	ADP
alkej-528	15	22	weight	weight	NOUN
alkej-528	15	23	ratio	ratio	NOUN
alkej-528	15	24	compared	compare	VERB
alkej-528	15	25	with	with	ADP
alkej-528	15	26	a	a	DET
alkej-528	15	27	hollow	hollow	ADJ
alkej-528	15	28	round	round	NOUN
alkej-528	15	29	crosssection	crosssection	NOUN
alkej-528	15	30	.	.	PUNCT
alkej-528	16	1	the	the	DET
alkej-528	16	2	case	case	NOUN
alkej-528	16	3	that	that	SCONJ
alkej-528	16	4	we	we	PRON
alkej-528	16	5	study	study	VERB
alkej-528	16	6	in	in	ADP
alkej-528	16	7	this	this	DET
alkej-528	16	8	work	work	NOUN
alkej-528	16	9	is	be	AUX
alkej-528	16	10	the	the	DET
alkej-528	16	11	robot	robot	NOUN
alkej-528	16	12	that	that	PRON
alkej-528	16	13	consists	consist	VERB
alkej-528	16	14	of	of	ADP
alkej-528	16	15	three	three	NUM
alkej-528	16	16	arms	arm	NOUN
alkej-528	16	17	as	as	SCONJ
alkej-528	16	18	shown	show	VERB
alkej-528	16	19	in	in	ADP
alkej-528	16	20	fig	fig	NOUN
alkej-528	16	21	.	.	PUNCT
alkej-528	17	1	(	(	PUNCT
alkej-528	17	2	1	1	NUM
alkej-528	17	3	)	)	PUNCT
alkej-528	17	4	.	.	PUNCT
alkej-528	18	1	where	where	SCONJ
alkej-528	18	2	the	the	DET
alkej-528	18	3	first	first	ADJ
alkej-528	18	4	arm	arm	NOUN
alkej-528	18	5	is	be	AUX
alkej-528	18	6	vertical	vertical	ADJ
alkej-528	18	7	and	and	CCONJ
alkej-528	18	8	the	the	DET
alkej-528	18	9	second	second	ADJ
alkej-528	18	10	and	and	CCONJ
alkej-528	18	11	third	third	ADJ
alkej-528	18	12	arm	arm	NOUN
alkej-528	18	13	are	be	AUX
alkej-528	18	14	horizontal	horizontal	ADJ
alkej-528	18	15	this	this	PRON
alkej-528	18	16	gives	give	VERB
alkej-528	18	17	the	the	DET
alkej-528	18	18	maximum	maximum	ADJ
alkej-528	18	19	reach	reach	NOUN
alkej-528	18	20	(	(	PUNCT
alkej-528	18	21	completely	completely	ADV
alkej-528	18	22	stretched	stretch	VERB
alkej-528	18	23	out	out	ADP
alkej-528	18	24	)	)	PUNCT
alkej-528	18	25	for	for	ADP
alkej-528	18	26	the	the	DET
alkej-528	18	27	robot	robot	NOUN
alkej-528	18	28	arm	arm	NOUN
alkej-528	18	29	and	and	CCONJ
alkej-528	18	30	will	will	AUX
alkej-528	18	31	yield	yield	VERB
alkej-528	18	32	the	the	DET
alkej-528	18	33	maximum	maximum	ADJ
alkej-528	18	34	deflection	deflection	NOUN
alkej-528	18	35	for	for	ADP
alkej-528	18	36	the	the	DET
alkej-528	18	37	robot	robot	NOUN
alkej-528	18	38	.	.	PUNCT
alkej-528	19	1	ahmed	ahmed	PROPN
alkej-528	19	2	abdul	abdul	PROPN
alkej-528	19	3	hussain	hussain	PROPN
alkej-528	19	4	ali	ali	PROPN
alkej-528	19	5	al	al	PROPN
alkej-528	19	6	-	-	PUNCT
alkej-528	19	7	khwarizmi	khwarizmi	PROPN
alkej-528	19	8	engineering	engineering	NOUN
alkej-528	19	9	journal	journal	PROPN
alkej-528	19	10	,	,	PUNCT
alkej-528	19	11	vol.4	vol.4	PROPN
alkej-528	19	12	,	,	PUNCT
alkej-528	19	13	no	no	INTJ
alkej-528	19	14	.	.	NOUN
alkej-528	19	15	1	1	NUM
alkej-528	19	16	pp	pp	ADP
alkej-528	19	17	17	17	NUM
alkej-528	19	18	-	-	SYM
alkej-528	19	19	26	26	NUM
alkej-528	19	20	(	(	PUNCT
alkej-528	19	21	2008	2008	NUM
alkej-528	19	22	)	)	PUNCT
alkej-528	19	23	18	18	NUM
alkej-528	19	24	prismatic	prismatic	ADJ
alkej-528	19	25	joints	joint	NOUN
alkej-528	19	26	:	:	PUNCT
alkej-528	19	27	most	most	ADJ
alkej-528	19	28	manipulator	manipulator	NOUN
alkej-528	19	29	link	link	NOUN
alkej-528	19	30	crosssection	crosssection	NOUN
alkej-528	19	31	are	be	AUX
alkej-528	19	32	either	either	CCONJ
alkej-528	19	33	hollow	hollow	ADJ
alkej-528	19	34	round	round	NOUN
alkej-528	19	35	or	or	CCONJ
alkej-528	19	36	hollow	hollow	ADJ
alkej-528	19	37	rectangular	rectangular	ADJ
alkej-528	19	38	.	.	PUNCT
alkej-528	20	1	hollow	hollow	ADJ
alkej-528	20	2	links	link	NOUN
alkej-528	20	3	provide	provide	VERB
alkej-528	20	4	convenient	convenient	ADJ
alkej-528	20	5	conduits	conduit	NOUN
alkej-528	20	6	for	for	ADP
alkej-528	20	7	electric	electric	ADJ
alkej-528	20	8	power	power	NOUN
alkej-528	20	9	and	and	CCONJ
alkej-528	20	10	communication	communication	NOUN
alkej-528	20	11	cables	cable	NOUN
alkej-528	20	12	,	,	PUNCT
alkej-528	20	13	hoses	hose	NOUN
alkej-528	20	14	,	,	PUNCT
alkej-528	20	15	power	power	NOUN
alkej-528	20	16	transmission	transmission	NOUN
alkej-528	20	17	members	member	NOUN
alkej-528	20	18	,	,	PUNCT
alkej-528	20	19	etc	etc	X
alkej-528	20	20	.	.	X
alkej-528	20	21	rivin[4	rivin[4	NOUN
alkej-528	20	22	]	]	PUNCT
alkej-528	20	23	has	have	AUX
alkej-528	20	24	studied	study	VERB
alkej-528	20	25	the	the	DET
alkej-528	20	26	influence	influence	NOUN
alkej-528	20	27	of	of	ADP
alkej-528	20	28	crosssections	crosssection	NOUN
alkej-528	20	29	on	on	ADP
alkej-528	20	30	the	the	DET
alkej-528	20	31	deflections	deflection	NOUN
alkej-528	20	32	both	both	CCONJ
alkej-528	20	33	in	in	ADP
alkej-528	20	34	bending	bending	NOUN
alkej-528	20	35	and	and	CCONJ
alkej-528	20	36	torsion	torsion	NOUN
alkej-528	20	37	.	.	PUNCT
alkej-528	21	1	he	he	PRON
alkej-528	21	2	had	have	AUX
alkej-528	21	3	compared	compare	VERB
alkej-528	21	4	hollow	hollow	ADJ
alkej-528	21	5	square	square	NOUN
alkej-528	21	6	with	with	ADP
alkej-528	21	7	hollow	hollow	ADJ
alkej-528	21	8	circular	circular	ADJ
alkej-528	21	9	cross	cross	NOUN
alkej-528	21	10	sections	section	NOUN
alkej-528	21	11	.	.	PUNCT
alkej-528	22	1	rivin	rivin	PROPN
alkej-528	22	2	states	state	NOUN
alkej-528	22	3	that	that	SCONJ
alkej-528	22	4	a	a	DET
alkej-528	22	5	square	square	PROPN
alkej-528	22	6	cross	cross	NOUN
alkej-528	22	7	section	section	NOUN
alkej-528	22	8	can	can	AUX
alkej-528	22	9	provide	provide	VERB
alkej-528	22	10	a	a	DET
alkej-528	22	11	69	69	NUM
alkej-528	22	12	to	to	PART
alkej-528	22	13	84	84	NUM
alkej-528	22	14	percent	percent	NOUN
alkej-528	22	15	increase	increase	NOUN
alkej-528	22	16	in	in	ADP
alkej-528	22	17	bending	bend	VERB
alkej-528	22	18	stiffness	stiffness	NOUN
alkej-528	22	19	over	over	ADP
alkej-528	22	20	a	a	DET
alkej-528	22	21	circular	circular	ADJ
alkej-528	22	22	hollow	hollow	ADJ
alkej-528	22	23	cross	cross	NOUN
alkej-528	22	24	section	section	NOUN
alkej-528	22	25	with	with	ADP
alkej-528	22	26	only	only	ADV
alkej-528	22	27	a	a	DET
alkej-528	22	28	27	27	NUM
alkej-528	22	29	percent	percent	NOUN
alkej-528	22	30	increase	increase	NOUN
alkej-528	22	31	in	in	ADP
alkej-528	22	32	weight	weight	NOUN
alkej-528	22	33	.	.	PUNCT
alkej-528	23	1	in	in	ADP
alkej-528	23	2	this	this	DET
alkej-528	23	3	paper	paper	NOUN
alkej-528	23	4	a	a	DET
alkej-528	23	5	different	different	ADJ
alkej-528	23	6	cross	cross	NOUN
alkej-528	23	7	-	-	NOUN
alkej-528	23	8	section	section	NOUN
alkej-528	23	9	is	be	AUX
alkej-528	23	10	introduced	introduce	VERB
alkej-528	23	11	,	,	PUNCT
alkej-528	23	12	consisting	consist	VERB
alkej-528	23	13	of	of	ADP
alkej-528	23	14	three	three	NUM
alkej-528	23	15	tubes	tube	NOUN
alkej-528	23	16	centered	center	VERB
alkej-528	23	17	on	on	ADP
alkej-528	23	18	the	the	DET
alkej-528	23	19	vertices	vertex	NOUN
alkej-528	23	20	of	of	ADP
alkej-528	23	21	an	an	DET
alkej-528	23	22	equilateral	equilateral	ADJ
alkej-528	23	23	triangle	triangle	NOUN
alkej-528	23	24	.	.	PUNCT
alkej-528	24	1	this	this	DET
alkej-528	24	2	cross	cross	NOUN
alkej-528	24	3	section	section	NOUN
alkej-528	24	4	is	be	AUX
alkej-528	24	5	referred	refer	VERB
alkej-528	24	6	to	to	ADP
alkej-528	24	7	as	as	ADP
alkej-528	24	8	a	a	DET
alkej-528	24	9	tri	tri	ADJ
alkej-528	24	10	-	-	ADJ
alkej-528	24	11	tube	tube	ADJ
alkej-528	24	12	configuration	configuration	NOUN
alkej-528	24	13	the	the	DET
alkej-528	24	14	hollow	hollow	ADJ
alkej-528	24	15	square	square	ADJ
alkej-528	24	16	link	link	NOUN
alkej-528	24	17	will	will	AUX
alkej-528	24	18	be	be	AUX
alkej-528	24	19	referred	refer	VERB
alkej-528	24	20	to	to	ADP
alkej-528	24	21	as	as	ADP
alkej-528	24	22	a	a	DET
alkej-528	24	23	uni	uni	ADJ
alkej-528	24	24	-	-	ADJ
alkej-528	24	25	tube	tube	ADJ
alkej-528	24	26	configuration	configuration	NOUN
alkej-528	24	27	,	,	PUNCT
alkej-528	24	28	as	as	SCONJ
alkej-528	24	29	shown	show	VERB
alkej-528	24	30	in	in	ADP
alkej-528	24	31	fig	fig	NOUN
alkej-528	24	32	.	.	PUNCT
alkej-528	25	1	(	(	PUNCT
alkej-528	25	2	2	2	NUM
alkej-528	25	3	)	)	PUNCT
alkej-528	25	4	.	.	PUNCT
alkej-528	26	1	deflection	deflection	NOUN
alkej-528	26	2	due	due	ADP
alkej-528	26	3	to	to	ADP
alkej-528	26	4	pure	pure	ADJ
alkej-528	26	5	bending	bending	NOUN
alkej-528	26	6	:	:	PUNCT
alkej-528	26	7	links	link	NOUN
alkej-528	26	8	with	with	ADP
alkej-528	26	9	an	an	DET
alkej-528	26	10	open	open	ADJ
alkej-528	26	11	end	end	NOUN
alkej-528	26	12	manipulator	manipulator	NOUN
alkej-528	26	13	are	be	AUX
alkej-528	26	14	normally	normally	ADV
alkej-528	26	15	modeled	model	VERB
alkej-528	26	16	as	as	ADP
alkej-528	26	17	cantilevers	cantilever	NOUN
alkej-528	26	18	.	.	PUNCT
alkej-528	27	1	consider	consider	VERB
alkej-528	27	2	a	a	DET
alkej-528	27	3	simple	simple	ADJ
alkej-528	27	4	cantilever	cantilever	NOUN
alkej-528	27	5	with	with	ADP
alkej-528	27	6	solid	solid	ADJ
alkej-528	27	7	or	or	CCONJ
alkej-528	27	8	hollow	hollow	ADJ
alkej-528	27	9	cross	cross	NOUN
alkej-528	27	10	–	–	PUNCT
alkej-528	27	11	section	section	NOUN
alkej-528	27	12	as	as	SCONJ
alkej-528	27	13	shown	show	VERB
alkej-528	27	14	in	in	ADP
alkej-528	27	15	fig.(3).to	fig.(3).to	PROPN
alkej-528	27	16	study	study	VERB
alkej-528	27	17	the	the	DET
alkej-528	27	18	proposed	propose	VERB
alkej-528	27	19	cross	cross	NOUN
alkej-528	27	20	–	–	PUNCT
alkej-528	27	21	section	section	NOUN
alkej-528	27	22	,	,	PUNCT
alkej-528	27	23	we	we	PRON
alkej-528	27	24	use	use	VERB
alkej-528	27	25	the	the	DET
alkej-528	27	26	following	follow	VERB
alkej-528	27	27	equations	equation	NOUN
alkej-528	27	28	for	for	ADP
alkej-528	27	29	moments	moment	NOUN
alkej-528	27	30	of	of	ADP
alkej-528	27	31	inertia	inertia	NOUN
alkej-528	27	32	(	(	PUNCT
alkej-528	27	33	2nd	2nd	ADJ
alkej-528	27	34	moment	moment	NOUN
alkej-528	27	35	of	of	ADP
alkej-528	27	36	area	area	NOUN
alkej-528	27	37	)	)	PUNCT
alkej-528	27	38	about	about	ADP
alkej-528	27	39	any	any	DET
alkej-528	27	40	diametrical	diametrical	ADJ
alkej-528	27	41	axis	axis	NOUN
alkej-528	27	42	through	through	ADP
alkej-528	27	43	the	the	DET
alkej-528	27	44	centroid	centroid	NOUN
alkej-528	27	45	of	of	ADP
alkej-528	27	46	area	area	NOUN
alkej-528	27	47	.	.	PUNCT
alkej-528	28	1	uni	uni	ADJ
alkej-528	28	2	–	–	PUNCT
alkej-528	28	3	tube	tube	NOUN
alkej-528	28	4	:	:	PUNCT
alkej-528	28	5	for	for	SCONJ
alkej-528	28	6	the	the	DET
alkej-528	28	7	unitube	unitube	NOUN
alkej-528	28	8	depicted	depict	VERB
alkej-528	28	9	fig.(2,a	fig.(2,a	PROPN
alkej-528	28	10	)	)	PUNCT
alkej-528	28	11	the	the	DET
alkej-528	28	12	moment	moment	NOUN
alkej-528	28	13	of	of	ADP
alkej-528	28	14	inertia	inertia	NOUN
alkej-528	28	15	about	about	ADP
alkej-528	28	16	the	the	DET
alkej-528	28	17	neutral	neutral	ADJ
alkej-528	28	18	axis	axis	NOUN
alkej-528	28	19	is	be	AUX
alkej-528	28	20	tbb	tbb	NOUN
alkej-528	29	1	bb	bb	INTJ
alkej-528	30	1	i	i	PRON
alkej-528	30	2	tubeuni	tubeuni	PROPN
alkej-528	30	3	2	2	NUM
alkej-528	30	4	,	,	PUNCT
alkej-528	30	5	12	12	NUM
alkej-528	30	6	44	44	NUM
alkej-528	30	7			PROPN
alkej-528	30	8			PROPN
alkej-528	30	9			NOUN
alkej-528	30	10	where	where	SCONJ
alkej-528	30	11	b	b	NOUN
alkej-528	30	12	,	,	PUNCT
alkej-528	30	13	b	b	PROPN
alkej-528	30	14	is	be	AUX
alkej-528	30	15	the	the	DET
alkej-528	30	16	outer	outer	ADJ
alkej-528	30	17	and	and	CCONJ
alkej-528	30	18	inner	inner	ADJ
alkej-528	30	19	sides	side	NOUN
alkej-528	30	20	,	,	PUNCT
alkej-528	30	21	respectively	respectively	ADV
alkej-528	30	22	for	for	ADP
alkej-528	30	23	the	the	DET
alkej-528	30	24	uni	uni	ADJ
alkej-528	30	25	-	-	ADJ
alkej-528	30	26	tube	tube	ADJ
alkej-528	30	27	construction	construction	NOUN
alkej-528	30	28	,	,	PUNCT
alkej-528	30	29	t	t	PROPN
alkej-528	30	30	is	be	AUX
alkej-528	30	31	the	the	DET
alkej-528	30	32	thickness	thickness	NOUN
alkej-528	30	33	of	of	ADP
alkej-528	30	34	the	the	DET
alkej-528	30	35	uni	uni	ADJ
alkej-528	30	36	-	-	ADJ
alkej-528	30	37	tube	tube	NOUN
alkej-528	30	38	and	and	CCONJ
alkej-528	30	39	the	the	DET
alkej-528	30	40	area	area	NOUN
alkej-528	30	41	is	be	AUX
alkej-528	30	42	22	22	NUM
alkej-528	30	43	bba	bba	NOUN
alkej-528	30	44	tubeuni	tubeuni	PROPN
alkej-528	30	45			PROPN
alkej-528	30	46	tri	tri	PROPN
alkej-528	30	47	-	-	NOUN
alkej-528	30	48	tube	tube	NOUN
alkej-528	30	49	:	:	PUNCT
alkej-528	30	50	for	for	ADP
alkej-528	30	51	the	the	DET
alkej-528	30	52	tri	tri	ADJ
alkej-528	30	53	-	-	ADJ
alkej-528	30	54	tube	tube	NOUN
alkej-528	30	55	depicted	depict	VERB
alkej-528	30	56	in	in	ADP
alkej-528	30	57	fig.(2,b	fig.(2,b	PROPN
alkej-528	30	58	)	)	PUNCT
alkej-528	30	59	the	the	DET
alkej-528	30	60	moment	moment	NOUN
alkej-528	30	61	of	of	ADP
alkej-528	30	62	inertia	inertia	NOUN
alkej-528	30	63	about	about	ADP
alkej-528	30	64	the	the	DET
alkej-528	30	65	neutral	neutral	ADJ
alkej-528	30	66	axis	axis	NOUN
alkej-528	30	67	is	be	AUX
alkej-528	30	68			NOUN
alkej-528	30	69			PUNCT
alkej-528	30	70			NOUN
alkej-528	30	71			PUNCT
alkej-528	30	72			NOUN
alkej-528	30	73			PROPN
alkej-528	30	74	2	2	NUM
alkej-528	30	75	22	22	NUM
alkej-528	30	76	2244	2244	NUM
alkej-528	30	77	60sin	60sin	NOUN
alkej-528	30	78	3	3	NUM
alkej-528	30	79	1	1	NUM
alkej-528	30	80	4	4	NUM
alkej-528	30	81	2	2	NUM
alkej-528	30	82	60sin	60sin	NOUN
alkej-528	30	83	3	3	NUM
alkej-528	30	84	2	2	NUM
alkej-528	30	85	464	464	NUM
alkej-528	30	86	3	3	NUM
alkej-528	30	87			PROPN
alkej-528	30	88			NOUN
alkej-528	30	89			PRON
alkej-528	30	90			PROPN
alkej-528	30	91			PROPN
alkej-528	30	92			PROPN
alkej-528	30	93			PROPN
alkej-528	30	94			NOUN
alkej-528	30	95			PRON
alkej-528	30	96			PROPN
alkej-528	30	97			PROPN
alkej-528	30	98			PROPN
alkej-528	30	99	hdd	hdd	NOUN
alkej-528	30	100	hddddi	hddddi	NOUN
alkej-528	30	101	tubetri	tubetri	NOUN
alkej-528	30	102			ADJ
alkej-528	30	103			PROPN
alkej-528	30	104	tdd	tdd	NOUN
alkej-528	30	105	2	2	NUM
alkej-528	30	106	where	where	SCONJ
alkej-528	30	107	d	d	NOUN
alkej-528	30	108	and	and	CCONJ
alkej-528	30	109	d	d	NOUN
alkej-528	30	110	are	be	AUX
alkej-528	30	111	the	the	DET
alkej-528	30	112	out	out	ADJ
alkej-528	30	113	side	side	NOUN
alkej-528	30	114	and	and	CCONJ
alkej-528	30	115	inside	inside	ADJ
alkej-528	30	116	diameters	diameter	NOUN
alkej-528	30	117	,	,	PUNCT
alkej-528	30	118	respectively	respectively	ADV
alkej-528	30	119	,	,	PUNCT
alkej-528	30	120	for	for	ADP
alkej-528	30	121	each	each	DET
alkej-528	30	122	tube	tube	NOUN
alkej-528	30	123	on	on	ADP
alkej-528	30	124	the	the	DET
alkej-528	30	125	equilateral	equilateral	ADJ
alkej-528	30	126	triangle	triangle	NOUN
alkej-528	30	127	,	,	PUNCT
alkej-528	30	128	t	t	PROPN
alkej-528	30	129	is	be	AUX
alkej-528	30	130	the	the	DET
alkej-528	30	131	thickness	thickness	NOUN
alkej-528	30	132	of	of	ADP
alkej-528	30	133	each	each	DET
alkej-528	30	134	tube	tube	NOUN
alkej-528	30	135	in	in	ADP
alkej-528	30	136	the	the	DET
alkej-528	30	137	tri	tri	ADJ
alkej-528	30	138	–	–	PUNCT
alkej-528	30	139	tube	tube	NOUN
alkej-528	30	140	construction	construction	NOUN
alkej-528	30	141	.	.	PUNCT
alkej-528	31	1	the	the	DET
alkej-528	31	2	area	area	NOUN
alkej-528	31	3	of	of	ADP
alkej-528	31	4	each	each	DET
alkej-528	31	5	tube	tube	NOUN
alkej-528	31	6	is	be	AUX
alkej-528	31	7			NOUN
alkej-528	31	8			PROPN
alkej-528	31	9	tdddda	tdddda	ADP
alkej-528	31	10	tubetri	tubetri	NOUN
alkej-528	31	11	2	2	NUM
alkej-528	31	12	,	,	PUNCT
alkej-528	31	13	4	4	NUM
alkej-528	31	14	22	22	NUM
alkej-528	31	15			ADP
alkej-528	31	16			PROPN
alkej-528	31	17	to	to	PART
alkej-528	31	18	demonstrate	demonstrate	VERB
alkej-528	31	19	the	the	DET
alkej-528	31	20	deflection	deflection	NOUN
alkej-528	31	21	due	due	ADP
alkej-528	31	22	to	to	ADP
alkej-528	31	23	loading	loading	NOUN
alkej-528	31	24	,	,	PUNCT
alkej-528	31	25	consider	consider	VERB
alkej-528	31	26	the	the	DET
alkej-528	31	27	third	third	ADJ
alkej-528	31	28	arm	arm	NOUN
alkej-528	31	29	beam	beam	NOUN
alkej-528	31	30	depicted	depict	VERB
alkej-528	31	31	in	in	ADP
alkej-528	31	32	fig.(3,c	fig.(3,c	PROPN
alkej-528	31	33	)	)	PUNCT
alkej-528	31	34	.	.	PUNCT
alkej-528	32	1			PROPN
alkej-528	32	2			PROPN
alkej-528	33	1			NOUN
alkej-528	34	1			PROPN
alkej-528	34	2			PROPN
alkej-528	34	3			PROPN
alkej-528	35	1			PROPN
alkej-528	35	2			NOUN
alkej-528	35	3			ADJ
alkej-528	35	4	83	83	NUM
alkej-528	35	5	1	1	NUM
alkej-528	35	6	4	4	NUM
alkej-528	35	7	33	33	NUM
alkej-528	35	8	3	3	NUM
alkej-528	35	9	33	33	NUM
alkej-528	35	10	3	3	NUM
alkej-528	35	11	3	3	NUM
alkej-528	35	12	lqlw	lqlw	NOUN
alkej-528	35	13	ei	ei	PROPN
alkej-528	36	1			NUM
alkej-528	36	2	gmwa	gmwa	PROPN
alkej-528	36	3	l	l	PROPN
alkej-528	36	4	alg	alg	PROPN
alkej-528	36	5	l	l	PROPN
alkej-528	36	6	gm	gm	PROPN
alkej-528	36	7	q	q	AUX
alkej-528	36	8			NOUN
alkej-528	36	9			NOUN
alkej-528	36	10			NOUN
alkej-528	36	11	,	,	PUNCT
alkej-528	36	12			NOUN
alkej-528	36	13	where	where	SCONJ
alkej-528	36	14	m	m	PROPN
alkej-528	36	15	is	be	AUX
alkej-528	36	16	the	the	DET
alkej-528	36	17	mass	mass	NOUN
alkej-528	36	18	of	of	ADP
alkej-528	36	19	each	each	DET
alkej-528	36	20	arm	arm	NOUN
alkej-528	36	21	,	,	PUNCT
alkej-528	36	22	m	m	VERB
alkej-528	36	23	is	be	AUX
alkej-528	36	24	the	the	DET
alkej-528	36	25	mass	mass	NOUN
alkej-528	36	26	of	of	ADP
alkej-528	36	27	the	the	DET
alkej-528	36	28	gear	gear	NOUN
alkej-528	36	29	box	box	NOUN
alkej-528	36	30	and	and	CCONJ
alkej-528	36	31	the	the	DET
alkej-528	36	32	mass	mass	NOUN
alkej-528	36	33	of	of	ADP
alkej-528	36	34	the	the	DET
alkej-528	36	35	load	load	NOUN
alkej-528	36	36	to	to	PART
alkej-528	36	37	be	be	AUX
alkej-528	36	38	manipulated	manipulate	VERB
alkej-528	36	39	at	at	ADP
alkej-528	36	40	the	the	DET
alkej-528	36	41	end	end	NOUN
alkej-528	36	42	of	of	ADP
alkej-528	36	43	the	the	DET
alkej-528	36	44	arm	arm	NOUN
alkej-528	36	45	,	,	PUNCT
alkej-528	36	46	q	q	PUNCT
alkej-528	36	47	is	be	AUX
alkej-528	36	48	the	the	DET
alkej-528	36	49	weight	weight	NOUN
alkej-528	36	50	per	per	ADP
alkej-528	36	51	unit	unit	NOUN
alkej-528	36	52	length	length	NOUN
alkej-528	36	53	of	of	ADP
alkej-528	36	54	the	the	DET
alkej-528	36	55	beam	beam	NOUN
alkej-528	36	56	,	,	PUNCT
alkej-528	36	57	w	w	PROPN
alkej-528	36	58	is	be	AUX
alkej-528	36	59	the	the	DET
alkej-528	36	60	load	load	NOUN
alkej-528	36	61	in	in	ADP
alkej-528	36	62	newton	newton	PROPN
alkej-528	36	63	,	,	PUNCT
alkej-528	36	64	g	g	PROPN
alkej-528	36	65	is	be	AUX
alkej-528	36	66	the	the	DET
alkej-528	36	67	gravitational	gravitational	ADJ
alkej-528	36	68	acceleration	acceleration	NOUN
alkej-528	36	69	and	and	CCONJ
alkej-528	36	70	l	l	NOUN
alkej-528	36	71	is	be	AUX
alkej-528	36	72	the	the	DET
alkej-528	36	73	length	length	NOUN
alkej-528	36	74	of	of	ADP
alkej-528	36	75	the	the	DET
alkej-528	36	76	arm	arm	NOUN
alkej-528	36	77	,	,	PUNCT
alkej-528	36	78	a	a	PRON
alkej-528	36	79	is	be	AUX
alkej-528	36	80	the	the	DET
alkej-528	36	81	cross	cross	ADJ
alkej-528	36	82	sectional	sectional	ADJ
alkej-528	36	83	area	area	NOUN
alkej-528	36	84	of	of	ADP
alkej-528	36	85	the	the	DET
alkej-528	36	86	beam	beam	NOUN
alkej-528	36	87	,	,	PUNCT
alkej-528	36	88			PROPN
alkej-528	36	89	is	be	AUX
alkej-528	36	90	the	the	DET
alkej-528	36	91	specific	specific	ADJ
alkej-528	36	92	density	density	NOUN
alkej-528	36	93	.	.	PUNCT
alkej-528	37	1	to	to	PART
alkej-528	37	2	get	get	VERB
alkej-528	37	3	the	the	DET
alkej-528	37	4	reactions	reaction	NOUN
alkej-528	37	5	(	(	PUNCT
alkej-528	37	6	force	force	NOUN
alkej-528	37	7	and	and	CCONJ
alkej-528	37	8	moment	moment	NOUN
alkej-528	37	9	)	)	PUNCT
alkej-528	37	10	at	at	ADP
alkej-528	37	11	the	the	DET
alkej-528	37	12	fixed	fixed	ADJ
alkej-528	37	13	end	end	NOUN
alkej-528	37	14	of	of	ADP
alkej-528	37	15	the	the	DET
alkej-528	37	16	third	third	ADJ
alkej-528	37	17	arm	arm	NOUN
alkej-528	37	18	we	we	PRON
alkej-528	37	19	equate	equate	VERB
alkej-528	37	20	the	the	DET
alkej-528	37	21	summation	summation	NOUN
alkej-528	37	22	of	of	ADP
alkej-528	37	23	forces	force	NOUN
alkej-528	37	24	and	and	CCONJ
alkej-528	37	25	moment	moment	NOUN
alkej-528	37	26	to	to	ADP
alkej-528	38	1	zero	zero	NUM
alkej-528	38	2	i.e.	i.e.	X
alkej-528	38	3			X
alkej-528	38	4			NUM
alkej-528	38	5	33330	33330	NUM
alkej-528	38	6	lqwffy	lqwffy	ADJ
alkej-528	38	7			X
alkej-528	38	8			NUM
alkej-528	38	9	33	33	NUM
alkej-528	38	10	2	2	NUM
alkej-528	38	11	33	33	NUM
alkej-528	38	12	3	3	NUM
alkej-528	38	13	2	2	NUM
alkej-528	38	14	0	0	NUM
alkej-528	38	15	lw	lw	NOUN
alkej-528	39	1	lq	lq	INTJ
alkej-528	39	2	mom	mom	NOUN
alkej-528	39	3	the	the	DET
alkej-528	39	4	same	same	ADJ
alkej-528	39	5	thing	thing	NOUN
alkej-528	39	6	may	may	AUX
alkej-528	39	7	be	be	AUX
alkej-528	39	8	said	say	VERB
alkej-528	39	9	for	for	ADP
alkej-528	39	10	the	the	DET
alkej-528	39	11	second	second	ADJ
alkej-528	39	12	arm	arm	NOUN
alkej-528	39	13	(	(	PUNCT
alkej-528	39	14	fig.3	fig.3	PROPN
alkej-528	39	15	-	-	PUNCT
alkej-528	39	16	b	b	NOUN
alkej-528	39	17	)	)	PUNCT
alkej-528	39	18	taking	take	VERB
alkej-528	39	19	in	in	ADP
alkej-528	39	20	to	to	PART
alkej-528	39	21	account	account	VERB
alkej-528	39	22	the	the	DET
alkej-528	39	23	effect	effect	NOUN
alkej-528	39	24	of	of	ADP
alkej-528	39	25	moment	moment	NOUN
alkej-528	39	26	in	in	ADP
alkej-528	39	27	calculating	calculate	VERB
alkej-528	39	28	the	the	DET
alkej-528	39	29	deflection	deflection	NOUN
alkej-528	39	30	i.e.	i.e.	X
alkej-528	39	31			NOUN
alkej-528	39	32			PROPN
alkej-528	39	33			PROPN
alkej-528	39	34			PROPN
alkej-528	39	35			NOUN
alkej-528	40	1			PROPN
alkej-528	40	2			PROPN
alkej-528	40	3			PROPN
alkej-528	41	1			PROPN
alkej-528	41	2			NOUN
alkej-528	41	3			PROPN
alkej-528	41	4			ADV
alkej-528	41	5			NUM
alkej-528	41	6	283	283	NUM
alkej-528	41	7	1	1	NUM
alkej-528	41	8	3	3	NUM
alkej-528	41	9	23	23	NUM
alkej-528	41	10	4	4	NUM
alkej-528	41	11	22	22	NUM
alkej-528	41	12	3	3	NUM
alkej-528	41	13	223	223	NUM
alkej-528	41	14	2	2	NUM
alkej-528	41	15	2	2	NUM
alkej-528	41	16	lmolqlwf	lmolqlwf	NOUN
alkej-528	41	17	ei	ei	ADP
alkej-528	41	18			NUM
alkej-528	41	19	the	the	DET
alkej-528	41	20	reactions	reaction	NOUN
alkej-528	41	21	at	at	ADP
alkej-528	41	22	the	the	DET
alkej-528	41	23	fixed	fix	VERB
alkej-528	41	24	end	end	NOUN
alkej-528	41	25	will	will	AUX
alkej-528	41	26	be	be	AUX
alkej-528	41	27	32222	32222	NUM
alkej-528	41	28	fwlqf	fwlqf	PROPN
alkej-528	41	29			PUNCT
alkej-528	41	30	32322	32322	NUM
alkej-528	41	31	2	2	NUM
alkej-528	41	32	22	22	NUM
alkej-528	41	33	2	2	NUM
alkej-528	41	34	2	2	NUM
alkej-528	41	35	molflw	molflw	NOUN
alkej-528	41	36	lq	lq	INTJ
alkej-528	41	37	mo	mo	PROPN
alkej-528	41	38			PROPN
alkej-528	41	39	for	for	ADP
alkej-528	41	40	the	the	DET
alkej-528	41	41	first	first	ADJ
alkej-528	41	42	arm	arm	NOUN
alkej-528	41	43	(	(	PUNCT
alkej-528	41	44	fig.3	fig.3	PROPN
alkej-528	41	45	-	-	PUNCT
alkej-528	41	46	a	a	NOUN
alkej-528	41	47	)	)	PUNCT
alkej-528	41	48	we	we	PRON
alkej-528	41	49	assume	assume	VERB
alkej-528	41	50	that	that	SCONJ
alkej-528	41	51	the	the	DET
alkej-528	41	52	deflection	deflection	NOUN
alkej-528	41	53	at	at	ADP
alkej-528	41	54	the	the	DET
alkej-528	41	55	free	free	ADJ
alkej-528	41	56	end	end	NOUN
alkej-528	41	57	is	be	AUX
alkej-528	41	58	due	due	ADJ
alkej-528	41	59	to	to	ADP
alkej-528	41	60	bending	bend	VERB
alkej-528	41	61	moment	moment	NOUN
alkej-528	41	62	only	only	ADV
alkej-528	41	63	and	and	CCONJ
alkej-528	41	64	the	the	DET
alkej-528	41	65	effect	effect	NOUN
alkej-528	41	66	of	of	ADP
alkej-528	41	67	compressive	compressive	ADJ
alkej-528	41	68	loads	load	NOUN
alkej-528	41	69	on	on	ADP
alkej-528	41	70	the	the	DET
alkej-528	41	71	whole	whole	ADJ
alkej-528	41	72	deflection	deflection	NOUN
alkej-528	41	73	is	be	AUX
alkej-528	41	74	neglected	neglect	VERB
alkej-528	41	75	therefore	therefore	ADV
alkej-528	41	76	1	1	NUM
alkej-528	41	77	2	2	NUM
alkej-528	41	78	11	11	NUM
alkej-528	41	79	1	1	NUM
alkej-528	41	80	2ei	2ei	NOUN
alkej-528	41	81	lmo	lmo	PROPN
alkej-528	41	82			PROPN
alkej-528	41	83	ahmed	ahmed	PROPN
alkej-528	41	84	abdul	abdul	PROPN
alkej-528	41	85	hussain	hussain	PROPN
alkej-528	41	86	ali	ali	PROPN
alkej-528	41	87	al	al	PROPN
alkej-528	41	88	-	-	PUNCT
alkej-528	41	89	khwarizmi	khwarizmi	PROPN
alkej-528	41	90	engineering	engineering	NOUN
alkej-528	41	91	journal	journal	PROPN
alkej-528	41	92	,	,	PUNCT
alkej-528	41	93	vol.4	vol.4	PROPN
alkej-528	41	94	,	,	PUNCT
alkej-528	41	95	no	no	INTJ
alkej-528	41	96	.	.	NOUN
alkej-528	41	97	1	1	NUM
alkej-528	42	1	pp	pp	ADP
alkej-528	42	2	17	17	NUM
alkej-528	42	3	-	-	SYM
alkej-528	42	4	26	26	NUM
alkej-528	42	5	(	(	PUNCT
alkej-528	42	6	2008	2008	NUM
alkej-528	42	7	)	)	PUNCT
alkej-528	42	8	19	19	NUM
alkej-528	42	9	the	the	DET
alkej-528	42	10	total	total	ADJ
alkej-528	42	11	deflection	deflection	NOUN
alkej-528	42	12	at	at	ADP
alkej-528	42	13	the	the	DET
alkej-528	42	14	end	end	NOUN
alkej-528	42	15	effecter	effecter	NOUN
alkej-528	42	16	of	of	ADP
alkej-528	42	17	the	the	DET
alkej-528	42	18	robot	robot	NOUN
alkej-528	42	19	manipulator	manipulator	NOUN
alkej-528	42	20	arm	arm	NOUN
alkej-528	42	21	will	will	AUX
alkej-528	42	22	be	be	AUX
alkej-528	42	23			NOUN
alkej-528	42	24			NUM
alkej-528	42	25	2	2	NUM
alkej-528	42	26	1	1	NUM
alkej-528	42	27	2	2	NUM
alkej-528	42	28	23	23	NUM
alkej-528	42	29			NOUN
alkej-528	42	30	total	total	ADJ
alkej-528	42	31	the	the	DET
alkej-528	42	32	sequence	sequence	NOUN
alkej-528	42	33	of	of	ADP
alkej-528	42	34	analysis	analysis	NOUN
alkej-528	42	35	in	in	ADP
alkej-528	42	36	this	this	DET
alkej-528	42	37	work	work	NOUN
alkej-528	42	38	is	be	AUX
alkej-528	42	39	to	to	PART
alkej-528	42	40	calculate	calculate	VERB
alkej-528	42	41	the	the	DET
alkej-528	42	42	weight	weight	NOUN
alkej-528	42	43	of	of	ADP
alkej-528	42	44	the	the	DET
alkej-528	42	45	lightest	light	ADJ
alkej-528	42	46	structure	structure	NOUN
alkej-528	42	47	that	that	PRON
alkej-528	42	48	has	have	VERB
alkej-528	42	49	a	a	DET
alkej-528	42	50	square	square	ADJ
alkej-528	42	51	hollow	hollow	ADJ
alkej-528	42	52	section	section	NOUN
alkej-528	42	53	and	and	CCONJ
alkej-528	42	54	with	with	ADP
alkej-528	42	55	stand	stand	VERB
alkej-528	42	56	the	the	DET
alkej-528	42	57	given	give	VERB
alkej-528	42	58	loading	loading	NOUN
alkej-528	42	59	condition	condition	NOUN
alkej-528	42	60	this	this	PRON
alkej-528	42	61	may	may	AUX
alkej-528	42	62	be	be	AUX
alkej-528	42	63	achieved	achieve	VERB
alkej-528	42	64	by	by	ADP
alkej-528	42	65	letting	let	VERB
alkej-528	42	66	the	the	DET
alkej-528	42	67	stress	stress	NOUN
alkej-528	42	68	in	in	ADP
alkej-528	42	69	each	each	DET
alkej-528	42	70	arm	arm	NOUN
alkej-528	42	71	reaches	reach	VERB
alkej-528	42	72	the	the	DET
alkej-528	42	73	maximum	maximum	ADJ
alkej-528	42	74	allowable	allowable	ADJ
alkej-528	42	75	stress	stress	NOUN
alkej-528	42	76	to	to	PART
alkej-528	42	77	avoid	avoid	VERB
alkej-528	42	78	failure	failure	NOUN
alkej-528	42	79	of	of	ADP
alkej-528	42	80	the	the	DET
alkej-528	42	81	structure	structure	NOUN
alkej-528	42	82	,	,	PUNCT
alkej-528	42	83	the	the	DET
alkej-528	42	84	equation	equation	NOUN
alkej-528	42	85	for	for	ADP
alkej-528	42	86	calculating	calculate	VERB
alkej-528	42	87	the	the	DET
alkej-528	42	88	stress	stress	NOUN
alkej-528	42	89	in	in	ADP
alkej-528	42	90	the	the	DET
alkej-528	42	91	third	third	ADJ
alkej-528	42	92	arm	arm	NOUN
alkej-528	42	93	may	may	AUX
alkej-528	42	94	be	be	AUX
alkej-528	42	95	written	write	VERB
alkej-528	42	96	as	as	ADP
alkej-528	42	97	12	12	NUM
alkej-528	42	98	2/	2/	NUM
alkej-528	42	99	*	*	SYM
alkej-528	42	100	4	4	NUM
alkej-528	42	101	3	3	NUM
alkej-528	42	102	4	4	NUM
alkej-528	42	103	3	3	NUM
alkej-528	42	104	33	33	NUM
alkej-528	42	105	3	3	NUM
alkej-528	42	106	bb	bb	NUM
alkej-528	42	107	bmo	bmo	NOUN
alkej-528	43	1	i	i	PRON
alkej-528	43	2	ym	ym	PROPN
alkej-528	43	3			PROPN
alkej-528	43	4			NUM
alkej-528	43	5	by	by	ADP
alkej-528	43	6	letting	let	VERB
alkej-528	43	7	the	the	DET
alkej-528	43	8	stress	stress	NOUN
alkej-528	43	9	equal	equal	VERB
alkej-528	43	10	the	the	DET
alkej-528	43	11	allowable	allowable	ADJ
alkej-528	43	12	stress	stress	NOUN
alkej-528	43	13	and	and	CCONJ
alkej-528	43	14	assuming	assume	VERB
alkej-528	43	15	the	the	DET
alkej-528	43	16	thickness	thickness	NOUN
alkej-528	43	17	of	of	ADP
alkej-528	43	18	the	the	DET
alkej-528	43	19	tube	tube	NOUN
alkej-528	43	20	walls	wall	NOUN
alkej-528	43	21	to	to	PART
alkej-528	43	22	be	be	AUX
alkej-528	43	23	2	2	NUM
alkej-528	43	24	mm	mm	NOUN
alkej-528	43	25	we	we	PRON
alkej-528	43	26	may	may	AUX
alkej-528	43	27	found	find	VERB
alkej-528	43	28	the	the	DET
alkej-528	43	29	dimension	dimension	NOUN
alkej-528	43	30	of	of	ADP
alkej-528	43	31	the	the	DET
alkej-528	43	32	third	third	ADJ
alkej-528	43	33	arm	arm	NOUN
alkej-528	43	34	,	,	PUNCT
alkej-528	43	35	this	this	PRON
alkej-528	43	36	had	have	AUX
alkej-528	43	37	been	be	AUX
alkej-528	43	38	done	do	VERB
alkej-528	43	39	by	by	ADP
alkej-528	43	40	the	the	DET
alkej-528	43	41	aid	aid	NOUN
alkej-528	43	42	of	of	ADP
alkej-528	43	43	a	a	DET
alkej-528	43	44	program	program	NOUN
alkej-528	43	45	built	build	VERB
alkej-528	43	46	up	up	ADP
alkej-528	43	47	using	use	VERB
alkej-528	43	48	mathcad	mathcad	PROPN
alkej-528	43	49	software	software	PROPN
alkej-528	43	50	.	.	PUNCT
alkej-528	44	1	the	the	DET
alkej-528	44	2	stress	stress	NOUN
alkej-528	44	3	in	in	ADP
alkej-528	44	4	the	the	DET
alkej-528	44	5	second	second	ADJ
alkej-528	44	6	arm	arm	NOUN
alkej-528	44	7	may	may	AUX
alkej-528	44	8	also	also	ADV
alkej-528	44	9	be	be	AUX
alkej-528	44	10	calculated	calculate	VERB
alkej-528	44	11	in	in	ADP
alkej-528	44	12	the	the	DET
alkej-528	44	13	same	same	ADJ
alkej-528	44	14	way	way	NOUN
alkej-528	44	15	i.e.	i.e.	X
alkej-528	44	16	12	12	NUM
alkej-528	44	17	2/	2/	NUM
alkej-528	44	18	*	*	SYM
alkej-528	44	19	4	4	NUM
alkej-528	44	20	2	2	NUM
alkej-528	44	21	4	4	NUM
alkej-528	44	22	2	2	NUM
alkej-528	44	23	22	22	NUM
alkej-528	44	24	2	2	NUM
alkej-528	44	25	bb	bb	NOUN
alkej-528	44	26	bmo	bmo	NOUN
alkej-528	44	27			PROPN
alkej-528	44	28			PUNCT
alkej-528	44	29	the	the	DET
alkej-528	44	30	dimension	dimension	NOUN
alkej-528	44	31	of	of	ADP
alkej-528	44	32	the	the	DET
alkej-528	44	33	first	first	ADJ
alkej-528	44	34	arm	arm	NOUN
alkej-528	44	35	fig.(3.a	fig.(3.a	NOUN
alkej-528	44	36	)	)	PUNCT
alkej-528	44	37	is	be	AUX
alkej-528	44	38	calculated	calculate	VERB
alkej-528	44	39	by	by	ADP
alkej-528	44	40	equating	equate	VERB
alkej-528	44	41	the	the	DET
alkej-528	44	42	maximum	maximum	ADJ
alkej-528	44	43	stress	stress	NOUN
alkej-528	44	44	induced	induce	VERB
alkej-528	44	45	in	in	ADP
alkej-528	44	46	it	it	PRON
alkej-528	44	47	with	with	ADP
alkej-528	44	48	the	the	DET
alkej-528	44	49	maximum	maximum	ADJ
alkej-528	44	50	allowable	allowable	ADJ
alkej-528	44	51	,	,	PUNCT
alkej-528	44	52	this	this	DET
alkej-528	44	53	maximum	maximum	ADJ
alkej-528	44	54	stress	stress	NOUN
alkej-528	44	55	is	be	AUX
alkej-528	44	56	found	find	VERB
alkej-528	44	57	by	by	ADP
alkej-528	44	58	the	the	DET
alkej-528	44	59	rankinegorden	rankinegorden	ADJ
alkej-528	44	60	formula	formula	NOUN
alkej-528	44	61	[	[	X
alkej-528	44	62	5	5	NUM
alkej-528	44	63	]	]	PUNCT
alkej-528	44	64	which	which	PRON
alkej-528	44	65	is	be	AUX
alkej-528	44	66	a	a	DET
alkej-528	44	67	combination	combination	NOUN
alkej-528	44	68	of	of	ADP
alkej-528	44	69	the	the	DET
alkej-528	44	70	euler	euler	NOUN
alkej-528	44	71	and	and	CCONJ
alkej-528	44	72	crushing	crush	VERB
alkej-528	44	73	loads	load	NOUN
alkej-528	44	74	for	for	ADP
alkej-528	44	75	a	a	DET
alkej-528	44	76	strut	strut	NOUN
alkej-528	44	77	cer	cer	NOUN
alkej-528	44	78	fff	fff	PROPN
alkej-528	44	79	111	111	NUM
alkej-528	44	80			ADV
alkej-528	44	81	for	for	ADP
alkej-528	44	82	very	very	ADV
alkej-528	44	83	short	short	ADJ
alkej-528	44	84	strut	strut	NOUN
alkej-528	44	85	ef	ef	PROPN
alkej-528	44	86	is	be	AUX
alkej-528	44	87	very	very	ADV
alkej-528	44	88	large	large	ADJ
alkej-528	44	89	,	,	PUNCT
alkej-528	44	90	ef	ef	PROPN
alkej-528	44	91	1	1	NUM
alkej-528	44	92	can	can	AUX
alkej-528	44	93	therefore	therefore	ADV
alkej-528	44	94	be	be	AUX
alkej-528	44	95	neglected	neglect	VERB
alkej-528	44	96	and	and	CCONJ
alkej-528	44	97	cr	cr	X
alkej-528	44	98	ff	ff	NOUN
alkej-528	44	99			PROPN
alkej-528	44	100	,	,	PUNCT
alkej-528	44	101	for	for	SCONJ
alkej-528	44	102	very	very	ADV
alkej-528	44	103	long	long	ADJ
alkej-528	44	104	struts	strut	NOUN
alkej-528	44	105	ef	ef	X
alkej-528	44	106	is	be	AUX
alkej-528	44	107	very	very	ADV
alkej-528	44	108	small	small	ADJ
alkej-528	44	109	and	and	CCONJ
alkej-528	44	110	ef	ef	PROPN
alkej-528	44	111	1	1	NUM
alkej-528	44	112	is	be	AUX
alkej-528	44	113	very	very	ADV
alkej-528	44	114	large	large	ADJ
alkej-528	44	115	so	so	SCONJ
alkej-528	44	116	that	that	SCONJ
alkej-528	44	117	cf	cf	NOUN
alkej-528	44	118	1	1	NUM
alkej-528	44	119	can	can	AUX
alkej-528	44	120	be	be	AUX
alkej-528	44	121	neglected	neglect	VERB
alkej-528	44	122	.	.	PUNCT
alkej-528	45	1	thus	thus	ADV
alkej-528	45	2	er	er	INTJ
alkej-528	45	3	ff	ff	INTJ
alkej-528	45	4			PROPN
alkej-528	45	5	.	.	PUNCT
alkej-528	46	1	the	the	DET
alkej-528	46	2	rankine	rankine	PROPN
alkej-528	46	3	formula	formula	NOUN
alkej-528	46	4	is	be	AUX
alkej-528	46	5	therefore	therefore	ADV
alkej-528	46	6	valid	valid	ADJ
alkej-528	46	7	for	for	ADP
alkej-528	46	8	extreme	extreme	ADJ
alkej-528	46	9	values	value	NOUN
alkej-528	46	10	of	of	ADP
alkej-528	46	11	slenderness	slenderness	ADJ
alkej-528	46	12	ratios	ratio	NOUN
alkej-528	46	13	.	.	PUNCT
alkej-528	47	1	it	it	PRON
alkej-528	47	2	is	be	AUX
alkej-528	47	3	also	also	ADV
alkej-528	47	4	found	find	VERB
alkej-528	47	5	to	to	PART
alkej-528	47	6	be	be	AUX
alkej-528	47	7	fairly	fairly	ADV
alkej-528	47	8	accurate	accurate	ADJ
alkej-528	47	9	for	for	ADP
alkej-528	47	10	the	the	DET
alkej-528	47	11	intermediate	intermediate	ADJ
alkej-528	47	12	values	value	NOUN
alkej-528	47	13	.	.	PUNCT
alkej-528	48	1	thus	thus	ADV
alkej-528	48	2	,	,	PUNCT
alkej-528	48	3	re	re	ADP
alkej-528	48	4	–	–	PUNCT
alkej-528	48	5	writing	write	VERB
alkej-528	48	6	the	the	DET
alkej-528	48	7	formula	formula	NOUN
alkej-528	48	8	in	in	ADP
alkej-528	48	9	terms	term	NOUN
alkej-528	48	10	of	of	ADP
alkej-528	48	11	stresses	stress	NOUN
alkej-528	48	12	)	)	PUNCT
alkej-528	48	13	/(1	/(1	SYM
alkej-528	49	1	111	111	NUM
alkej-528	49	2	111	111	NUM
alkej-528	49	3	ey	ey	INTJ
alkej-528	49	4	y	y	PROPN
alkej-528	49	5	ye	ye	INTJ
alkej-528	49	6	ye	ye	NOUN
alkej-528	49	7	r	r	NOUN
alkej-528	50	1	ye	ye	NUM
alkej-528	51	1	ye	ye	NOUN
alkej-528	52	1	yer	yer	NOUN
alkej-528	52	2	yer	yer	PROPN
alkej-528	52	3	aaa	aaa	VERB
alkej-528	52	4			NOUN
alkej-528	52	5			PROPN
alkej-528	52	6			NUM
alkej-528	52	7			X
alkej-528	52	8			PUNCT
alkej-528	52	9			NOUN
alkej-528	52	10			X
alkej-528	52	11			PROPN
alkej-528	52	12			PROPN
alkej-528	52	13			VERB
alkej-528	53	1			NUM
alkej-528	53	2			ADJ
alkej-528	53	3			PROPN
alkej-528	53	4			PUNCT
alkej-528	53	5			NOUN
alkej-528	53	6			ADJ
alkej-528	53	7	for	for	ADP
alkej-528	53	8	a	a	DET
alkej-528	53	9	strut	strut	NOUN
alkej-528	53	10	with	with	ADP
alkej-528	53	11	one	one	NUM
alkej-528	53	12	end	end	NOUN
alkej-528	53	13	free	free	ADJ
alkej-528	53	14	and	and	CCONJ
alkej-528	53	15	the	the	DET
alkej-528	53	16	other	other	ADJ
alkej-528	53	17	fixed	fix	VERB
alkej-528	53	18	2	2	NUM
alkej-528	53	19	2	2	NUM
alkej-528	53	20	4	4	NUM
alkej-528	53	21	l	l	X
alkej-528	53	22	ie	ie	X
alkej-528	53	23	fe	fe	X
alkej-528	53	24			PROPN
alkej-528	53	25			PROPN
alkej-528	53	26	and	and	CCONJ
alkej-528	53	27	al	al	PROPN
alkej-528	53	28	ie	ie	PROPN
alkej-528	53	29	e	e	PROPN
alkej-528	53	30	2	2	NUM
alkej-528	53	31	2	2	NUM
alkej-528	53	32	4	4	NUM
alkej-528	53	33			NOUN
alkej-528	53	34			PROPN
alkej-528	53	35			NOUN
alkej-528	53	36	the	the	DET
alkej-528	53	37	crushing	crush	VERB
alkej-528	53	38	load	load	NOUN
alkej-528	53	39	on	on	ADP
alkej-528	53	40	the	the	DET
alkej-528	53	41	first	first	ADJ
alkej-528	53	42	arm	arm	NOUN
alkej-528	53	43	is	be	AUX
alkej-528	53	44	121	121	NUM
alkej-528	53	45	wfffc	wfffc	NOUN
alkej-528	53	46			PROPN
alkej-528	53	47	a	a	DET
alkej-528	53	48	fc	fc	PROPN
alkej-528	53	49	y	y	PROPN
alkej-528	53	50			PROPN
alkej-528	54	1	the	the	DET
alkej-528	54	2	final	final	ADJ
alkej-528	54	3	stress	stress	NOUN
alkej-528	54	4			NOUN
alkej-528	54	5	1	1	PUNCT
alkej-528	54	6	on	on	ADP
alkej-528	54	7	the	the	DET
alkej-528	54	8	first	first	ADJ
alkej-528	54	9	arm	arm	NOUN
alkej-528	54	10	is	be	AUX
alkej-528	54	11	thus	thus	ADV
alkej-528	54	12	the	the	DET
alkej-528	54	13	sum	sum	NOUN
alkej-528	54	14	of	of	ADP
alkej-528	54	15	the	the	DET
alkej-528	54	16	direct	direct	ADJ
alkej-528	54	17	stress	stress	NOUN
alkej-528	54	18	calculated	calculate	VERB
alkej-528	54	19	by	by	ADP
alkej-528	54	20	rankine	rankine	NOUN
alkej-528	54	21	formula	formula	NOUN
alkej-528	54	22	and	and	CCONJ
alkej-528	54	23	that	that	PRON
alkej-528	54	24	due	due	ADP
alkej-528	54	25	to	to	ADP
alkej-528	54	26	bending	bend	VERB
alkej-528	54	27	generated	generate	VERB
alkej-528	54	28	by	by	ADP
alkej-528	54	29	the	the	DET
alkej-528	54	30	exerted	exert	VERB
alkej-528	54	31	moment	moment	NOUN
alkej-528	54	32			NOUN
alkej-528	54	33	2mo	2mo	PUNCT
alkej-528	54	34	as	as	SCONJ
alkej-528	54	35	was	be	AUX
alkej-528	54	36	explained	explain	VERB
alkej-528	54	37	in	in	ADP
alkej-528	54	38	figure	figure	NOUN
alkej-528	54	39	(	(	PUNCT
alkej-528	54	40	3	3	NUM
alkej-528	54	41	-	-	PUNCT
alkej-528	54	42	a	a	NOUN
alkej-528	54	43	and	and	CCONJ
alkej-528	54	44	b	b	NOUN
alkej-528	54	45	)	)	PUNCT
alkej-528	54	46			NOUN
alkej-528	55	1			PUNCT
alkej-528	55	2	1	1	NUM
alkej-528	55	3	12	12	NUM
alkej-528	55	4	1	1	NUM
alkej-528	55	5	2/	2/	NUM
alkej-528	55	6	*	*	PUNCT
alkej-528	55	7	/	/	PUNCT
alkej-528	55	8	!	!	PUNCT
alkej-528	56	1	i	i	PRON
alkej-528	56	2	bmo	bmo	PROPN
alkej-528	56	3	ey	ey	PRON
alkej-528	56	4	y	y	PROPN
alkej-528	56	5	bendingr	bendingr	PROPN
alkej-528	56	6			ADV
alkej-528	56	7			PUNCT
alkej-528	56	8			X
alkej-528	56	9			X
alkej-528	56	10			PROPN
alkej-528	56	11			PROPN
alkej-528	56	12	from	from	ADP
alkej-528	56	13	this	this	DET
alkej-528	56	14	equation	equation	NOUN
alkej-528	56	15	we	we	PRON
alkej-528	56	16	may	may	AUX
alkej-528	56	17	find	find	VERB
alkej-528	56	18	the	the	DET
alkej-528	56	19	dimension	dimension	NOUN
alkej-528	56	20	of	of	ADP
alkej-528	56	21	the	the	DET
alkej-528	56	22	first	first	ADJ
alkej-528	56	23	arm	arm	NOUN
alkej-528	56	24	.	.	PUNCT
alkej-528	57	1	after	after	ADP
alkej-528	57	2	knowing	know	VERB
alkej-528	57	3	the	the	DET
alkej-528	57	4	dimension	dimension	NOUN
alkej-528	57	5	of	of	ADP
alkej-528	57	6	each	each	DET
alkej-528	57	7	arm	arm	NOUN
alkej-528	57	8	the	the	DET
alkej-528	57	9	weight	weight	NOUN
alkej-528	57	10	of	of	ADP
alkej-528	57	11	each	each	DET
alkej-528	57	12	arm	arm	NOUN
alkej-528	57	13	may	may	AUX
alkej-528	57	14	be	be	AUX
alkej-528	57	15	found	find	VERB
alkej-528	57	16	and	and	CCONJ
alkej-528	57	17	also	also	ADV
alkej-528	57	18	the	the	DET
alkej-528	57	19	total	total	ADJ
alkej-528	57	20	weight	weight	NOUN
alkej-528	57	21	of	of	ADP
alkej-528	57	22	the	the	DET
alkej-528	57	23	manipulator	manipulator	NOUN
alkej-528	57	24	structure	structure	NOUN
alkej-528	57	25	will	will	AUX
alkej-528	57	26	be	be	AUX
alkej-528	57	27	determined	determine	VERB
alkej-528	57	28	.	.	PUNCT
alkej-528	58	1	the	the	DET
alkej-528	58	2	next	next	ADJ
alkej-528	58	3	step	step	NOUN
alkej-528	58	4	in	in	ADP
alkej-528	58	5	the	the	DET
alkej-528	58	6	analysis	analysis	NOUN
alkej-528	58	7	is	be	AUX
alkej-528	58	8	to	to	PART
alkej-528	58	9	input	input	VERB
alkej-528	58	10	those	those	DET
alkej-528	58	11	information	information	NOUN
alkej-528	58	12	to	to	ADP
alkej-528	58	13	the	the	DET
alkej-528	58	14	program	program	NOUN
alkej-528	58	15	to	to	PART
alkej-528	58	16	began	begin	VERB
alkej-528	58	17	the	the	DET
alkej-528	58	18	process	process	NOUN
alkej-528	58	19	of	of	ADP
alkej-528	58	20	changing	change	VERB
alkej-528	58	21	the	the	DET
alkej-528	58	22	dimension	dimension	NOUN
alkej-528	58	23	of	of	ADP
alkej-528	58	24	the	the	DET
alkej-528	58	25	cross	cross	NOUN
alkej-528	58	26	section	section	NOUN
alkej-528	58	27	to	to	PART
alkej-528	58	28	minimize	minimize	VERB
alkej-528	58	29	the	the	DET
alkej-528	58	30	total	total	ADJ
alkej-528	58	31	error	error	NOUN
alkej-528	58	32	(	(	PUNCT
alkej-528	58	33	deflection	deflection	NOUN
alkej-528	58	34	)	)	PUNCT
alkej-528	58	35	at	at	ADP
alkej-528	58	36	the	the	DET
alkej-528	58	37	end	end	NOUN
alkej-528	58	38	of	of	ADP
alkej-528	58	39	the	the	DET
alkej-528	58	40	robot	robot	NOUN
alkej-528	58	41	arm	arm	NOUN
alkej-528	58	42	this	this	DET
alkej-528	58	43	process	process	NOUN
alkej-528	58	44	gives	give	VERB
alkej-528	58	45	many	many	ADJ
alkej-528	58	46	generations	generation	NOUN
alkej-528	58	47	of	of	ADP
alkej-528	58	48	the	the	DET
alkej-528	58	49	dimensions	dimension	NOUN
alkej-528	58	50	of	of	ADP
alkej-528	58	51	the	the	DET
alkej-528	58	52	arm	arm	NOUN
alkej-528	58	53	cross	cross	PROPN
alkej-528	58	54	section	section	NOUN
alkej-528	58	55	which	which	PRON
alkej-528	58	56	satisfies	satisfy	VERB
alkej-528	58	57	the	the	DET
alkej-528	58	58	conditions	condition	NOUN
alkej-528	58	59	specified	specify	VERB
alkej-528	58	60	for	for	ADP
alkej-528	58	61	the	the	DET
alkej-528	58	62	maximum	maximum	ADJ
alkej-528	58	63	and	and	CCONJ
alkej-528	58	64	minimum	minimum	ADJ
alkej-528	58	65	error	error	NOUN
alkej-528	58	66	allowed	allow	VERB
alkej-528	58	67	at	at	ADP
alkej-528	58	68	the	the	DET
alkej-528	58	69	end	end	NOUN
alkej-528	58	70	effecter	effecter	NOUN
alkej-528	58	71	and	and	CCONJ
alkej-528	58	72	also	also	ADV
alkej-528	58	73	the	the	DET
alkej-528	58	74	permissible	permissible	ADJ
alkej-528	58	75	increase	increase	NOUN
alkej-528	58	76	in	in	ADP
alkej-528	58	77	the	the	DET
alkej-528	58	78	weight	weight	NOUN
alkej-528	58	79	of	of	ADP
alkej-528	58	80	the	the	DET
alkej-528	58	81	robot	robot	NOUN
alkej-528	58	82	structure	structure	NOUN
alkej-528	58	83	specified	specify	VERB
alkej-528	58	84	from	from	ADP
alkej-528	58	85	us	we	PRON
alkej-528	58	86	,	,	PUNCT
alkej-528	58	87	from	from	ADP
alkej-528	58	88	between	between	ADP
alkej-528	58	89	all	all	DET
alkej-528	58	90	those	those	DET
alkej-528	58	91	generation	generation	NOUN
alkej-528	58	92	the	the	DET
alkej-528	58	93	program	program	NOUN
alkej-528	58	94	select	select	VERB
alkej-528	58	95	the	the	DET
alkej-528	58	96	best	good	ADJ
alkej-528	58	97	generation	generation	NOUN
alkej-528	58	98	or	or	CCONJ
alkej-528	58	99	probability	probability	NOUN
alkej-528	58	100	that	that	PRON
alkej-528	58	101	gives	give	VERB
alkej-528	58	102	the	the	DET
alkej-528	58	103	lightest	light	ADJ
alkej-528	58	104	weight	weight	NOUN
alkej-528	58	105	and	and	CCONJ
alkej-528	58	106	the	the	DET
alkej-528	58	107	less	less	ADJ
alkej-528	58	108	deformation	deformation	NOUN
alkej-528	58	109	.	.	PUNCT
alkej-528	59	1	the	the	DET
alkej-528	59	2	next	next	ADJ
alkej-528	59	3	step	step	NOUN
alkej-528	59	4	in	in	ADP
alkej-528	59	5	the	the	DET
alkej-528	59	6	analysis	analysis	NOUN
alkej-528	59	7	is	be	AUX
alkej-528	59	8	to	to	PART
alkej-528	59	9	input	input	VERB
alkej-528	59	10	the	the	DET
alkej-528	59	11	new	new	ADJ
alkej-528	59	12	weight	weight	NOUN
alkej-528	59	13	of	of	ADP
alkej-528	59	14	the	the	DET
alkej-528	59	15	robot	robot	NOUN
alkej-528	59	16	arms	arm	NOUN
alkej-528	59	17	to	to	ADP
alkej-528	59	18	the	the	DET
alkej-528	59	19	optimization	optimization	NOUN
alkej-528	59	20	process	process	NOUN
alkej-528	59	21	for	for	ADP
alkej-528	59	22	the	the	DET
alkej-528	59	23	tri	tri	ADJ
alkej-528	59	24	–	–	PUNCT
alkej-528	59	25	tube	tube	NOUN
alkej-528	59	26	cross	cross	NOUN
alkej-528	59	27	section	section	NOUN
alkej-528	59	28	shown	show	VERB
alkej-528	59	29	in	in	ADP
alkej-528	59	30	figure(2	figure(2	PROPN
alkej-528	59	31	-	-	PUNCT
alkej-528	59	32	b	b	NOUN
alkej-528	59	33	)	)	PUNCT
alkej-528	59	34	and	and	CCONJ
alkej-528	59	35	trying	try	VERB
alkej-528	59	36	to	to	PART
alkej-528	59	37	find	find	VERB
alkej-528	59	38	the	the	DET
alkej-528	59	39	best	good	ADJ
alkej-528	59	40	dimensions	dimension	NOUN
alkej-528	59	41	that	that	PRON
alkej-528	59	42	gives	give	VERB
alkej-528	59	43	the	the	DET
alkej-528	59	44	highest	high	ADJ
alkej-528	59	45	moment	moment	NOUN
alkej-528	59	46	of	of	ADP
alkej-528	59	47	inertia	inertia	NOUN
alkej-528	59	48	for	for	ADP
alkej-528	59	49	the	the	DET
alkej-528	59	50	cross	cross	NOUN
alkej-528	59	51	section	section	NOUN
alkej-528	59	52	so	so	SCONJ
alkej-528	59	53	as	as	SCONJ
alkej-528	59	54	to	to	PART
alkej-528	59	55	minimize	minimize	VERB
alkej-528	59	56	the	the	DET
alkej-528	59	57	deflection	deflection	NOUN
alkej-528	59	58	in	in	ADP
alkej-528	59	59	each	each	DET
alkej-528	59	60	arm	arm	NOUN
alkej-528	59	61	and	and	CCONJ
alkej-528	59	62	also	also	ADV
alkej-528	59	63	the	the	DET
alkej-528	59	64	total	total	ADJ
alkej-528	59	65	deflection	deflection	NOUN
alkej-528	59	66	of	of	ADP
alkej-528	59	67	the	the	DET
alkej-528	59	68	robot	robot	NOUN
alkej-528	59	69	at	at	ADP
alkej-528	59	70	the	the	DET
alkej-528	59	71	end	end	NOUN
alkej-528	59	72	effecter	effecter	NOUN
alkej-528	59	73	,	,	PUNCT
alkej-528	59	74	i.e.	i.e.	X
alkej-528	59	75	the	the	DET
alkej-528	59	76	mass	mass	NOUN
alkej-528	59	77	of	of	ADP
alkej-528	59	78	uni	uni	ADJ
alkej-528	59	79	–	–	PUNCT
alkej-528	59	80	tube	tube	NOUN
alkej-528	59	81	section	section	NOUN
alkej-528	59	82	ahmed	ahmed	PROPN
alkej-528	59	83	abdul	abdul	PROPN
alkej-528	59	84	hussain	hussain	PROPN
alkej-528	59	85	ali	ali	PROPN
alkej-528	59	86	al	al	PROPN
alkej-528	59	87	-	-	PUNCT
alkej-528	59	88	khwarizmi	khwarizmi	PROPN
alkej-528	59	89	engineering	engineering	NOUN
alkej-528	59	90	journal	journal	PROPN
alkej-528	59	91	,	,	PUNCT
alkej-528	59	92	vol.4	vol.4	PROPN
alkej-528	59	93	,	,	PUNCT
alkej-528	59	94	no	no	INTJ
alkej-528	59	95	.	.	NOUN
alkej-528	59	96	1	1	NUM
alkej-528	59	97	pp	pp	ADP
alkej-528	59	98	17	17	NUM
alkej-528	59	99	-	-	SYM
alkej-528	59	100	26	26	NUM
alkej-528	59	101	(	(	PUNCT
alkej-528	59	102	2008	2008	NUM
alkej-528	59	103	)	)	PUNCT
alkej-528	59	104	20	20	NUM
alkej-528	59	105	found	find	VERB
alkej-528	59	106	by	by	ADP
alkej-528	59	107	the	the	DET
alkej-528	59	108	program	program	NOUN
alkej-528	59	109	should	should	AUX
alkej-528	59	110	be	be	AUX
alkej-528	59	111	equal	equal	ADJ
alkej-528	59	112	to	to	ADP
alkej-528	59	113	the	the	DET
alkej-528	59	114	mass	mass	NOUN
alkej-528	59	115	of	of	ADP
alkej-528	59	116	the	the	DET
alkej-528	59	117	tri	tri	ADJ
alkej-528	59	118	–	–	PUNCT
alkej-528	59	119	tube	tube	NOUN
alkej-528	59	120	section	section	NOUN
alkej-528	59	121	which	which	PRON
alkej-528	59	122	is	be	AUX
alkej-528	59	123	equal	equal	ADJ
alkej-528	59	124	to	to	ADP
alkej-528	59	125			NOUN
alkej-528	59	126			PROPN
alkej-528	60	1			PROPN
alkej-528	60	2			PROPN
alkej-528	60	3			PROPN
alkej-528	60	4			X
alkej-528	60	5			NOUN
alkej-528	60	6			NOUN
alkej-528	60	7			NOUN
alkej-528	60	8			NOUN
alkej-528	60	9			VERB
alkej-528	60	10			PROPN
alkej-528	60	11			NOUN
alkej-528	60	12			PROPN
alkej-528	60	13			NUM
alkej-528	60	14	)	)	PUNCT
alkej-528	60	15	4	4	NUM
alkej-528	60	16	3	3	NUM
alkej-528	60	17	(	(	PUNCT
alkej-528	60	18	2	2	NUM
alkej-528	60	19	)	)	PUNCT
alkej-528	60	20	(	(	PUNCT
alkej-528	60	21	4	4	NUM
alkej-528	60	22	3	3	NUM
alkej-528	60	23	2	2	NUM
alkej-528	60	24	222	222	NUM
alkej-528	60	25	3	3	NUM
alkej-528	60	26	3	3	NUM
alkej-528	60	27			PROPN
alkej-528	60	28			PROPN
alkej-528	60	29			NOUN
alkej-528	60	30	d	d	NOUN
alkej-528	60	31	rsddl	rsddl	NOUN
alkej-528	60	32	vm	vm	PROPN
alkej-528	60	33	2/	2/	NUM
alkej-528	60	34	3	3	NUM
alkej-528	60	35	sin	sin	NOUN
alkej-528	60	36	3	3	NUM
alkej-528	60	37	2	2	NUM
alkej-528	60	38	dhr	dhr	NOUN
alkej-528	60	39			PROPN
alkej-528	60	40			PROPN
alkej-528	60	41	where	where	SCONJ
alkej-528	60	42			NOUN
alkej-528	60	43	is	be	AUX
alkej-528	60	44	the	the	DET
alkej-528	60	45	density	density	NOUN
alkej-528	60	46	of	of	ADP
alkej-528	60	47	robot	robot	NOUN
alkej-528	60	48	arm	arm	NOUN
alkej-528	60	49	metal	metal	NOUN
alkej-528	60	50	,	,	PUNCT
alkej-528	60	51	r	r	NOUN
alkej-528	60	52	is	be	AUX
alkej-528	60	53	the	the	DET
alkej-528	60	54	radius	radius	NOUN
alkej-528	60	55	of	of	ADP
alkej-528	60	56	the	the	DET
alkej-528	60	57	two	two	NUM
alkej-528	60	58	flanges	flange	NOUN
alkej-528	60	59	(	(	PUNCT
alkej-528	60	60	stiffeners	stiffener	NOUN
alkej-528	60	61	)	)	PUNCT
alkej-528	60	62	welded	weld	VERB
alkej-528	60	63	at	at	ADP
alkej-528	60	64	each	each	DET
alkej-528	60	65	end	end	NOUN
alkej-528	60	66	,	,	PUNCT
alkej-528	60	67	s	s	VERB
alkej-528	60	68	is	be	AUX
alkej-528	60	69	the	the	DET
alkej-528	60	70	thickness	thickness	NOUN
alkej-528	60	71	of	of	ADP
alkej-528	60	72	the	the	DET
alkej-528	60	73	flanges	flange	NOUN
alkej-528	60	74	and	and	CCONJ
alkej-528	60	75	h	h	NOUN
alkej-528	60	76	is	be	AUX
alkej-528	60	77	the	the	DET
alkej-528	60	78	distance	distance	NOUN
alkej-528	60	79	between	between	ADP
alkej-528	60	80	the	the	DET
alkej-528	60	81	vertices	vertex	NOUN
alkej-528	60	82	of	of	ADP
alkej-528	60	83	the	the	DET
alkej-528	60	84	equilateral	equilateral	ADJ
alkej-528	60	85	triangle	triangle	NOUN
alkej-528	60	86	.	.	PUNCT
alkej-528	61	1	the	the	DET
alkej-528	61	2	optimization	optimization	NOUN
alkej-528	61	3	problem	problem	NOUN
alkej-528	61	4	is	be	AUX
alkej-528	61	5	defined	define	VERB
alkej-528	61	6	as	as	ADP
alkej-528	61	7	follow	follow	VERB
alkej-528	61	8	tddh	tddh	NOUN
alkej-528	61	9	iimize	iimize	VERB
alkej-528	61	10	mm	mm	PROPN
alkej-528	61	11	tubetri	tubetri	NOUN
alkej-528	61	12	tubeunitubetri	tubeunitubetri	ADJ
alkej-528	61	13	2	2	NUM
alkej-528	61	14	,	,	PUNCT
alkej-528	61	15	)	)	PUNCT
alkej-528	62	1	(	(	PUNCT
alkej-528	62	2	max	max	PROPN
alkej-528	62	3			PROPN
alkej-528	62	4			NUM
alkej-528	62	5			NOUN
alkej-528	62	6			PROPN
alkej-528	62	7	in	in	ADP
alkej-528	62	8	the	the	DET
alkej-528	62	9	optimization	optimization	NOUN
alkej-528	62	10	problem	problem	NOUN
alkej-528	62	11	the	the	DET
alkej-528	62	12	thickness	thickness	NOUN
alkej-528	62	13	of	of	ADP
alkej-528	62	14	the	the	DET
alkej-528	62	15	tubes	tube	NOUN
alkej-528	62	16	)	)	PUNCT
alkej-528	62	17	(	(	PUNCT
alkej-528	62	18	t	t	NOUN
alkej-528	62	19	and	and	CCONJ
alkej-528	62	20	the	the	DET
alkej-528	62	21	thickness	thickness	NOUN
alkej-528	62	22	of	of	ADP
alkej-528	62	23	the	the	DET
alkej-528	62	24	flanges	flange	NOUN
alkej-528	62	25	)	)	PUNCT
alkej-528	62	26	(	(	PUNCT
alkej-528	62	27	s	s	NOUN
alkej-528	62	28	are	be	AUX
alkej-528	62	29	assumed	assume	VERB
alkej-528	62	30	to	to	PART
alkej-528	62	31	be	be	AUX
alkej-528	62	32	2	2	NUM
alkej-528	62	33	mm	mm	NOUN
alkej-528	62	34	.	.	PUNCT
alkej-528	63	1	the	the	DET
alkej-528	63	2	results	result	NOUN
alkej-528	63	3	of	of	ADP
alkej-528	63	4	the	the	DET
alkej-528	63	5	optimization	optimization	NOUN
alkej-528	63	6	problem	problem	NOUN
alkej-528	63	7	showed	show	VERB
alkej-528	63	8	that	that	SCONJ
alkej-528	63	9	the	the	DET
alkej-528	63	10	tri	tri	ADJ
alkej-528	63	11	–	–	PUNCT
alkej-528	63	12	tube	tube	NOUN
alkej-528	63	13	section	section	NOUN
alkej-528	63	14	that	that	PRON
alkej-528	63	15	have	have	VERB
alkej-528	63	16	the	the	DET
alkej-528	63	17	same	same	ADJ
alkej-528	63	18	weight	weight	NOUN
alkej-528	63	19	(	(	PUNCT
alkej-528	63	20	mass	mass	NOUN
alkej-528	63	21	)	)	PUNCT
alkej-528	63	22	of	of	ADP
alkej-528	63	23	a	a	DET
alkej-528	63	24	uni	uni	ADJ
alkej-528	63	25	–	–	PUNCT
alkej-528	63	26	tube	tube	NOUN
alkej-528	63	27	may	may	AUX
alkej-528	63	28	improve	improve	VERB
alkej-528	63	29	the	the	DET
alkej-528	63	30	stiffness	stiffness	NOUN
alkej-528	63	31	of	of	ADP
alkej-528	63	32	the	the	DET
alkej-528	63	33	robot	robot	NOUN
alkej-528	63	34	and	and	CCONJ
alkej-528	63	35	minimize	minimize	VERB
alkej-528	63	36	the	the	DET
alkej-528	63	37	total	total	ADJ
alkej-528	63	38	deflection	deflection	NOUN
alkej-528	63	39	in	in	ADP
alkej-528	63	40	about	about	ADV
alkej-528	63	41	33	33	NUM
alkej-528	63	42	%	%	NOUN
alkej-528	63	43	,	,	PUNCT
alkej-528	63	44	this	this	DET
alkej-528	63	45	results	result	NOUN
alkej-528	63	46	means	mean	VERB
alkej-528	63	47	that	that	SCONJ
alkej-528	63	48	we	we	PRON
alkej-528	63	49	may	may	AUX
alkej-528	63	50	construct	construct	VERB
alkej-528	63	51	a	a	DET
alkej-528	63	52	robot	robot	NOUN
alkej-528	63	53	having	have	VERB
alkej-528	63	54	tri	tri	ADJ
alkej-528	63	55	–	–	PUNCT
alkej-528	63	56	tube	tube	NOUN
alkej-528	63	57	section	section	NOUN
alkej-528	63	58	which	which	PRON
alkej-528	63	59	is	be	AUX
alkej-528	63	60	less	less	ADJ
alkej-528	63	61	in	in	ADP
alkej-528	63	62	weight	weight	NOUN
alkej-528	63	63	from	from	ADP
alkej-528	63	64	that	that	PRON
alkej-528	63	65	of	of	ADP
alkej-528	63	66	uni	uni	ADJ
alkej-528	63	67	–	–	PUNCT
alkej-528	63	68	tube	tube	NOUN
alkej-528	63	69	section	section	NOUN
alkej-528	63	70	and	and	CCONJ
alkej-528	63	71	both	both	PRON
alkej-528	63	72	of	of	ADP
alkej-528	63	73	them	they	PRON
alkej-528	63	74	having	have	VERB
alkej-528	63	75	the	the	DET
alkej-528	63	76	same	same	ADJ
alkej-528	63	77	end	end	NOUN
alkej-528	63	78	effecter	effecter	NOUN
alkej-528	63	79	deformation	deformation	NOUN
alkej-528	63	80	.	.	PUNCT
alkej-528	64	1	results	result	NOUN
alkej-528	64	2	:	:	PUNCT
alkej-528	64	3	in	in	ADP
alkej-528	64	4	order	order	NOUN
alkej-528	64	5	to	to	PART
alkej-528	64	6	verify	verify	VERB
alkej-528	64	7	the	the	DET
alkej-528	64	8	analysis	analysis	NOUN
alkej-528	64	9	of	of	ADP
alkej-528	64	10	the	the	DET
alkej-528	64	11	previous	previous	ADJ
alkej-528	64	12	section	section	NOUN
alkej-528	64	13	a	a	DET
alkej-528	64	14	run	run	NOUN
alkej-528	64	15	had	have	AUX
alkej-528	64	16	been	be	AUX
alkej-528	64	17	done	do	VERB
alkej-528	64	18	which	which	PRON
alkej-528	64	19	has	have	VERB
alkej-528	64	20	the	the	DET
alkej-528	64	21	following	follow	VERB
alkej-528	64	22	characteristics	characteristic	NOUN
alkej-528	64	23	for	for	ADP
alkej-528	64	24	the	the	DET
alkej-528	64	25	robot	robot	NOUN
alkej-528	64	26	arm	arm	NOUN
alkej-528	64	27	29	29	NUM
alkej-528	64	28	/10200	/10200	PUNCT
alkej-528	65	1	mne	mne	PROPN
alkej-528	65	2			NOUN
alkej-528	65	3	26	26	NUM
alkej-528	65	4	/10120	/10120	PUNCT
alkej-528	65	5	mnall	mnall	NOUN
alkej-528	65	6			PROPN
alkej-528	65	7	,	,	PUNCT
alkej-528	66	1	2sec/81.9	2sec/81.9	NUM
alkej-528	66	2	mg	mg	NUM
alkej-528	66	3			NUM
alkej-528	66	4	,	,	PUNCT
alkej-528	66	5	mlmlml	mlmlml	VERB
alkej-528	66	6	4.,45.,5	4.,45.,5	NUM
alkej-528	66	7	.	.	PUNCT
alkej-528	67	1	321	321	NUM
alkej-528	67	2			NOUN
alkej-528	67	3	,	,	PUNCT
alkej-528	67	4	3/7850	3/7850	NUM
alkej-528	67	5	mkg	mkg	PROPN
alkej-528	67	6	,	,	PUNCT
alkej-528	67	7	m0022.0max	m0022.0max	PROPN
alkej-528	67	8			PROPN
alkej-528	67	9	,	,	PUNCT
alkej-528	67	10	m0005.0min	m0005.0min	PROPN
alkej-528	67	11			PROPN
alkej-528	67	12	,	,	PUNCT
alkej-528	67	13	mt	mt	PROPN
alkej-528	67	14	002.0	002.0	PROPN
alkej-528	67	15	(	(	PUNCT
alkej-528	67	16	tube	tube	NOUN
alkej-528	67	17	thickness	thickness	NOUN
alkej-528	67	18	)	)	PUNCT
alkej-528	67	19	,	,	PUNCT
alkej-528	67	20	ms	ms	PROPN
alkej-528	67	21	002.0	002.0	PROPN
alkej-528	67	22	(	(	PUNCT
alkej-528	67	23	stiffener	stiffener	NOUN
alkej-528	67	24	thickness	thickness	NOUN
alkej-528	67	25	)	)	PUNCT
alkej-528	67	26	,	,	PUNCT
alkej-528	67	27	kgm	kgm	PROPN
alkej-528	67	28	5.91	5.91	NUM
alkej-528	67	29			PROPN
alkej-528	67	30	(	(	PUNCT
alkej-528	67	31	mass	mass	NOUN
alkej-528	67	32	of	of	ADP
alkej-528	67	33	the	the	DET
alkej-528	67	34	first	first	ADJ
alkej-528	67	35	gear	gear	NOUN
alkej-528	67	36	box	box	PROPN
alkej-528	67	37	)	)	PUNCT
alkej-528	67	38	,	,	PUNCT
alkej-528	67	39	kgm	kgm	PROPN
alkej-528	67	40	4.42	4.42	NUM
alkej-528	67	41			PROPN
alkej-528	67	42	(	(	PUNCT
alkej-528	67	43	mass	mass	NOUN
alkej-528	67	44	of	of	ADP
alkej-528	67	45	the	the	DET
alkej-528	67	46	second	second	ADJ
alkej-528	67	47	gear	gear	NOUN
alkej-528	67	48	box	box	PROPN
alkej-528	67	49	)	)	PUNCT
alkej-528	67	50	,	,	PUNCT
alkej-528	67	51	kgm	kgm	PROPN
alkej-528	67	52	503	503	NUM
alkej-528	67	53			PROPN
alkej-528	67	54	(	(	PUNCT
alkej-528	67	55	manipulated	manipulate	VERB
alkej-528	67	56	mass	mass	NOUN
alkej-528	67	57	)	)	PUNCT
alkej-528	67	58	.	.	PUNCT
alkej-528	68	1	the	the	DET
alkej-528	68	2	available	available	ADJ
alkej-528	68	3	gear	gear	NOUN
alkej-528	68	4	boxes	box	NOUN
alkej-528	68	5	for	for	ADP
alkej-528	68	6	the	the	DET
alkej-528	68	7	application	application	NOUN
alkej-528	68	8	are	be	AUX
alkej-528	68	9	given	give	VERB
alkej-528	68	10	in	in	ADP
alkej-528	68	11	the	the	DET
alkej-528	68	12	list	list	NOUN
alkej-528	68	13	of	of	ADP
alkej-528	68	14	table	table	NOUN
alkej-528	68	15	1	1	NUM
alkej-528	68	16	the	the	DET
alkej-528	68	17	results	result	NOUN
alkej-528	68	18	of	of	ADP
alkej-528	68	19	the	the	DET
alkej-528	68	20	program	program	NOUN
alkej-528	68	21	shows	show	VERB
alkej-528	68	22	that	that	SCONJ
alkej-528	68	23	for	for	ADP
alkej-528	68	24	the	the	DET
alkej-528	68	25	given	give	VERB
alkej-528	68	26	configuration	configuration	NOUN
alkej-528	68	27	the	the	DET
alkej-528	68	28	minimum	minimum	ADJ
alkej-528	68	29	weight	weight	NOUN
alkej-528	68	30	for	for	ADP
alkej-528	68	31	the	the	DET
alkej-528	68	32	structure	structure	NOUN
alkej-528	68	33	of	of	ADP
alkej-528	68	34	the	the	DET
alkej-528	68	35	uni	uni	ADJ
alkej-528	68	36	–	–	PUNCT
alkej-528	68	37	tube	tube	NOUN
alkej-528	68	38	robot	robot	NOUN
alkej-528	68	39	is	be	AUX
alkej-528	68	40	(	(	PUNCT
alkej-528	68	41	wmin=19.986	wmin=19.986	PROPN
alkej-528	68	42	n	n	CCONJ
alkej-528	68	43	)	)	PUNCT
alkej-528	68	44	,	,	PUNCT
alkej-528	68	45	the	the	DET
alkej-528	68	46	robot	robot	NOUN
alkej-528	68	47	with	with	ADP
alkej-528	68	48	such	such	ADJ
alkej-528	68	49	structural	structural	ADJ
alkej-528	68	50	weight	weight	NOUN
alkej-528	68	51	could	could	AUX
alkej-528	68	52	manipulate	manipulate	VERB
alkej-528	68	53	the	the	DET
alkej-528	68	54	load	load	NOUN
alkej-528	68	55	with	with	ADP
alkej-528	68	56	out	out	ADJ
alkej-528	68	57	failure	failure	NOUN
alkej-528	68	58	because	because	SCONJ
alkej-528	68	59	the	the	DET
alkej-528	68	60	stress	stress	NOUN
alkej-528	68	61	in	in	ADP
alkej-528	68	62	each	each	DET
alkej-528	68	63	arm	arm	NOUN
alkej-528	68	64	is	be	AUX
alkej-528	68	65	less	less	ADJ
alkej-528	68	66	than	than	ADP
alkej-528	68	67	or	or	CCONJ
alkej-528	68	68	equal	equal	ADJ
alkej-528	68	69	to	to	ADP
alkej-528	68	70	the	the	DET
alkej-528	68	71	allowable	allowable	ADJ
alkej-528	68	72	stress	stress	NOUN
alkej-528	68	73	,	,	PUNCT
alkej-528	68	74	but	but	CCONJ
alkej-528	68	75	the	the	DET
alkej-528	68	76	deflection	deflection	NOUN
alkej-528	68	77	of	of	ADP
alkej-528	68	78	the	the	DET
alkej-528	68	79	end	end	NOUN
alkej-528	68	80	point	point	NOUN
alkej-528	68	81	effecter	effecter	NOUN
alkej-528	68	82	is	be	AUX
alkej-528	68	83	very	very	ADV
alkej-528	68	84	large	large	ADJ
alkej-528	68	85	.	.	PUNCT
alkej-528	69	1	the	the	DET
alkej-528	69	2	iteration	iteration	NOUN
alkej-528	69	3	process	process	NOUN
alkej-528	69	4	for	for	ADP
alkej-528	69	5	increasing	increase	VERB
alkej-528	69	6	the	the	DET
alkej-528	69	7	dimension	dimension	NOUN
alkej-528	69	8	of	of	ADP
alkej-528	69	9	the	the	DET
alkej-528	69	10	section	section	NOUN
alkej-528	69	11	to	to	PART
alkej-528	69	12	minimize	minimize	VERB
alkej-528	69	13	the	the	DET
alkej-528	69	14	deflection	deflection	NOUN
alkej-528	69	15	and	and	CCONJ
alkej-528	69	16	letting	let	VERB
alkej-528	69	17	it	it	PRON
alkej-528	69	18	be	be	AUX
alkej-528	69	19	within	within	ADP
alkej-528	69	20	the	the	DET
alkej-528	69	21	range	range	NOUN
alkej-528	69	22	(	(	PUNCT
alkej-528	69	23	0.0005<	0.0005<	PROPN
alkej-528	69	24	<	<	X
alkej-528	69	25	0.0022	0.0022	NUM
alkej-528	69	26	)	)	PUNCT
alkej-528	69	27	shows	show	VERB
alkej-528	69	28	that	that	SCONJ
alkej-528	69	29	there	there	PRON
alkej-528	69	30	are	be	VERB
alkej-528	69	31	22	22	NUM
alkej-528	69	32	generation	generation	NOUN
alkej-528	69	33	all	all	PRON
alkej-528	69	34	of	of	ADP
alkej-528	69	35	which	which	PRON
alkej-528	69	36	has	have	VERB
alkej-528	69	37	a	a	DET
alkej-528	69	38	deflection	deflection	NOUN
alkej-528	69	39	(	(	PUNCT
alkej-528	69	40	0.0005<	0.0005<	NOUN
alkej-528	69	41	<	<	X
alkej-528	69	42	0.0022	0.0022	NUM
alkej-528	69	43	)	)	PUNCT
alkej-528	69	44	and	and	CCONJ
alkej-528	69	45	also	also	ADV
alkej-528	69	46	a	a	DET
alkej-528	69	47	weight	weight	NOUN
alkej-528	69	48	(	(	PUNCT
alkej-528	69	49	w	w	NOUN
alkej-528	69	50	<	<	X
alkej-528	69	51	factor	factor	NOUN
alkej-528	69	52	*	*	PUNCT
alkej-528	69	53	wmin	wmin	NOUN
alkej-528	69	54	)	)	PUNCT
alkej-528	69	55	the	the	DET
alkej-528	69	56	permissible	permissible	ADJ
alkej-528	69	57	weight	weight	NOUN
alkej-528	69	58	factor	factor	NOUN
alkej-528	69	59	(	(	PUNCT
alkej-528	69	60	fac	fac	PROPN
alkej-528	69	61	.	.	PUNCT
alkej-528	69	62	)	)	PUNCT
alkej-528	69	63	for	for	ADP
alkej-528	69	64	increasing	increase	VERB
alkej-528	69	65	the	the	DET
alkej-528	69	66	weight	weight	NOUN
alkej-528	69	67	was	be	AUX
alkej-528	69	68	chosen	choose	VERB
alkej-528	69	69	to	to	PART
alkej-528	69	70	be	be	AUX
alkej-528	69	71	(	(	PUNCT
alkej-528	69	72	fac.=1.35	fac.=1.35	NOUN
alkej-528	69	73	)	)	PUNCT
alkej-528	69	74	.	.	PUNCT
alkej-528	70	1	the	the	DET
alkej-528	70	2	dimensions	dimension	NOUN
alkej-528	70	3	of	of	ADP
alkej-528	70	4	the	the	DET
alkej-528	70	5	inner	inner	ADJ
alkej-528	70	6	side	side	NOUN
alkej-528	70	7	of	of	ADP
alkej-528	70	8	the	the	DET
alkej-528	70	9	uni	uni	ADJ
alkej-528	70	10	–	–	PUNCT
alkej-528	70	11	tube	tube	NOUN
alkej-528	70	12	section	section	NOUN
alkej-528	70	13	for	for	ADP
alkej-528	70	14	the	the	DET
alkej-528	70	15	22	22	NUM
alkej-528	70	16	generation	generation	NOUN
alkej-528	70	17	are	be	AUX
alkej-528	70	18	shown	show	VERB
alkej-528	70	19	in	in	ADP
alkej-528	70	20	fig.(4	fig.(4	PROPN
alkej-528	70	21	)	)	PUNCT
alkej-528	70	22	.	.	PUNCT
alkej-528	71	1	the	the	DET
alkej-528	71	2	relation	relation	NOUN
alkej-528	71	3	between	between	ADP
alkej-528	71	4	the	the	DET
alkej-528	71	5	total	total	ADJ
alkej-528	71	6	deflection	deflection	NOUN
alkej-528	71	7	at	at	ADP
alkej-528	71	8	the	the	DET
alkej-528	71	9	end	end	NOUN
alkej-528	71	10	-effecter	-effecter	NOUN
alkej-528	71	11	and	and	CCONJ
alkej-528	71	12	number	number	NOUN
alkej-528	71	13	of	of	ADP
alkej-528	71	14	generation	generation	NOUN
alkej-528	71	15	is	be	AUX
alkej-528	71	16	shown	show	VERB
alkej-528	71	17	in	in	ADP
alkej-528	71	18	fig.(5	fig.(5	PROPN
alkej-528	71	19	)	)	PUNCT
alkej-528	71	20	.	.	PUNCT
alkej-528	72	1	the	the	DET
alkej-528	72	2	relation	relation	NOUN
alkej-528	72	3	between	between	ADP
alkej-528	72	4	the	the	DET
alkej-528	72	5	new	new	ADJ
alkej-528	72	6	weight	weight	NOUN
alkej-528	72	7	of	of	ADP
alkej-528	72	8	the	the	DET
alkej-528	72	9	robot	robot	NOUN
alkej-528	72	10	structure	structure	NOUN
alkej-528	72	11	and	and	CCONJ
alkej-528	72	12	its	its	PRON
alkej-528	72	13	generation	generation	NOUN
alkej-528	72	14	is	be	AUX
alkej-528	72	15	shown	show	VERB
alkej-528	72	16	in	in	ADP
alkej-528	72	17	fig.(6	fig.(6	PROPN
alkej-528	72	18	)	)	PUNCT
alkej-528	72	19	.	.	PUNCT
alkej-528	73	1	the	the	DET
alkej-528	73	2	program	program	NOUN
alkej-528	73	3	chooses	choose	VERB
alkej-528	73	4	the	the	DET
alkej-528	73	5	best	good	ADJ
alkej-528	73	6	generation	generation	NOUN
alkej-528	73	7	which	which	PRON
alkej-528	73	8	has	have	VERB
alkej-528	73	9	the	the	DET
alkej-528	73	10	less	less	ADV
alkej-528	73	11	variable	variable	ADJ
alkej-528	73	12	(	(	PUNCT
alkej-528	73	13	variable=	variable=	NUM
alkej-528	73	14	weight*deflection	weight*deflection	NOUN
alkej-528	73	15	)	)	PUNCT
alkej-528	73	16	,	,	PUNCT
alkej-528	73	17	the	the	DET
alkej-528	73	18	relation	relation	NOUN
alkej-528	73	19	between	between	ADP
alkej-528	73	20	the	the	DET
alkej-528	73	21	variable	variable	NOUN
alkej-528	73	22	and	and	CCONJ
alkej-528	73	23	the	the	DET
alkej-528	73	24	generation	generation	NOUN
alkej-528	73	25	is	be	AUX
alkej-528	73	26	shown	show	VERB
alkej-528	73	27	in	in	ADP
alkej-528	73	28	fig(7	fig(7	NOUN
alkej-528	73	29	)	)	PUNCT
alkej-528	74	1	it	it	PRON
alkej-528	74	2	is	be	AUX
alkej-528	74	3	obvious	obvious	ADJ
alkej-528	74	4	that	that	SCONJ
alkej-528	74	5	the	the	DET
alkej-528	74	6	generation	generation	NOUN
alkej-528	74	7	no	no	INTJ
alkej-528	74	8	.	.	PROPN
alkej-528	74	9	16	16	NUM
alkej-528	74	10	has	have	VERB
alkej-528	74	11	the	the	DET
alkej-528	74	12	minimum	minimum	ADJ
alkej-528	74	13	value	value	NOUN
alkej-528	74	14	,	,	PUNCT
alkej-528	74	15	the	the	DET
alkej-528	74	16	dimensions	dimension	NOUN
alkej-528	74	17	of	of	ADP
alkej-528	74	18	the	the	DET
alkej-528	74	19	section	section	NOUN
alkej-528	74	20	for	for	ADP
alkej-528	74	21	that	that	DET
alkej-528	74	22	generation	generation	NOUN
alkej-528	74	23	are	be	AUX
alkej-528	74	24	b1	b1	NOUN
alkej-528	74	25	=	=	SYM
alkej-528	74	26	0.07464	0.07464	NUM
alkej-528	74	27	m	m	NOUN
alkej-528	74	28	,	,	PUNCT
alkej-528	74	29	b2	b2	NOUN
alkej-528	74	30	=	=	NOUN
alkej-528	74	31	0.06397	0.06397	NUM
alkej-528	74	32	m	m	NOUN
alkej-528	74	33	,	,	PUNCT
alkej-528	74	34	b3=0.05657	b3=0.05657	PRON
alkej-528	74	35	m	m	PRON
alkej-528	74	36	and	and	CCONJ
alkej-528	74	37	has	have	VERB
alkej-528	74	38	a	a	DET
alkej-528	74	39	deflection	deflection	NOUN
alkej-528	74	40	total	total	PUNCT
alkej-528	75	1	=	=	NOUN
alkej-528	76	1	1.87125	1.87125	NUM
alkej-528	76	2	*	*	SYM
alkej-528	76	3	10	10	NUM
alkej-528	76	4	-	-	SYM
alkej-528	76	5	3	3	NUM
alkej-528	76	6	m	m	NOUN
alkej-528	76	7	and	and	CCONJ
alkej-528	76	8	a	a	DET
alkej-528	76	9	total	total	ADJ
alkej-528	76	10	structural	structural	ADJ
alkej-528	76	11	weight	weight	NOUN
alkej-528	76	12	wtotal	wtotal	NOUN
alkej-528	76	13	=	=	NOUN
alkej-528	76	14	26.917n	26.917n	NUM
alkej-528	76	15	.	.	PUNCT
alkej-528	77	1	those	those	DET
alkej-528	77	2	results	result	NOUN
alkej-528	77	3	are	be	AUX
alkej-528	77	4	the	the	DET
alkej-528	77	5	input	input	NOUN
alkej-528	77	6	for	for	ADP
alkej-528	77	7	the	the	DET
alkej-528	77	8	next	next	ADJ
alkej-528	77	9	step	step	NOUN
alkej-528	77	10	in	in	ADP
alkej-528	77	11	the	the	DET
alkej-528	77	12	program	program	NOUN
alkej-528	77	13	for	for	ADP
alkej-528	77	14	calculating	calculate	VERB
alkej-528	77	15	the	the	DET
alkej-528	77	16	dimensions	dimension	NOUN
alkej-528	77	17	of	of	ADP
alkej-528	77	18	the	the	DET
alkej-528	77	19	tri	tri	ADJ
alkej-528	77	20	–	–	PUNCT
alkej-528	77	21	tube	tube	NOUN
alkej-528	77	22	section	section	NOUN
alkej-528	77	23	in	in	ADP
alkej-528	77	24	which	which	PRON
alkej-528	77	25	an	an	DET
alkej-528	77	26	optimization	optimization	NOUN
alkej-528	77	27	problem	problem	NOUN
alkej-528	77	28	where	where	SCONJ
alkej-528	77	29	solved	solve	VERB
alkej-528	77	30	to	to	PART
alkej-528	77	31	maximize	maximize	VERB
alkej-528	77	32	the	the	DET
alkej-528	77	33	moment	moment	NOUN
alkej-528	77	34	of	of	ADP
alkej-528	77	35	inertia	inertia	NOUN
alkej-528	77	36	for	for	ADP
alkej-528	77	37	the	the	DET
alkej-528	77	38	section	section	NOUN
alkej-528	77	39	in	in	ADP
alkej-528	77	40	terms	term	NOUN
alkej-528	77	41	of	of	ADP
alkej-528	77	42	the	the	DET
alkej-528	77	43	dimensions	dimension	NOUN
alkej-528	77	44	h	h	NOUN
alkej-528	77	45	and	and	CCONJ
alkej-528	77	46	d	d	NOUN
alkej-528	77	47	,	,	PUNCT
alkej-528	77	48	the	the	DET
alkej-528	77	49	results	result	NOUN
alkej-528	77	50	of	of	ADP
alkej-528	77	51	the	the	DET
alkej-528	77	52	program	program	NOUN
alkej-528	77	53	are	be	AUX
alkej-528	77	54	shown	show	VERB
alkej-528	77	55	in	in	ADP
alkej-528	77	56	table	table	NOUN
alkej-528	77	57	(	(	PUNCT
alkej-528	77	58	2	2	NUM
alkej-528	77	59	)	)	PUNCT
alkej-528	77	60	the	the	DET
alkej-528	77	61	total	total	ADJ
alkej-528	77	62	deflection	deflection	NOUN
alkej-528	77	63	for	for	ADP
alkej-528	77	64	the	the	DET
alkej-528	77	65	tri	tri	ADJ
alkej-528	77	66	–	–	PUNCT
alkej-528	77	67	tube	tube	NOUN
alkej-528	77	68	configuration	configuration	NOUN
alkej-528	77	69			NOUN
alkej-528	78	1			PROPN
alkej-528	78	2	2	2	NUM
alkej-528	78	3	1	1	NUM
alkej-528	78	4	2	2	NUM
alkej-528	78	5	23	23	NUM
alkej-528	78	6	)	)	PUNCT
alkej-528	78	7	(	(	PUNCT
alkej-528	78	8			NOUN
alkej-528	78	9			NOUN
alkej-528	78	10	tubetritotal	tubetritotal	NOUN
alkej-528	79	1	=	=	NOUN
alkej-528	79	2	1.31462	1.31462	NUM
alkej-528	79	3	*	*	SYM
alkej-528	79	4	10	10	NUM
alkej-528	79	5	-3	-3	INTJ
alkej-528	79	6	m	m	VERB
alkej-528	79	7	the	the	DET
alkej-528	79	8	deflection	deflection	NOUN
alkej-528	79	9	for	for	ADP
alkej-528	79	10	the	the	DET
alkej-528	79	11	tri	tri	ADJ
alkej-528	79	12	–	–	PUNCT
alkej-528	79	13	tube	tube	NOUN
alkej-528	79	14	configuration	configuration	NOUN
alkej-528	79	15	is	be	AUX
alkej-528	79	16	less	less	ADJ
alkej-528	79	17	than	than	ADP
alkej-528	79	18	that	that	PRON
alkej-528	79	19	for	for	ADP
alkej-528	79	20	the	the	DET
alkej-528	79	21	uni	uni	ADJ
alkej-528	79	22	–	–	PUNCT
alkej-528	79	23	tube	tube	NOUN
alkej-528	79	24	which	which	PRON
alkej-528	79	25	was	be	AUX
alkej-528	79	26	found	find	VERB
alkej-528	79	27	to	to	PART
alkej-528	79	28	be	be	AUX
alkej-528	79	29	(	(	PUNCT
alkej-528	79	30	310	310	NUM
alkej-528	79	31	*	*	NUM
alkej-528	79	32	8725.1	8725.1	NUM
alkej-528	79	33			PROPN
alkej-528	79	34			PROPN
alkej-528	79	35	tubeuni	tubeuni	PROPN
alkej-528	79	36	)	)	PUNCT
alkej-528	79	37	this	this	DET
alkej-528	79	38	results	result	VERB
alkej-528	79	39	shows	show	VERB
alkej-528	79	40	that	that	SCONJ
alkej-528	79	41	the	the	DET
alkej-528	79	42	tri	tri	ADJ
alkej-528	79	43	–	–	PUNCT
alkej-528	79	44	tube	tube	NOUN
alkej-528	79	45	section	section	NOUN
alkej-528	79	46	reduces	reduce	VERB
alkej-528	79	47	the	the	DET
alkej-528	79	48	deflection	deflection	NOUN
alkej-528	79	49	in	in	ADP
alkej-528	79	50	a	a	DET
alkej-528	79	51	bout	bout	NOUN
alkej-528	79	52	29.7	29.7	NUM
alkej-528	79	53	%	%	NOUN
alkej-528	79	54	from	from	ADP
alkej-528	79	55	that	that	PRON
alkej-528	79	56	of	of	ADP
alkej-528	79	57	uni	uni	ADJ
alkej-528	79	58	–	–	PUNCT
alkej-528	79	59	tube	tube	NOUN
alkej-528	79	60	section	section	NOUN
alkej-528	79	61	,	,	PUNCT
alkej-528	79	62	the	the	DET
alkej-528	79	63	result	result	NOUN
alkej-528	79	64	may	may	AUX
alkej-528	79	65	be	be	AUX
alkej-528	79	66	improved	improve	VERB
alkej-528	79	67	to	to	PART
alkej-528	79	68	reach	reach	VERB
alkej-528	79	69	a	a	DET
alkej-528	79	70	value	value	NOUN
alkej-528	79	71	of	of	ADP
alkej-528	79	72	33.38	33.38	NUM
alkej-528	79	73	%	%	NOUN
alkej-528	79	74	if	if	SCONJ
alkej-528	79	75	we	we	PRON
alkej-528	79	76	change	change	VERB
alkej-528	79	77	the	the	DET
alkej-528	79	78	weight	weight	NOUN
alkej-528	79	79	factor	factor	NOUN
alkej-528	79	80	(	(	PUNCT
alkej-528	79	81	fac	fac	PROPN
alkej-528	79	82	.	.	PUNCT
alkej-528	79	83	)	)	PUNCT
alkej-528	79	84	to	to	PART
alkej-528	79	85	make	make	VERB
alkej-528	79	86	it	it	PRON
alkej-528	79	87	equal	equal	ADJ
alkej-528	79	88	to	to	ADP
alkej-528	79	89	(	(	PUNCT
alkej-528	79	90	1.3	1.3	NUM
alkej-528	79	91	)	)	PUNCT
alkej-528	79	92	on	on	ADP
alkej-528	79	93	the	the	DET
alkej-528	79	94	other	other	ADJ
alkej-528	79	95	hand	hand	NOUN
alkej-528	79	96	if	if	SCONJ
alkej-528	79	97	(	(	PUNCT
alkej-528	79	98	fac	fac	PROPN
alkej-528	79	99	.	.	PUNCT
alkej-528	79	100	)	)	PUNCT
alkej-528	79	101	is	be	AUX
alkej-528	79	102	increased	increase	VERB
alkej-528	79	103	to(1.65	to(1.65	ADP
alkej-528	79	104	)	)	PUNCT
alkej-528	79	105	the	the	DET
alkej-528	79	106	ahmed	ahmed	PROPN
alkej-528	79	107	abdul	abdul	PROPN
alkej-528	79	108	hussain	hussain	PROPN
alkej-528	79	109	ali	ali	PROPN
alkej-528	79	110	al	al	PROPN
alkej-528	79	111	-	-	PUNCT
alkej-528	79	112	khwarizmi	khwarizmi	PROPN
alkej-528	79	113	engineering	engineering	NOUN
alkej-528	79	114	journal	journal	PROPN
alkej-528	79	115	,	,	PUNCT
alkej-528	79	116	vol.4	vol.4	PROPN
alkej-528	79	117	,	,	PUNCT
alkej-528	79	118	no	no	INTJ
alkej-528	79	119	.	.	NOUN
alkej-528	79	120	1	1	NUM
alkej-528	79	121	pp	pp	ADP
alkej-528	79	122	17	17	NUM
alkej-528	79	123	-	-	SYM
alkej-528	79	124	26	26	NUM
alkej-528	79	125	(	(	PUNCT
alkej-528	79	126	2008	2008	NUM
alkej-528	79	127	)	)	PUNCT
alkej-528	79	128	21	21	NUM
alkej-528	79	129	improvement	improvement	NOUN
alkej-528	79	130	in	in	ADP
alkej-528	79	131	deflection	deflection	NOUN
alkej-528	79	132	would	would	AUX
alkej-528	79	133	be	be	AUX
alkej-528	79	134	less	less	ADV
alkej-528	79	135	and	and	CCONJ
alkej-528	79	136	equal	equal	ADJ
alkej-528	79	137	to	to	ADP
alkej-528	79	138	(	(	PUNCT
alkej-528	79	139	6.02	6.02	NUM
alkej-528	79	140	%	%	NOUN
alkej-528	79	141	)	)	PUNCT
alkej-528	79	142	those	those	DET
alkej-528	79	143	results	result	VERB
alkej-528	79	144	for	for	ADP
alkej-528	79	145	iteration	iteration	NOUN
alkej-528	79	146	and	and	CCONJ
alkej-528	79	147	optimization	optimization	NOUN
alkej-528	79	148	are	be	AUX
alkej-528	79	149	shown	show	VERB
alkej-528	79	150	in	in	ADP
alkej-528	79	151	table(3	table(3	PROPN
alkej-528	79	152	)	)	PUNCT
alkej-528	79	153	another	another	DET
alkej-528	79	154	interesting	interesting	ADJ
alkej-528	79	155	feature	feature	NOUN
alkej-528	79	156	in	in	ADP
alkej-528	79	157	the	the	DET
alkej-528	79	158	design	design	NOUN
alkej-528	79	159	of	of	ADP
alkej-528	79	160	the	the	DET
alkej-528	79	161	uni	uni	ADJ
alkej-528	79	162	–	–	PUNCT
alkej-528	79	163	tube	tube	NOUN
alkej-528	79	164	section	section	NOUN
alkej-528	79	165	is	be	AUX
alkej-528	79	166	that	that	SCONJ
alkej-528	79	167	if	if	SCONJ
alkej-528	79	168	the	the	DET
alkej-528	79	169	weight	weight	NOUN
alkej-528	79	170	factor	factor	NOUN
alkej-528	79	171	(	(	PUNCT
alkej-528	79	172	fac	fac	PROPN
alkej-528	79	173	.	.	PUNCT
alkej-528	79	174	)	)	PUNCT
alkej-528	79	175	was	be	AUX
alkej-528	79	176	chosen	choose	VERB
alkej-528	79	177	to	to	PART
alkej-528	79	178	be	be	AUX
alkej-528	79	179	1.3	1.3	NUM
alkej-528	79	180	and	and	CCONJ
alkej-528	79	181	the	the	DET
alkej-528	79	182	range	range	NOUN
alkej-528	79	183	of	of	ADP
alkej-528	79	184	deflection	deflection	NOUN
alkej-528	79	185	is	be	AUX
alkej-528	79	186	limited	limit	VERB
alkej-528	79	187	to	to	ADP
alkej-528	79	188			NUM
alkej-528	79	189	<	<	X
alkej-528	79	190	0.0022	0.0022	X
alkej-528	79	191	we	we	PRON
alkej-528	79	192	would	would	AUX
alkej-528	79	193	find	find	VERB
alkej-528	79	194	only	only	ADV
alkej-528	79	195	five	five	NUM
alkej-528	79	196	generation	generation	NOUN
alkej-528	79	197	which	which	PRON
alkej-528	79	198	satisfies	satisfy	VERB
alkej-528	79	199	the	the	DET
alkej-528	79	200	previous	previous	ADJ
alkej-528	79	201	mentioned	mention	VERB
alkej-528	79	202	configuration	configuration	NOUN
alkej-528	79	203	and	and	CCONJ
alkej-528	79	204	if	if	SCONJ
alkej-528	79	205	(	(	PUNCT
alkej-528	79	206	fac	fac	PROPN
alkej-528	79	207	.	.	PUNCT
alkej-528	79	208	)	)	PUNCT
alkej-528	79	209	was	be	AUX
alkej-528	79	210	changed	change	VERB
alkej-528	79	211	to	to	ADP
alkej-528	79	212	1.65	1.65	NUM
alkej-528	79	213	and	and	CCONJ
alkej-528	79	214			NUM
alkej-528	79	215	<	<	X
alkej-528	79	216	0.00104	0.00104	X
alkej-528	79	217	we	we	PRON
alkej-528	79	218	would	would	AUX
alkej-528	79	219	find	find	VERB
alkej-528	79	220	only	only	ADV
alkej-528	79	221	4	4	NUM
alkej-528	79	222	generation	generation	NOUN
alkej-528	79	223	these	these	DET
alkej-528	79	224	results	result	NOUN
alkej-528	79	225	which	which	PRON
alkej-528	79	226	are	be	AUX
alkej-528	79	227	shown	show	VERB
alkej-528	79	228	in	in	ADP
alkej-528	79	229	table	table	NOUN
alkej-528	79	230	(	(	PUNCT
alkej-528	79	231	4	4	X
alkej-528	79	232	)	)	PUNCT
alkej-528	79	233	shows	show	VERB
alkej-528	79	234	the	the	DET
alkej-528	79	235	band	band	NOUN
alkej-528	79	236	of	of	ADP
alkej-528	79	237	limits	limit	NOUN
alkej-528	79	238	of	of	ADP
alkej-528	79	239	the	the	DET
alkej-528	79	240	design	design	NOUN
alkej-528	79	241	of	of	ADP
alkej-528	79	242	robot	robot	NOUN
alkej-528	79	243	in	in	ADP
alkej-528	79	244	other	other	ADJ
alkej-528	79	245	word	word	NOUN
alkej-528	79	246	we	we	PRON
alkej-528	79	247	can	can	AUX
alkej-528	79	248	not	not	PART
alkej-528	79	249	find	find	VERB
alkej-528	79	250	a	a	DET
alkej-528	79	251	robot	robot	NOUN
alkej-528	79	252	with	with	ADP
alkej-528	79	253	a	a	DET
alkej-528	79	254	weight	weight	NOUN
alkej-528	79	255	factor	factor	NOUN
alkej-528	79	256	less	less	ADJ
alkej-528	79	257	than	than	ADP
alkej-528	79	258	(	(	PUNCT
alkej-528	79	259	fac.=1.3	fac.=1.3	PROPN
alkej-528	79	260	)	)	PUNCT
alkej-528	79	261	and	and	CCONJ
alkej-528	79	262	has	have	VERB
alkej-528	79	263	a	a	DET
alkej-528	79	264	deflection	deflection	NOUN
alkej-528	79	265	less	less	ADJ
alkej-528	79	266	than	than	ADP
alkej-528	79	267	0.0022	0.0022	NUM
alkej-528	79	268	m	m	VERB
alkej-528	79	269	or	or	CCONJ
alkej-528	79	270	we	we	PRON
alkej-528	79	271	can	can	AUX
alkej-528	79	272	not	not	PART
alkej-528	79	273	find	find	VERB
alkej-528	79	274	a	a	DET
alkej-528	79	275	robot	robot	NOUN
alkej-528	79	276	with	with	ADP
alkej-528	79	277	a	a	DET
alkej-528	79	278	weight	weight	NOUN
alkej-528	79	279	factor	factor	NOUN
alkej-528	79	280	less	less	ADJ
alkej-528	79	281	than	than	ADP
alkej-528	79	282	(	(	PUNCT
alkej-528	79	283	fac.=1.65	fac.=1.65	PROPN
alkej-528	79	284	)	)	PUNCT
alkej-528	79	285	and	and	CCONJ
alkej-528	79	286	had	have	VERB
alkej-528	79	287	a	a	DET
alkej-528	79	288	deflection	deflection	NOUN
alkej-528	79	289	less	less	ADJ
alkej-528	79	290	than	than	ADP
alkej-528	79	291	0.00104	0.00104	NUM
alkej-528	79	292	m	m	PROPN
alkej-528	79	293	those	those	DET
alkej-528	79	294	results	result	NOUN
alkej-528	79	295	of	of	ADP
alkej-528	79	296	iteration	iteration	NOUN
alkej-528	79	297	are	be	AUX
alkej-528	79	298	shown	show	VERB
alkej-528	79	299	in	in	ADP
alkej-528	79	300	table(4	table(4	PROPN
alkej-528	79	301	)	)	PUNCT
alkej-528	79	302	.	.	PUNCT
alkej-528	80	1	a	a	DET
alkej-528	80	2	flow	flow	NOUN
alkej-528	80	3	chart	chart	NOUN
alkej-528	80	4	of	of	ADP
alkej-528	80	5	the	the	DET
alkej-528	80	6	program	program	NOUN
alkej-528	80	7	used	use	VERB
alkej-528	80	8	is	be	AUX
alkej-528	80	9	shown	show	VERB
alkej-528	80	10	in	in	ADP
alkej-528	80	11	fig.(8	fig.(8	PROPN
alkej-528	80	12	)	)	PUNCT
alkej-528	80	13	.	.	PUNCT
alkej-528	81	1	conclusions	conclusion	NOUN
alkej-528	81	2	:	:	PUNCT
alkej-528	81	3	this	this	DET
alkej-528	81	4	paper	paper	NOUN
alkej-528	81	5	presents	present	VERB
alkej-528	81	6	a	a	DET
alkej-528	81	7	method	method	NOUN
alkej-528	81	8	for	for	ADP
alkej-528	81	9	optimization	optimization	NOUN
alkej-528	81	10	of	of	ADP
alkej-528	81	11	robot	robot	NOUN
alkej-528	81	12	design	design	NOUN
alkej-528	81	13	in	in	ADP
alkej-528	81	14	the	the	DET
alkej-528	81	15	conceptual	conceptual	ADJ
alkej-528	81	16	design	design	NOUN
alkej-528	81	17	stage	stage	NOUN
alkej-528	81	18	.	.	PUNCT
alkej-528	82	1	the	the	DET
alkej-528	82	2	robot	robot	NOUN
alkej-528	82	3	is	be	AUX
alkej-528	82	4	modeled	model	VERB
alkej-528	82	5	in	in	ADP
alkej-528	82	6	the	the	DET
alkej-528	82	7	mathcad	mathcad	PROPN
alkej-528	82	8	package	package	NOUN
alkej-528	82	9	and	and	CCONJ
alkej-528	82	10	the	the	DET
alkej-528	82	11	optimization	optimization	NOUN
alkej-528	82	12	problem	problem	NOUN
alkej-528	82	13	is	be	AUX
alkej-528	82	14	formulated	formulate	VERB
alkej-528	82	15	as	as	SCONJ
alkej-528	82	16	to	to	PART
alkej-528	82	17	determine	determine	VERB
alkej-528	82	18	the	the	DET
alkej-528	82	19	dimension	dimension	NOUN
alkej-528	82	20	of	of	ADP
alkej-528	82	21	robot	robot	NOUN
alkej-528	82	22	arm	arm	NOUN
alkej-528	82	23	in	in	ADP
alkej-528	82	24	order	order	NOUN
alkej-528	82	25	to	to	PART
alkej-528	82	26	minimize	minimize	VERB
alkej-528	82	27	the	the	DET
alkej-528	82	28	weight	weight	NOUN
alkej-528	82	29	and	and	CCONJ
alkej-528	82	30	maximize	maximize	VERB
alkej-528	82	31	stiffness	stiffness	NOUN
alkej-528	82	32	this	this	DET
alkej-528	82	33	formulation	formulation	NOUN
alkej-528	82	34	can	can	AUX
alkej-528	82	35	be	be	AUX
alkej-528	82	36	interpreted	interpret	VERB
alkej-528	82	37	as	as	ADP
alkej-528	82	38	to	to	PART
alkej-528	82	39	design	design	VERB
alkej-528	82	40	the	the	DET
alkej-528	82	41	cheapest	cheap	ADJ
alkej-528	82	42	possible	possible	ADJ
alkej-528	82	43	robot	robot	NOUN
alkej-528	82	44	that	that	PRON
alkej-528	82	45	will	will	AUX
alkej-528	82	46	still	still	ADV
alkej-528	82	47	meets	meet	VERB
alkej-528	82	48	the	the	DET
alkej-528	82	49	design	design	NOUN
alkej-528	82	50	demands	demand	NOUN
alkej-528	82	51	.	.	PUNCT
alkej-528	83	1	the	the	DET
alkej-528	83	2	optimization	optimization	NOUN
alkej-528	83	3	method	method	NOUN
alkej-528	83	4	showed	show	VERB
alkej-528	83	5	good	good	ADJ
alkej-528	83	6	capability	capability	NOUN
alkej-528	83	7	in	in	ADP
alkej-528	83	8	finding	find	VERB
alkej-528	83	9	an	an	DET
alkej-528	83	10	optimum	optimum	ADJ
alkej-528	83	11	set	set	NOUN
alkej-528	83	12	of	of	ADP
alkej-528	83	13	dimension	dimension	NOUN
alkej-528	83	14	of	of	ADP
alkej-528	83	15	the	the	DET
alkej-528	83	16	arm	arm	NOUN
alkej-528	83	17	of	of	ADP
alkej-528	83	18	robot	robot	NOUN
alkej-528	83	19	manipulator	manipulator	NOUN
alkej-528	83	20	with	with	ADP
alkej-528	83	21	three	three	NUM
alkej-528	83	22	degree	degree	NOUN
alkej-528	83	23	of	of	ADP
alkej-528	83	24	freedom	freedom	NOUN
alkej-528	83	25	.	.	PUNCT
alkej-528	84	1	the	the	DET
alkej-528	84	2	optimization	optimization	NOUN
alkej-528	84	3	method	method	NOUN
alkej-528	84	4	shows	show	VERB
alkej-528	84	5	that	that	SCONJ
alkej-528	84	6	the	the	DET
alkej-528	84	7	tri	tri	PROPN
alkej-528	84	8	–	–	PUNCT
alkej-528	84	9	tube	tube	NOUN
alkej-528	84	10	is	be	AUX
alkej-528	84	11	superior	superior	ADJ
alkej-528	84	12	to	to	ADP
alkej-528	84	13	uni	uni	ADJ
alkej-528	84	14	–	–	PUNCT
alkej-528	84	15	tube	tube	NOUN
alkej-528	84	16	section	section	NOUN
alkej-528	84	17	in	in	ADP
alkej-528	84	18	minimizing	minimize	VERB
alkej-528	84	19	deflection	deflection	NOUN
alkej-528	84	20	in	in	ADP
alkej-528	84	21	about	about	ADV
alkej-528	84	22	33	33	NUM
alkej-528	84	23	%	%	NOUN
alkej-528	84	24	.	.	PUNCT
alkej-528	85	1	the	the	DET
alkej-528	85	2	presented	present	VERB
alkej-528	85	3	work	work	NOUN
alkej-528	85	4	provides	provide	VERB
alkej-528	85	5	a	a	DET
alkej-528	85	6	good	good	ADJ
alkej-528	85	7	support	support	NOUN
alkej-528	85	8	for	for	ADP
alkej-528	85	9	conceptual	conceptual	ADJ
alkej-528	85	10	robot	robot	NOUN
alkej-528	85	11	design	design	NOUN
alkej-528	85	12	.	.	PUNCT
alkej-528	86	1	fig	fig	NOUN
alkej-528	86	2	.	.	PUNCT
alkej-528	87	1	(	(	PUNCT
alkej-528	87	2	1	1	X
alkej-528	87	3	)	)	PUNCT
alkej-528	87	4	robot	robot	NOUN
alkej-528	87	5	configuration	configuration	NOUN
alkej-528	87	6	(	(	PUNCT
alkej-528	87	7	b	b	NOUN
alkej-528	87	8	)	)	PUNCT
alkej-528	87	9	(	(	PUNCT
alkej-528	87	10	a	a	X
alkej-528	87	11	)	)	PUNCT
alkej-528	87	12	fig.(2	fig.(2	NUM
alkej-528	87	13	)	)	PUNCT
alkej-528	87	14	(	(	PUNCT
alkej-528	87	15	a	a	X
alkej-528	87	16	)	)	PUNCT
alkej-528	87	17	uni	uni	ADJ
alkej-528	87	18	-	-	ADJ
alkej-528	87	19	tube	tube	ADJ
alkej-528	87	20	configuration	configuration	NOUN
alkej-528	87	21	(	(	PUNCT
alkej-528	87	22	b	b	NOUN
alkej-528	87	23	)	)	PUNCT
alkej-528	87	24	tri	tri	ADJ
alkej-528	87	25	-	-	ADJ
alkej-528	87	26	tube	tube	ADJ
alkej-528	87	27	configuration	configuration	NOUN
alkej-528	87	28	.	.	PUNCT
alkej-528	88	1	2q	2q	NOUN
alkej-528	88	2	2	2	NUM
alkej-528	88	3	3l2l	3l2l	NUM
alkej-528	88	4	1	1	NUM
alkej-528	88	5	3q	3q	NUM
alkej-528	88	6	1l	1l	NUM
alkej-528	88	7	m3	m3	PROPN
alkej-528	88	8	m1	m1	PROPN
alkej-528	88	9	m2	m2	PROPN
alkej-528	88	10	3	3	PROPN
alkej-528	88	11	ahmed	ahmed	PROPN
alkej-528	88	12	abdul	abdul	PROPN
alkej-528	88	13	hussain	hussain	PROPN
alkej-528	88	14	ali	ali	PROPN
alkej-528	88	15	al	al	PROPN
alkej-528	88	16	-	-	PUNCT
alkej-528	88	17	khwarizmi	khwarizmi	PROPN
alkej-528	88	18	engineering	engineering	NOUN
alkej-528	88	19	journal	journal	PROPN
alkej-528	88	20	,	,	PUNCT
alkej-528	88	21	vol.4	vol.4	PROPN
alkej-528	88	22	,	,	PUNCT
alkej-528	88	23	no	no	INTJ
alkej-528	88	24	.	.	NOUN
alkej-528	88	25	1	1	NUM
alkej-528	88	26	pp	pp	ADP
alkej-528	88	27	17	17	NUM
alkej-528	88	28	-	-	SYM
alkej-528	88	29	26	26	NUM
alkej-528	88	30	(	(	PUNCT
alkej-528	88	31	2008	2008	NUM
alkej-528	88	32	)	)	PUNCT
alkej-528	88	33	22	22	NUM
alkej-528	88	34	fig.(3	fig.(3	NOUN
alkej-528	88	35	)	)	PUNCT
alkej-528	88	36	modulation	modulation	NOUN
alkej-528	88	37	of	of	ADP
alkej-528	88	38	manipulator	manipulator	NOUN
alkej-528	88	39	links	link	NOUN
alkej-528	88	40	table	table	VERB
alkej-528	88	41	1	1	NUM
alkej-528	88	42	torque	torque	NOUN
alkej-528	88	43	–	–	PUNCT
alkej-528	88	44	mass	mass	NOUN
alkej-528	88	45	relation	relation	NOUN
alkej-528	88	46	for	for	ADP
alkej-528	88	47	available	available	ADJ
alkej-528	88	48	gear	gear	NOUN
alkej-528	88	49	boxes	box	NOUN
alkej-528	88	50	[	[	X
alkej-528	88	51	2	2	X
alkej-528	88	52	]	]	PUNCT
alkej-528	88	53	out	out	ADP
alkej-528	88	54	put	put	VERB
alkej-528	88	55	torques	torque	NOUN
alkej-528	88	56	(	(	PUNCT
alkej-528	88	57	n.m	n.m	NOUN
alkej-528	88	58	)	)	PUNCT
alkej-528	88	59	mass	mass	NOUN
alkej-528	88	60	(	(	PUNCT
alkej-528	88	61	kg	kg	NOUN
alkej-528	88	62	)	)	PUNCT
alkej-528	88	63	101	101	NUM
alkej-528	88	64	231	231	NUM
alkej-528	88	65	572	572	NUM
alkej-528	88	66	1088	1088	NUM
alkej-528	88	67	1499	1499	NUM
alkej-528	88	68	2176	2176	NUM
alkej-528	88	69	4361	4361	NUM
alkej-528	88	70	6135	6135	NUM
alkej-528	88	71	2.5	2.5	NUM
alkej-528	88	72	4.4	4.4	NUM
alkej-528	88	73	9.5	9.5	NUM
alkej-528	88	74	12.7	12.7	NUM
alkej-528	88	75	18	18	NUM
alkej-528	88	76	28	28	NUM
alkej-528	88	77	47	47	NUM
alkej-528	88	78	69	69	NUM
alkej-528	88	79	table	table	NOUN
alkej-528	88	80	(	(	PUNCT
alkej-528	88	81	2	2	NUM
alkej-528	88	82	)	)	PUNCT
alkej-528	88	83	dimension	dimension	NOUN
alkej-528	88	84	of	of	ADP
alkej-528	88	85	the	the	DET
alkej-528	88	86	tri	tri	ADJ
alkej-528	88	87	–	–	PUNCT
alkej-528	88	88	tube	tube	NOUN
alkej-528	88	89	section	section	NOUN
alkej-528	88	90	arm	arm	NOUN
alkej-528	89	1	no	no	INTJ
alkej-528	89	2	.	.	PUNCT
alkej-528	90	1	h	h	PROPN
alkej-528	90	2	(	(	PUNCT
alkej-528	90	3	m	m	NOUN
alkej-528	90	4	)	)	PUNCT
alkej-528	90	5	d	d	PROPN
alkej-528	90	6	(	(	PUNCT
alkej-528	90	7	m	m	NOUN
alkej-528	90	8	)	)	PUNCT
alkej-528	90	9	*	*	PUNCT
alkej-528	90	10	10	10	NUM
alkej-528	90	11	-	-	SYM
alkej-528	90	12	3	3	NUM
alkej-528	90	13	itri	itri	ADJ
alkej-528	90	14	–	–	PUNCT
alkej-528	90	15	tube(m	tube(m	NOUN
alkej-528	90	16	4	4	NUM
alkej-528	90	17	)	)	PUNCT
alkej-528	90	18	*	*	PUNCT
alkej-528	90	19	10	10	NUM
alkej-528	90	20	-	-	SYM
alkej-528	90	21	7	7	NUM
alkej-528	90	22	deflection	deflection	NOUN
alkej-528	90	23	(	(	PUNCT
alkej-528	90	24			NUM
alkej-528	90	25	)	)	PUNCT
alkej-528	90	26	m	m	VERB
alkej-528	90	27	*	*	ADJ
alkej-528	90	28	10	10	NUM
alkej-528	90	29	-	-	SYM
alkej-528	90	30	4	4	NUM
alkej-528	90	31	3	3	NUM
alkej-528	90	32	2	2	NUM
alkej-528	90	33	1	1	NUM
alkej-528	90	34	0.10028	0.10028	NUM
alkej-528	90	35	0.10440	0.10440	NUM
alkej-528	90	36	0.10440	0.10440	NUM
alkej-528	90	37	7.52652	7.52652	NUM
alkej-528	90	38	9.22085	9.22085	NUM
alkej-528	90	39	11.92	11.92	NUM
alkej-528	90	40	1.75056	1.75056	NUM
alkej-528	90	41	2.48207	2.48207	NUM
alkej-528	90	42	3.42024	3.42024	NUM
alkej-528	90	43	8.09087	8.09087	NUM
alkej-528	90	44	7.35704	7.35704	NUM
alkej-528	90	45	3.0044	3.0044	NUM
alkej-528	90	46	table	table	NOUN
alkej-528	90	47	(	(	PUNCT
alkej-528	90	48	3	3	X
alkej-528	90	49	)	)	PUNCT
alkej-528	90	50	results	result	NOUN
alkej-528	90	51	for	for	ADP
alkej-528	90	52	iteration	iteration	NOUN
alkej-528	90	53	and	and	CCONJ
alkej-528	90	54	optimization	optimization	NOUN
alkej-528	90	55	problem	problem	NOUN
alkej-528	90	56	fac	fac	PROPN
alkej-528	90	57	.	.	PUNCT
alkej-528	91	1	tubetri	tubetri	X
alkej-528	91	2	(	(	PUNCT
alkej-528	91	3	m)*10	m)*10	NOUN
alkej-528	91	4	-	-	SYM
alkej-528	91	5	3	3	NUM
alkej-528	91	6	tubeuni	tubeuni	PROPN
alkej-528	91	7			PROPN
alkej-528	91	8	(	(	PUNCT
alkej-528	91	9	m)*10	m)*10	NOUN
alkej-528	91	10	-	-	SYM
alkej-528	91	11	3	3	NUM
alkej-528	91	12	improvement	improvement	NOUN
alkej-528	91	13	in	in	ADP
alkej-528	91	14	deflection	deflection	NOUN
alkej-528	91	15	1.3	1.3	NUM
alkej-528	91	16	1.35	1.35	NUM
alkej-528	91	17	1.4	1.4	NUM
alkej-528	91	18	1.45	1.45	NUM
alkej-528	91	19	1.5	1.5	NUM
alkej-528	91	20	1.55	1.55	NUM
alkej-528	91	21	1.6	1.6	NUM
alkej-528	91	22	1.65	1.65	NUM
alkej-528	91	23	1.39973	1.39973	NUM
alkej-528	91	24	1.31462	1.31462	NUM
alkej-528	91	25	1.2189	1.2189	NUM
alkej-528	91	26	1.16048	1.16048	NUM
alkej-528	91	27	1.09686	1.09686	NUM
alkej-528	91	28	1.04631	1.04631	NUM
alkej-528	91	29	0.985197	0.985197	NUM
alkej-528	91	30	.948732	.948732	NOUN
alkej-528	91	31	2.10114	2.10114	NUM
alkej-528	91	32	1.87125	1.87125	NUM
alkej-528	91	33	1.6237	1.6237	NUM
alkej-528	91	34	1.48623	1.48623	NUM
alkej-528	91	35	1.3437	1.3437	NUM
alkej-528	91	36	1.22646	1.22646	NUM
alkej-528	91	37	1.08422	1.08422	NUM
alkej-528	91	38	1.00955	1.00955	NUM
alkej-528	91	39	33.38	33.38	NUM
alkej-528	91	40	%	%	NOUN
alkej-528	91	41	29.7	29.7	NUM
alkej-528	91	42	%	%	NOUN
alkej-528	91	43	24.9	24.9	NUM
alkej-528	91	44	%	%	NOUN
alkej-528	91	45	21.9	21.9	NUM
alkej-528	91	46	%	%	NOUN
alkej-528	91	47	18.37	18.37	NUM
alkej-528	91	48	%	%	NOUN
alkej-528	91	49	14.68	14.68	NUM
alkej-528	91	50	%	%	NOUN
alkej-528	91	51	9.13	9.13	NUM
alkej-528	91	52	%	%	NOUN
alkej-528	91	53	6.02	6.02	NUM
alkej-528	91	54	%	%	NOUN
alkej-528	91	55	table	table	NOUN
alkej-528	91	56	(	(	PUNCT
alkej-528	91	57	4	4	NUM
alkej-528	91	58	)	)	PUNCT
alkej-528	91	59	limits	limit	NOUN
alkej-528	91	60	of	of	ADP
alkej-528	91	61	deflection	deflection	NOUN
alkej-528	91	62	-	-	PUNCT
alkej-528	91	63	weight	weight	NOUN
alkej-528	91	64	factor	factor	NOUN
alkej-528	91	65	for	for	ADP
alkej-528	91	66	robot	robot	NOUN
alkej-528	91	67	design	design	PROPN
alkej-528	91	68	fac	fac	PROPN
alkej-528	91	69	.	.	PUNCT
alkej-528	92	1			NUM
alkej-528	92	2	max	max	PROPN
alkej-528	92	3	(	(	PUNCT
alkej-528	92	4	m	m	NOUN
alkej-528	92	5	)	)	PUNCT
alkej-528	92	6	generations	generation	NOUN
alkej-528	92	7	1.3	1.3	NUM
alkej-528	92	8	1.35	1.35	NUM
alkej-528	92	9	1.4	1.4	NUM
alkej-528	92	10	1.45	1.45	NUM
alkej-528	92	11	1.5	1.5	NUM
alkej-528	92	12	1.55	1.55	NUM
alkej-528	92	13	1.6	1.6	NUM
alkej-528	92	14	1.65	1.65	NUM
alkej-528	92	15	0.0022	0.0022	NUM
alkej-528	92	16	0.0019	0.0019	NUM
alkej-528	92	17	0.0017	0.0017	NUM
alkej-528	92	18	0.0015	0.0015	NUM
alkej-528	92	19	0.0014	0.0014	NUM
alkej-528	92	20	0.0013	0.0013	NUM
alkej-528	92	21	0.0011	0.0011	NUM
alkej-528	92	22	0.00104	0.00104	NUM
alkej-528	92	23	5	5	NUM
alkej-528	92	24	2	2	NUM
alkej-528	92	25	3	3	NUM
alkej-528	92	26	2	2	NUM
alkej-528	92	27	3	3	NUM
alkej-528	92	28	0	0	NUM
alkej-528	92	29	2	2	NUM
alkej-528	92	30	4	4	NUM
alkej-528	92	31	ahmed	ahme	VERB
alkej-528	92	32	abdul	abdul	PROPN
alkej-528	92	33	hussain	hussain	PROPN
alkej-528	92	34	ali	ali	PROPN
alkej-528	92	35	al	al	PROPN
alkej-528	92	36	-	-	PUNCT
alkej-528	92	37	khwarizmi	khwarizmi	PROPN
alkej-528	92	38	engineering	engineering	NOUN
alkej-528	92	39	journal	journal	PROPN
alkej-528	92	40	,	,	PUNCT
alkej-528	92	41	vol.4	vol.4	PROPN
alkej-528	92	42	,	,	PUNCT
alkej-528	92	43	no	no	INTJ
alkej-528	92	44	.	.	NOUN
alkej-528	92	45	1	1	NUM
alkej-528	92	46	pp	pp	ADP
alkej-528	92	47	17	17	NUM
alkej-528	92	48	-	-	SYM
alkej-528	92	49	26	26	NUM
alkej-528	92	50	(	(	PUNCT
alkej-528	92	51	2008	2008	NUM
alkej-528	92	52	)	)	PUNCT
alkej-528	92	53	23	23	NUM
alkej-528	92	54	in	in	ADP
alkej-528	92	55	ne	ne	PROPN
alkej-528	92	56	rsi	rsi	PROPN
alkej-528	92	57	de	de	PROPN
alkej-528	92	58	d	d	X
alkej-528	93	1	i	i	PRON
alkej-528	93	2	m	m	VERB
alkej-528	93	3	en	en	ADP
alkej-528	93	4	si	si	X
alkej-528	93	5	on	on	ADP
alkej-528	93	6	(	(	PUNCT
alkej-528	93	7	b	b	NOUN
alkej-528	93	8	)	)	PUNCT
alkej-528	94	1	fo	fo	ADP
alkej-528	94	2	r	r	NOUN
alkej-528	94	3	u	u	NOUN
alkej-528	94	4	ni	ni	PROPN
alkej-528	94	5	-t	-t	PROPN
alkej-528	94	6	ub	ub	PROPN
alkej-528	94	7	e	e	X
alkej-528	94	8	se	se	X
alkej-528	94	9	ct	ct	PROPN
alkej-528	94	10	io	io	PROPN
alkej-528	94	11	n	n	ADV
alkej-528	94	12	in	in	ADP
alkej-528	94	13	(	(	PUNCT
alkej-528	94	14	m	m	VERB
alkej-528	94	15	m	m	VERB
alkej-528	94	16	)	)	PUNCT
alkej-528	94	17	1	1	NUM
alkej-528	94	18	3	3	NUM
alkej-528	94	19	5	5	NUM
alkej-528	94	20	7	7	NUM
alkej-528	94	21	9	9	NUM
alkej-528	94	22	11	11	NUM
alkej-528	94	23	13	13	NUM
alkej-528	94	24	15	15	NUM
alkej-528	94	25	17	17	NUM
alkej-528	94	26	19	19	NUM
alkej-528	94	27	21	21	NUM
alkej-528	94	28	0.04	0.04	NUM
alkej-528	94	29	0.05	0.05	NUM
alkej-528	94	30	0.06	0.06	NUM
alkej-528	94	31	0.07	0.07	NUM
alkej-528	94	32	0.08	0.08	NUM
alkej-528	94	33	0.09	0.09	NUM
alkej-528	94	34	b1	b1	NOUN
alkej-528	94	35	b2	b2	NOUN
alkej-528	94	36	b3	b3	PROPN
alkej-528	94	37	b1	b1	NOUN
alkej-528	94	38	b2	b2	NOUN
alkej-528	94	39	b3	b3	PROPN
alkej-528	94	40	generatonsgenerations	generatonsgeneration	NOUN
alkej-528	94	41	fig.(4	fig.(4	PROPN
alkej-528	94	42	)	)	PUNCT
alkej-528	94	43	correlation	correlation	NOUN
alkej-528	94	44	between	between	ADP
alkej-528	94	45	inner	inner	ADJ
alkej-528	94	46	side	side	NOUN
alkej-528	94	47	dimension	dimension	NOUN
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alkej-528	94	49	no	no	INTJ
alkej-528	94	50	.	.	NOUN
alkej-528	94	51	of	of	ADP
alkej-528	94	52	generations	generation	NOUN
alkej-528	94	53	.	.	PUNCT
alkej-528	95	1	t	t	PROPN
alkej-528	95	2	ot	ot	INTJ
alkej-528	95	3	al	al	PROPN
alkej-528	95	4	d	d	PROPN
alkej-528	95	5	ef	ef	X
alkej-528	95	6	le	le	PROPN
alkej-528	95	7	ct	ct	PROPN
alkej-528	95	8	io	io	PROPN
alkej-528	95	9	n	n	PROPN
alkej-528	95	10	total	total	PROPN
alkej-528	95	11	(	(	PUNCT
alkej-528	95	12	m	m	VERB
alkej-528	95	13	m	m	VERB
alkej-528	95	14	)	)	PUNCT
alkej-528	95	15	0	0	NUM
alkej-528	95	16	2	2	NUM
alkej-528	95	17	4	4	NUM
alkej-528	95	18	6	6	NUM
alkej-528	95	19	8	8	NUM
alkej-528	95	20	10	10	NUM
alkej-528	95	21	12	12	NUM
alkej-528	95	22	14	14	NUM
alkej-528	95	23	16	16	NUM
alkej-528	95	24	18	18	NUM
alkej-528	95	25	20	20	NUM
alkej-528	95	26	22	22	NUM
alkej-528	95	27	0.0017	0.0017	NUM
alkej-528	95	28	0.00176	0.00176	NUM
alkej-528	95	29	0.00182	0.00182	NUM
alkej-528	95	30	0.00188	0.00188	NUM
alkej-528	95	31	0.00194	0.00194	NUM
alkej-528	95	32	0.002	0.002	NUM
alkej-528	95	33	0.00206	0.00206	NUM
alkej-528	95	34	0.00212	0.00212	NUM
alkej-528	95	35	0.00218	0.00218	NUM
alkej-528	95	36	0.00224	0.00224	NUM
alkej-528	95	37	0.0023	0.0023	NUM
alkej-528	95	38	generationsgenerations	generationsgeneration	NOUN
alkej-528	95	39	fig.(5	fig.(5	NOUN
alkej-528	95	40	)	)	PUNCT
alkej-528	95	41	correlation	correlation	NOUN
alkej-528	95	42	between	between	ADP
alkej-528	95	43	the	the	DET
alkej-528	95	44	deflection	deflection	NOUN
alkej-528	95	45	and	and	CCONJ
alkej-528	95	46	no	no	INTJ
alkej-528	95	47	.	.	NOUN
alkej-528	95	48	of	of	ADP
alkej-528	95	49	generations	generation	NOUN
alkej-528	95	50	.	.	PUNCT
alkej-528	96	1	ahmed	ahmed	PROPN
alkej-528	96	2	abdul	abdul	PROPN
alkej-528	96	3	hussain	hussain	PROPN
alkej-528	96	4	ali	ali	PROPN
alkej-528	96	5	al	al	PROPN
alkej-528	96	6	-	-	PUNCT
alkej-528	96	7	khwarizmi	khwarizmi	PROPN
alkej-528	96	8	engineering	engineering	NOUN
alkej-528	96	9	journal	journal	PROPN
alkej-528	96	10	,	,	PUNCT
alkej-528	96	11	vol.4	vol.4	PROPN
alkej-528	96	12	,	,	PUNCT
alkej-528	96	13	no	no	INTJ
alkej-528	96	14	.	.	NOUN
alkej-528	96	15	1	1	NUM
alkej-528	96	16	pp	pp	ADP
alkej-528	96	17	17	17	NUM
alkej-528	96	18	-	-	SYM
alkej-528	96	19	26	26	NUM
alkej-528	96	20	(	(	PUNCT
alkej-528	96	21	2008	2008	NUM
alkej-528	96	22	)	)	PUNCT
alkej-528	96	23	24	24	NUM
alkej-528	96	24	t	t	NOUN
alkej-528	96	25	ot	ot	NOUN
alkej-528	96	26	al	al	PROPN
alkej-528	96	27	w	w	PROPN
alkej-528	96	28	ei	ei	PROPN
alkej-528	96	29	gh	gh	PROPN
alkej-528	96	30	t	t	PROPN
alkej-528	96	31	(	(	PUNCT
alkej-528	96	32	n	n	CCONJ
alkej-528	96	33	)	)	PUNCT
alkej-528	96	34	0	0	NUM
alkej-528	96	35	2	2	NUM
alkej-528	96	36	4	4	NUM
alkej-528	96	37	6	6	NUM
alkej-528	96	38	8	8	NUM
alkej-528	96	39	10	10	NUM
alkej-528	96	40	12	12	NUM
alkej-528	96	41	14	14	NUM
alkej-528	96	42	16	16	NUM
alkej-528	96	43	18	18	NUM
alkej-528	96	44	20	20	NUM
alkej-528	96	45	22	22	NUM
alkej-528	96	46	25.5	25.5	NUM
alkej-528	96	47	26	26	NUM
alkej-528	96	48	26.5	26.5	NUM
alkej-528	96	49	27	27	NUM
alkej-528	96	50	generations	generation	NOUN
alkej-528	96	51	generations	generation	NOUN
alkej-528	96	52	fig.(6	fig.(6	NOUN
alkej-528	96	53	)	)	PUNCT
alkej-528	96	54	correlation	correlation	NOUN
alkej-528	96	55	between	between	ADP
alkej-528	96	56	robot	robot	NOUN
alkej-528	96	57	weight	weight	NOUN
alkej-528	96	58	and	and	CCONJ
alkej-528	96	59	no	no	INTJ
alkej-528	96	60	.	.	NOUN
alkej-528	96	61	of	of	ADP
alkej-528	96	62	generations	generation	NOUN
alkej-528	96	63	.	.	PUNCT
alkej-528	97	1	v	v	X
alkej-528	97	2	ar	ar	PROPN
alkej-528	97	3	ia	ia	PROPN
alkej-528	97	4	bl	bl	PROPN
alkej-528	97	5	e	e	X
alkej-528	97	6	(	(	PUNCT
alkej-528	97	7	v	v	ADP
alkej-528	97	8	a	a	DET
alkej-528	97	9	r	r	NOUN
alkej-528	97	10	.	.	PUNCT
alkej-528	97	11	)	)	PUNCT
alkej-528	97	12	0	0	NUM
alkej-528	97	13	2	2	NUM
alkej-528	97	14	4	4	NUM
alkej-528	97	15	6	6	NUM
alkej-528	97	16	8	8	NUM
alkej-528	97	17	10	10	NUM
alkej-528	97	18	12	12	NUM
alkej-528	97	19	14	14	NUM
alkej-528	97	20	16	16	NUM
alkej-528	97	21	18	18	NUM
alkej-528	97	22	20	20	NUM
alkej-528	97	23	22	22	NUM
alkej-528	97	24	0.05	0.05	NUM
alkej-528	97	25	0.055	0.055	NUM
alkej-528	97	26	0.06	0.06	NUM
alkej-528	97	27	generations	generation	NOUN
alkej-528	97	28	fig.(7	fig.(7	NOUN
alkej-528	97	29	)	)	PUNCT
alkej-528	97	30	correlation	correlation	NOUN
alkej-528	97	31	between	between	ADP
alkej-528	97	32	(	(	PUNCT
alkej-528	97	33	variable	variable	NOUN
alkej-528	97	34	)	)	PUNCT
alkej-528	97	35	and	and	CCONJ
alkej-528	97	36	no	no	INTJ
alkej-528	97	37	.	.	NOUN
alkej-528	97	38	of	of	ADP
alkej-528	97	39	generations	generation	NOUN
alkej-528	97	40	.	.	PUNCT
alkej-528	98	1	ahmed	ahmed	PROPN
alkej-528	98	2	abdul	abdul	PROPN
alkej-528	98	3	hussain	hussain	PROPN
alkej-528	98	4	ali	ali	PROPN
alkej-528	98	5	al	al	PROPN
alkej-528	98	6	-	-	PUNCT
alkej-528	98	7	khwarizmi	khwarizmi	PROPN
alkej-528	98	8	engineering	engineering	NOUN
alkej-528	98	9	journal	journal	PROPN
alkej-528	98	10	,	,	PUNCT
alkej-528	98	11	vol.4	vol.4	PROPN
alkej-528	98	12	,	,	PUNCT
alkej-528	98	13	no	no	INTJ
alkej-528	98	14	.	.	NOUN
alkej-528	98	15	1	1	NUM
alkej-528	98	16	pp	pp	ADP
alkej-528	98	17	17	17	NUM
alkej-528	98	18	-	-	SYM
alkej-528	98	19	26	26	NUM
alkej-528	98	20	(	(	PUNCT
alkej-528	98	21	2008	2008	NUM
alkej-528	98	22	)	)	PUNCT
alkej-528	98	23	25	25	NUM
alkej-528	98	24	references	reference	NOUN
alkej-528	98	25	:	:	PUNCT
alkej-528	98	26	[	[	X
alkej-528	98	27	1	1	NUM
alkej-528	98	28	]	]	PUNCT
alkej-528	98	29	.	.	PUNCT
alkej-528	99	1	p.s	p.s	PROPN
alkej-528	99	2	.	.	PROPN
alkej-528	99	3	shiakolas	shiakolas	PROPN
alkej-528	99	4	,	,	PUNCT
alkej-528	99	5	d.	d.	PROPN
alkej-528	99	6	koladiya	koladiya	PROPN
alkej-528	99	7	and	and	CCONJ
alkej-528	99	8	j.kebrle	j.kebrle	VERB
alkej-528	99	9	“	"	PUNCT
alkej-528	99	10	optimum	optimum	ADJ
alkej-528	99	11	robot	robot	NOUN
alkej-528	99	12	design	design	NOUN
alkej-528	99	13	based	base	VERB
alkej-528	99	14	on	on	ADP
alkej-528	99	15	task	task	NOUN
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alkej-528	99	17	using	use	VERB
alkej-528	99	18	evolutionary	evolutionary	ADJ
alkej-528	99	19	techniques	technique	NOUN
alkej-528	99	20	and	and	CCONJ
alkej-528	99	21	kinematic	kinematic	ADJ
alkej-528	99	22	,	,	PUNCT
alkej-528	99	23	dynamic	dynamic	ADJ
alkej-528	99	24	,	,	PUNCT
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alkej-528	99	26	structural	structural	ADJ
alkej-528	99	27	constraints	constraint	NOUN
alkej-528	99	28	”	"	PUNCT
alkej-528	99	29	,	,	PUNCT
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alkej-528	99	31	journal	journal	NOUN
alkej-528	99	32	of	of	ADP
alkej-528	99	33	inverse	inverse	NOUN
alkej-528	99	34	problems	problem	NOUN
alkej-528	99	35	in	in	ADP
alkej-528	99	36	engineering	engineering	NOUN
alkej-528	99	37	,	,	PUNCT
alkej-528	99	38	volume	volume	NOUN
alkej-528	99	39	10	10	NUM
alkej-528	99	40	,	,	PUNCT
alkej-528	99	41	number	number	NOUN
alkej-528	99	42	4	4	NUM
alkej-528	99	43	,	,	PUNCT
alkej-528	99	44	pp	pp	ADV
alkej-528	99	45	359	359	NUM
alkej-528	99	46	-	-	SYM
alkej-528	99	47	375	375	NUM
alkej-528	99	48	,	,	PUNCT
alkej-528	99	49	2002	2002	NUM
alkej-528	99	50	.	.	PUNCT
alkej-528	100	1	[	[	X
alkej-528	100	2	2	2	NUM
alkej-528	100	3	]	]	PUNCT
alkej-528	100	4	.	.	PUNCT
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alkej-528	102	2	.	.	PROPN
alkej-528	102	3	,	,	PUNCT
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alkej-528	102	5	a.	a.	PROPN
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alkej-528	102	8	w.	w.	PROPN
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alkej-528	102	18	phase	phase	NOUN
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alkej-528	102	29	.	.	PUNCT
alkej-528	103	1	[	[	X
alkej-528	103	2	3	3	NUM
alkej-528	103	3	]	]	PUNCT
alkej-528	103	4	.	.	PUNCT
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alkej-528	104	9	“	"	PUNCT
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alkej-528	104	14	of	of	ADP
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alkej-528	104	36	.	.	PUNCT
alkej-528	105	1	[	[	X
alkej-528	105	2	4	4	NUM
alkej-528	105	3	]	]	PUNCT
alkej-528	105	4	.	.	PUNCT
alkej-528	106	1	e.i	e.i	PROPN
alkej-528	106	2	.	.	PROPN
alkej-528	106	3	rivin	rivin	PROPN
alkej-528	106	4	,	,	PUNCT
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alkej-528	106	10	1988	1988	NUM
alkej-528	106	11	,	,	PUNCT
alkej-528	106	12	mc	mc	PROPN
alkej-528	106	13	grow	grow	VERB
alkej-528	106	14	–	–	PUNCT
alkej-528	106	15	hill	hill	PROPN
alkej-528	106	16	,	,	PUNCT
alkej-528	106	17	inc	inc	PROPN
alkej-528	106	18	,	,	PUNCT
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alkej-528	107	1	[	[	X
alkej-528	107	2	5	5	NUM
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alkej-528	107	4	.	.	PUNCT
alkej-528	108	1	e.j	e.j	PROPN
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alkej-528	108	9	,	,	PUNCT
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alkej-528	108	12	,	,	PUNCT
alkej-528	108	13	1977	1977	NUM
alkej-528	108	14	.	.	PUNCT
alkej-528	109	1	fig.(8	fig.(8	NOUN
alkej-528	109	2	)	)	PUNCT
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alkej-528	109	6	the	the	DET
alkej-528	109	7	program	program	NOUN
alkej-528	109	8	built	build	VERB
alkej-528	109	9	-	-	PUNCT
alkej-528	109	10	up	up	NOUN
alkej-528	109	11	by	by	ADP
alkej-528	109	12	the	the	DET
alkej-528	109	13	use	use	NOUN
alkej-528	109	14	of	of	ADP
alkej-528	109	15	mathcad	mathcad	PROPN
alkej-528	109	16	soft	soft	ADJ
alkej-528	109	17	ware	ware	NOUN
alkej-528	109	18	defining	define	VERB
alkej-528	109	19	:	:	PUNCT
alkej-528	109	20	e	e	X
alkej-528	109	21	,	,	PUNCT
alkej-528	109	22	all	all	NOUN
alkej-528	109	23	,	,	PUNCT
alkej-528	109	24	m1,m2,m3	m1,m2,m3	ADJ
alkej-528	109	25	,	,	PUNCT
alkej-528	109	26			NOUN
alkej-528	109	27	,	,	PUNCT
alkej-528	109	28	t	t	PROPN
alkej-528	109	29	,	,	PUNCT
alkej-528	109	30	s	s	NOUN
alkej-528	109	31	,	,	PUNCT
alkej-528	109	32	calculation	calculation	NOUN
alkej-528	109	33	of	of	ADP
alkej-528	109	34	b3	b3	PROPN
alkej-528	109	35	,	,	PUNCT
alkej-528	109	36	b2	b2	NOUN
alkej-528	109	37	,	,	PUNCT
alkej-528	109	38	b1	b1	NOUN
alkej-528	109	39	and	and	CCONJ
alkej-528	109	40	wmin	wmin	NOUN
alkej-528	109	41	=	=	PROPN
alkej-528	109	42	q3*l3+q2*l2+q1*l1	q3*l3+q2*l2+q1*l1	NOUN
alkej-528	109	43	for	for	ADP
alkej-528	109	44	b1	b1	NOUN
alkej-528	109	45	=	=	SYM
alkej-528	109	46	b1	b1	NOUN
alkej-528	109	47	+	+	NOUN
alkej-528	109	48	0.001	0.001	NUM
alkej-528	109	49	for	for	ADP
alkej-528	109	50	b2	b2	NOUN
alkej-528	109	51	=	=	NOUN
alkej-528	109	52	b2	b2	NOUN
alkej-528	109	53	+	+	NOUN
alkej-528	109	54	0.001	0.001	NUM
alkej-528	109	55	for	for	ADP
alkej-528	109	56	b3	b3	NOUN
alkej-528	109	57	=	=	SYM
alkej-528	109	58	b3	b3	PROPN
alkej-528	109	59	+	+	NOUN
alkej-528	109	60	0.001	0.001	NUM
alkej-528	109	61	calculation	calculation	NOUN
alkej-528	109	62	of	of	ADP
alkej-528	109	63	:	:	PUNCT
alkej-528	109	64	321	321	NUM
alkej-528	109	65	,	,	PUNCT
alkej-528	109	66	,	,	PUNCT
alkej-528	109	67			NOUN
alkej-528	109	68	,	,	PUNCT
alkej-528	109	69			PROPN
alkej-528	109	70			PROPN
alkej-528	109	71	2	2	NUM
alkej-528	109	72	3	3	NUM
alkej-528	109	73	2	2	NUM
alkej-528	109	74	23	23	NUM
alkej-528	109	75			NOUN
alkej-528	109	76	total	total	ADJ
alkej-528	109	77	,	,	PUNCT
alkej-528	109	78	wrobt	wrobt	NOUN
alkej-528	109	79	if	if	SCONJ
alkej-528	109	80	maxmin	maxmin	ADJ
alkej-528	109	81			NOUN
alkej-528	109	82			PUNCT
alkej-528	109	83	total	total	ADJ
alkej-528	109	84	if	if	SCONJ
alkej-528	109	85	wrobot	wrobot	PROPN
alkej-528	109	86	>	>	SYM
alkej-528	109	87	fac.*wmin	fac.*wmin	NOUN
alkej-528	109	88	saving	saving	NOUN
alkej-528	109	89	generations	generation	NOUN
alkej-528	109	90	finding	find	VERB
alkej-528	109	91	minimum	minimum	NOUN
alkej-528	109	92	(	(	PUNCT
alkej-528	109	93	var	var	NOUN
alkej-528	109	94	=	=	NOUN
alkej-528	109	95	wrobot	wrobot	NOUN
alkej-528	109	96	total	total	VERB
alkej-528	109	97	)	)	PUNCT
alkej-528	109	98	1	1	NUM
alkej-528	109	99	1	1	NUM
alkej-528	109	100	optimization	optimization	NOUN
alkej-528	109	101	for	for	ADP
alkej-528	109	102	tri	tri	ADJ
alkej-528	109	103	-	-	ADJ
alkej-528	109	104	tube	tube	ADJ
alkej-528	109	105	section	section	NOUN
alkej-528	109	106	h	h	NOUN
alkej-528	109	107	>	>	X
alkej-528	109	108	d	d	PROPN
alkej-528	109	109	,	,	PUNCT
alkej-528	109	110	wtii	wtii	NOUN
alkej-528	109	111	-	-	PUNCT
alkej-528	109	112	tube	tube	NOUN
alkej-528	109	113	=	=	SYM
alkej-528	109	114	wuni	wuni	NOUN
alkej-528	109	115	-	-	PUNCT
alkej-528	109	116	tube	tube	NOUN
alkej-528	109	117	,	,	PUNCT
alkej-528	109	118	d	d	PROPN
alkej-528	109	119	2	2	NUM
alkej-528	109	120	t	t	NOUN
alkej-528	109	121	maximize	maximize	NOUN
alkej-528	109	122	(	(	PUNCT
alkej-528	109	123	i	i	NOUN
alkej-528	109	124	)	)	PUNCT
alkej-528	109	125	,	,	PUNCT
alkej-528	109	126	find	find	VERB
alkej-528	109	127	h	h	NOUN
alkej-528	109	128	,	,	PUNCT
alkej-528	109	129	d	d	DET
alkej-528	109	130	finding	finding	NOUN
alkej-528	109	131	:	:	PUNCT
alkej-528	109	132	123	123	NUM
alkej-528	109	133	,	,	PUNCT
alkej-528	109	134	,	,	PUNCT
alkej-528	109	135			ADJ
alkej-528	109	136			NOUN
alkej-528	109	137			PUNCT
alkej-528	109	138	2	2	NUM
alkej-528	109	139	1	1	NUM
alkej-528	109	140	2	2	NUM
alkej-528	109	141	23	23	NUM
alkej-528	109	142	,	,	PUNCT
alkej-528	109	143			NOUN
alkej-528	109	144	tubetritotal	tubetritotal	NOUN
alkej-528	110	1	no	no	INTJ
alkej-528	111	1	no	no	INTJ
alkej-528	112	1	yes	yes	INTJ
alkej-528	112	2	yes	yes	INTJ
alkej-528	112	3	ahmed	ahmed	PROPN
alkej-528	112	4	abdul	abdul	PROPN
alkej-528	112	5	hussain	hussain	PROPN
alkej-528	112	6	ali	ali	PROPN
alkej-528	112	7	al	al	PROPN
alkej-528	112	8	-	-	PUNCT
alkej-528	112	9	khwarizmi	khwarizmi	PROPN
alkej-528	112	10	engineering	engineering	NOUN
alkej-528	112	11	journal	journal	PROPN
alkej-528	112	12	,	,	PUNCT
alkej-528	112	13	vol.4	vol.4	PROPN
alkej-528	112	14	,	,	PUNCT
alkej-528	112	15	no	no	INTJ
alkej-528	112	16	.	.	NOUN
alkej-528	112	17	1	1	NUM
alkej-528	112	18	pp	pp	ADP
alkej-528	112	19	17	17	NUM
alkej-528	112	20	-	-	SYM
alkej-528	112	21	26	26	NUM
alkej-528	112	22	(	(	PUNCT
alkej-528	112	23	2008	2008	NUM
alkej-528	112	24	)	)	PUNCT
alkej-528	112	25	26	26	NUM
alkej-528	112	26	على	على	NOUN
alkej-528	112	27	أساس	أساس	NOUN
alkej-528	112	28	التصمیم	التصمیم	PROPN
alkej-528	112	29	األمثل	األمثل	PROPN
alkej-528	112	30	ولنسبة	ولنسبة	PROPN
alkej-528	112	31	جساءة	جساءة	PROPN
alkej-528	112	32	الى	الى	VERB
alkej-528	112	33	وزن	وزن	ADJ
alkej-528	112	34	)	)	PUNCT
alkej-528	112	35	الروبوت(تقلیل	الروبوت(تقلیل	PROPN
alkej-528	112	36	الخطاء	الخطاء	VERB
alkej-528	112	37	في	في	X
alkej-528	112	38	الذراع	الذراع	PROPN
alkej-528	112	39	األلي	األلي	PROPN
alkej-528	112	40	.عالیة	.عالیة	PUNCT
alkej-528	112	41	أحمد	أحمد	ADJ
alkej-528	112	42	عبد	عبد	ADJ
alkej-528	112	43	الحسین	الحسین	ADJ
alkej-528	112	44	علي	علي	NOUN
alkej-528	112	45	.	.	PUNCT
alkej-528	113	1	د	د	PRON
alkej-528	113	2	كلیة	كلیة	PROPN
alkej-528	113	3	الھندسة/	الھندسة/	NUM
alkej-528	113	4	جامعة	جامعة	NOUN
alkej-528	113	5	بغداد	بغداد	PROPN
alkej-528	113	6	قسم	قسم	PROPN
alkej-528	113	7	المیكانیك	المیكانیك	PROPN
alkej-528	113	8	:	:	PUNCT
alkej-528	113	9	الخالصة	الخالصة	PROPN
alkej-528	113	10	لطرفي	لطرفي	PROPN
alkej-528	113	11	في	في	ADP
alkej-528	113	12	الذراع	الذراع	PROPN
alkej-528	113	13	األلي	األلي	PROPN
alkej-528	113	14	،	،	PROPN
alkej-528	113	15	تم	تم	NOUN
alkej-528	114	1	في	في	SCONJ
alkej-528	114	2	ھذا	ھذا	NOUN
alkej-528	114	3	البحث	البحث	VERB
alkej-528	114	4	تم	تم	AUX
alkej-528	114	5	دراسة	دراسة	PROPN
alkej-528	114	6	تاثیر	تاثیر	PROPN
alkej-528	114	7	استخدام	استخدام	PROPN
alkej-528	114	8	المقطع	المقطع	PROPN
alkej-528	114	9	الثالثي	الثالثي	PROPN
alkej-528	114	10	األنابیب	األنابیب	PROPN
alkej-528	114	11	الدائریھ	الدائریھ	PROPN
alkej-528	114	12	ألجل	ألجل	PROPN
alkej-528	114	13	تقلیل	تقلیل	VERB
alkej-528	114	14	الخطاء	الخطاء	PROPN
alkej-528	115	1	ا	ا	PROPN
alkej-528	115	2	اجراء	اجراء	PROPN
alkej-528	115	3	مقارنھ	مقارنھ	PROPN
alkej-528	115	4	بین	بین	PROPN
alkej-528	115	5	المقطع	المقطع	PROPN
alkej-528	115	6	الثالثي	الثالثي	PROPN
alkej-528	115	7	األنابیب	األنابیب	VERB
alkej-528	115	8	و	و	PRON
alkej-528	115	9	المقطع	المقطع	PROPN
alkej-528	115	10	المربع	المربع	PROPN
alkej-528	115	11	التقلیدي	التقلیدي	PROPN
alkej-528	115	12	للذراع	للذراع	PROPN
alkej-528	115	13	األلي	األلي	PROPN
alkej-528	115	14	،	،	PROPN
alkej-528	115	15	الدراسھ	الدراسھ	PROPN
alkej-528	115	16	بینت	بینت	NOUN
alkej-528	116	1	بانھ	بانھ	PROPN
alkej-528	116	2	لكال	لكال	PROPN
alkej-528	117	1	الذراعین	الذراعین	PROPN
alkej-528	117	2	ذات	ذات	NOUN
alkej-528	117	3	المقطع	المقطع	NOUN
alkej-528	117	4	.	.	PUNCT
alkej-528	118	1	٣٣%الثالثي	٣٣%الثالثي	NOUN
alkej-528	119	1	و	و	PRON
alkej-528	119	2	المربع	المربع	ADV
alkej-528	119	3	والذان	والذان	ADJ
alkej-528	119	4	لھما	لھما	PROPN
alkej-528	119	5	نفس	نفس	PROPN
alkej-528	119	6	الوزن	الوزن	PROPN
alkej-528	119	7	ممكن	ممكن	PROPN
alkej-528	119	8	تقلیل	تقلیل	VERB
alkej-528	119	9	الخطاء	الخطاء	PROPN
alkej-528	119	10	بحدود	بحدود	NOUN
alkej-528	119	11	ساب	ساب	NOUN
alkej-528	119	12	أقل	أقل	PROPN
alkej-528	119	13	وزن	وزن	ADJ
alkej-528	119	14	للذراع	للذراع	PROPN
alkej-528	119	15	اآللي	اآللي	PROPN
alkej-528	119	16	ذي	ذي	PROPN
alkej-528	119	17	المقطع	المقطع	PROPN
alkej-528	119	18	المربع	المربع	PROPN
alkej-528	119	19	الذي	الذي	PROPN
alkej-528	119	20	یمكن	یمكن	VERB
alkej-528	119	21	أن	أن	ADP
alkej-528	119	22	یتحمل	یتحمل	NOUN
alkej-528	119	23	األوزان	األوزان	PROPN
alkej-528	119	24	المسلطھ	المسلطھ	VERB
alkej-528	119	25	لح	لح	PROPN
alkej-528	119	26	mathcadتم	mathcadتم	PROPN
alkej-528	119	27	كتابة	كتابة	PROPN
alkej-528	119	28	برنامج	برنامج	NOUN
alkej-528	119	29	باستخدام	باستخدام	NOUN
alkej-528	119	30	.ویعطي	.ویعطي	NUM
alkej-528	119	31	أقل	أقل	PROPN
alkej-528	119	32	تشوه	تشوه	NOUN
alkej-528	119	33	ي	ي	X
alkej-528	119	34	الجزء	الجزء	PROPN
alkej-528	119	35	الثاني	الثاني	PROPN
alkej-528	119	36	من	من	PRON
alkej-528	119	37	البرنامج	البرنامج	PROPN
alkej-528	119	38	یقوم	یقوم	PROPN
alkej-528	119	39	بعملیة	بعملیة	PROPN
alkej-528	119	40	األمثلیھ	األمثلیھ	PROPN
alkej-528	119	41	ألجل	ألجل	PROPN
alkej-528	119	42	ایجاد	ایجاد	PROPN
alkej-528	119	43	ابعاد	ابعاد	PROPN
alkej-528	119	44	المقطع	المقطع	PROPN
alkej-528	119	45	ذي	ذي	PROPN
alkej-528	119	46	األنابیب	األنابیب	PROPN
alkej-528	119	47	الثالثیھ	الثالثیھ	PROPN
alkej-528	119	48	الدائریھ	الدائریھ	NOUN
alkej-528	119	49	والذي	والذي	PROPN
alkej-528	119	50	لھ	لھ	ADP
alkej-528	119	51	نفس	نفس	PROPN
alkej-528	119	52	وزن	وزن	PROPN
alkej-528	119	53	الذراع	الذراع	PROPN
alkej-528	119	54	ذ	ذ	PROPN
alkej-528	119	55	.المربعالمقطع	.المربعالمقطع	PRON
alkej-528	119	56	المربع	المربع	VERB
alkej-528	120	1	ولھ	ولھ	NOUN
alkej-528	120	2	تشوه	تشوه	NOUN
alkej-528	120	3	أقل	أقل	ADP
alkej-528	120	4	من	من	DET
alkej-528	120	5	نضیره	نضیره	NOUN
alkej-528	120	6	all	all	PRON
alkej-528	120	7	s	s	PART
alkej-528	120	8	r	r	NOUN
alkej-528	120	9	min	min	NOUN
alkej-528	120	10	max	max	PROPN
alkej-528	120	11	,	,	PUNCT
alkej-528	120	12	d	d	PROPN
alkej-528	120	13	d	d	PROPN
alkej-528	120	14	2	2	NUM
alkej-528	120	15	q	q	NOUN
alkej-528	120	16	t	t	PROPN
alkej-528	120	17	b	b	PROPN
alkej-528	120	18	b	b	PROPN
alkej-528	120	19	b	b	PROPN
alkej-528	120	20	b	b	NOUN
alkej-528	121	1	i	i	PRON
alkej-528	121	2	tube	tube	VERB
alkej-528	121	3	uni	uni	INTJ
alkej-528	121	4	2	2	NUM
alkej-528	121	5	,	,	PUNCT
alkej-528	121	6	12	12	NUM
alkej-528	121	7	4	4	NUM
alkej-528	121	8	4	4	NUM
alkej-528	121	9	=	=	SYM
alkej-528	121	10	=	=	SYM
alkej-528	121	11	2	2	NUM
alkej-528	121	12	2	2	NUM
alkej-528	121	13	b	b	SYM
alkej-528	121	14	b	b	PROPN
alkej-528	121	15	a	a	DET
alkej-528	121	16	tube	tube	NOUN
alkej-528	121	17	uni	uni	PROPN
alkej-528	122	1	=	=	PRON
alkej-528	122	2	(	(	PUNCT
alkej-528	122	3	)	)	PUNCT
alkej-528	122	4	(	(	PUNCT
alkej-528	122	5	)	)	PUNCT
alkej-528	122	6	(	(	PUNCT
alkej-528	122	7	)	)	PUNCT
alkej-528	122	8	2	2	NUM
alkej-528	122	9	2	2	NUM
alkej-528	122	10	2	2	NUM
alkej-528	122	11	2	2	NUM
alkej-528	122	12	2	2	NUM
alkej-528	122	13	4	4	NUM
alkej-528	122	14	4	4	NUM
alkej-528	122	15	60	60	NUM
alkej-528	122	16	sin	sin	NOUN
alkej-528	122	17	3	3	NUM
alkej-528	122	18	1	1	NUM
alkej-528	122	19	4	4	NUM
alkej-528	122	20	2	2	NUM
alkej-528	122	21	60	60	NUM
alkej-528	122	22	sin	sin	NOUN
alkej-528	122	23	3	3	NUM
alkej-528	122	24	2	2	NUM
alkej-528	122	25	4	4	NUM
alkej-528	122	26	64	64	NUM
alkej-528	122	27	3	3	NUM
alkej-528	122	28	÷	÷	NUM
alkej-528	122	29	ø	ø	PROPN
alkej-528	122	30	ö	ö	NOUN
alkej-528	122	31	ç	ç	X
alkej-528	122	32	è	è	PROPN
alkej-528	122	33	æ	æ	X
alkej-528	123	1	+	+	NUM
alkej-528	123	2	÷	÷	NUM
alkej-528	123	3	ø	ø	PROPN
alkej-528	123	4	ö	ö	NOUN
alkej-528	123	5	ç	ç	X
alkej-528	123	6	è	è	X
alkej-528	124	1	æ	æ	X
alkej-528	124	2	+	+	NUM
alkej-528	125	1	=	=	SYM
alkej-528	126	1	h	h	NOUN
alkej-528	127	1	d	d	NOUN
alkej-528	127	2	d	d	NOUN
alkej-528	127	3	h	h	NOUN
alkej-528	128	1	d	d	NOUN
alkej-528	128	2	d	d	PROPN
alkej-528	129	1	d	d	PROPN
alkej-528	129	2	d	d	X
alkej-528	129	3	i	i	PRON
alkej-528	129	4	tube	tube	VERB
alkej-528	129	5	tri	tri	PROPN
alkej-528	129	6	p	p	PROPN
alkej-528	129	7	p	p	X
alkej-528	129	8	p	p	X
alkej-528	129	9	t	t	X
alkej-528	130	1	d	d	X
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alkej-528	154	20	(	(	PUNCT
alkej-528	154	21	t	t	NOUN
alkej-528	154	22	)	)	PUNCT
alkej-528	154	23	(	(	PUNCT
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alkej-528	154	29	200	200	NUM
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alkej-528	154	31	n	n	NUM
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alkej-528	154	34	=	=	SYM
alkej-528	155	1	2	2	NUM
alkej-528	155	2	6	6	NUM
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alkej-528	155	4	10	10	NUM
alkej-528	155	5	120	120	NUM
alkej-528	155	6	m	m	VERB
alkej-528	155	7	n	n	NUM
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alkej-528	155	9	´	´	NOUN
alkej-528	156	1	=	=	SYM
alkej-528	156	2	s	s	PART
alkej-528	156	3	2	2	NUM
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alkej-528	156	5	/	/	SYM
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alkej-528	156	7	.	.	PUNCT
alkej-528	156	8	9	9	NUM
alkej-528	156	9	m	m	NOUN
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alkej-528	156	18	4	4	NUM
alkej-528	156	19	.	.	PUNCT
alkej-528	156	20	,	,	PUNCT
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alkej-528	157	1	5	5	NUM
alkej-528	157	2	.	.	SYM
alkej-528	158	1	3	3	NUM
alkej-528	158	2	2	2	NUM
alkej-528	158	3	1	1	NUM
alkej-528	158	4	=	=	SYM
alkej-528	158	5	=	=	SYM
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alkej-528	158	7	3	3	NUM
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alkej-528	158	10	m	m	NOUN
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alkej-528	159	1	=	=	SYM
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alkej-528	159	3	m	m	NOUN
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alkej-528	159	5	.	.	PUNCT
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alkej-528	162	1	=	=	SYM
alkej-528	162	2	d	d	PROPN
alkej-528	162	3	m	m	VERB
alkej-528	162	4	0005	0005	NUM
alkej-528	162	5	.	.	PUNCT
alkej-528	163	1	0	0	NUM
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alkej-528	163	3	=	=	SYM
alkej-528	164	1	d	d	PROPN
alkej-528	164	2	m	m	PROPN
alkej-528	164	3	t	t	PROPN
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alkej-528	164	5	.	.	PUNCT
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alkej-528	165	1	=	=	PUNCT
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alkej-528	165	4	002	002	NUM
alkej-528	165	5	.	.	PUNCT
alkej-528	165	6	0	0	NUM
alkej-528	166	1	=	=	SYM
alkej-528	166	2	kg	kg	NUM
alkej-528	166	3	m	m	NOUN
alkej-528	166	4	5	5	NUM
alkej-528	166	5	.	.	PUNCT
alkej-528	166	6	9	9	NUM
alkej-528	166	7	1	1	NUM
alkej-528	166	8	=	=	SYM
alkej-528	166	9	kg	kg	NUM
alkej-528	166	10	m	m	NOUN
alkej-528	166	11	4	4	NUM
alkej-528	166	12	.	.	PUNCT
alkej-528	167	1	4	4	NUM
alkej-528	167	2	2	2	NUM
alkej-528	167	3	=	=	SYM
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alkej-528	167	5	m	m	NOUN
alkej-528	167	6	50	50	NUM
alkej-528	167	7	3	3	NUM
alkej-528	167	8	=	=	SYM
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alkej-528	167	10	d	d	NOUN
alkej-528	167	11	total	total	NOUN
alkej-528	167	12	d	d	X
alkej-528	167	13	(	(	PUNCT
alkej-528	167	14	)	)	PUNCT
alkej-528	167	15	2	2	NUM
alkej-528	167	16	1	1	NUM
alkej-528	167	17	2	2	NUM
alkej-528	167	18	2	2	NUM
alkej-528	167	19	3	3	NUM
alkej-528	167	20	)	)	PUNCT
alkej-528	167	21	(	(	PUNCT
alkej-528	168	1	d	d	X
alkej-528	168	2	d	d	X
alkej-528	168	3	d	d	X
alkej-528	168	4	d	d	X
alkej-528	168	5	+	+	CCONJ
alkej-528	168	6	+	+	CCONJ
alkej-528	168	7	=	=	NOUN
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alkej-528	168	9	tri	tri	NOUN
alkej-528	168	10	total	total	ADJ
alkej-528	168	11	3	3	NUM
alkej-528	168	12	10	10	NUM
alkej-528	168	13	*	*	NOUN
alkej-528	168	14	8725	8725	NUM
alkej-528	168	15	.	.	PUNCT
alkej-528	169	1	1	1	NUM
alkej-528	169	2	=	=	SYM
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alkej-528	170	2	d	d	PROPN
alkej-528	170	3	d	d	PROPN
alkej-528	170	4	d	d	PROPN
alkej-528	170	5	3	3	NUM
alkej-528	170	6	l	l	NOUN
alkej-528	170	7	d	d	NOUN
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alkej-528	170	9	tri	tri	PROPN
alkej-528	170	10	d	d	PROPN
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alkej-528	171	1	uni	uni	INTJ
alkej-528	171	2	d	d	NOUN
alkej-528	171	3	d	d	PROPN
alkej-528	171	4	1	1	NUM
alkej-528	171	5	3	3	NUM
alkej-528	171	6	5	5	NUM
alkej-528	171	7	7	7	NUM
alkej-528	171	8	9	9	NUM
alkej-528	171	9	11	11	NUM
alkej-528	171	10	13	13	NUM
alkej-528	171	11	15	15	NUM
alkej-528	171	12	17	17	NUM
alkej-528	171	13	19	19	NUM
alkej-528	171	14	21	21	NUM
alkej-528	171	15	0.04	0.04	NUM
alkej-528	171	16	0.05	0.05	NUM
alkej-528	171	17	0.06	0.06	NUM
alkej-528	171	18	0.07	0.07	NUM
alkej-528	171	19	0.08	0.08	NUM
alkej-528	171	20	0.09	0.09	NUM
alkej-528	171	21	b1	b1	NOUN
alkej-528	171	22	b2	b2	NOUN
alkej-528	171	23	b3	b3	PROPN
alkej-528	171	24	b1	b1	PROPN
alkej-528	171	25	b2	b2	NOUN
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alkej-528	171	27	fig.(4	fig.(4	PROPN
alkej-528	171	28	)	)	PUNCT
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alkej-528	171	32	side	side	NOUN
alkej-528	171	33	dimension	dimension	NOUN
alkej-528	171	34	and	and	CCONJ
alkej-528	171	35	no	no	INTJ
alkej-528	171	36	.	.	NOUN
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alkej-528	172	2	generations	generation	NOUN
alkej-528	172	3	generatons	generaton	VERB
alkej-528	172	4	inner	inner	ADJ
alkej-528	172	5	-	-	PUNCT
alkej-528	172	6	side	side	NOUN
alkej-528	172	7	dimension	dimension	NOUN
alkej-528	172	8	(	(	PUNCT
alkej-528	172	9	b	b	NOUN
alkej-528	172	10	)	)	PUNCT
alkej-528	172	11	for	for	ADP
alkej-528	172	12	uni	uni	ADJ
alkej-528	172	13	-	-	ADJ
alkej-528	172	14	tube	tube	ADJ
alkej-528	172	15	section	section	NOUN
alkej-528	172	16	in	in	ADP
alkej-528	172	17	(	(	PUNCT
alkej-528	172	18	mm	mm	NOUN
alkej-528	172	19	)	)	PUNCT
alkej-528	172	20	total	total	NOUN
alkej-528	173	1	d	d	NOUN
alkej-528	173	2	0	0	NUM
alkej-528	173	3	2	2	NUM
alkej-528	173	4	4	4	NUM
alkej-528	173	5	6	6	NUM
alkej-528	173	6	8	8	NUM
alkej-528	173	7	10	10	NUM
alkej-528	173	8	12	12	NUM
alkej-528	173	9	14	14	NUM
alkej-528	173	10	16	16	NUM
alkej-528	173	11	18	18	NUM
alkej-528	173	12	20	20	NUM
alkej-528	173	13	22	22	NUM
alkej-528	173	14	0.0017	0.0017	NUM
alkej-528	173	15	0.00176	0.00176	NUM
alkej-528	173	16	0.00182	0.00182	NUM
alkej-528	173	17	0.00188	0.00188	NUM
alkej-528	173	18	0.00194	0.00194	NUM
alkej-528	173	19	0.002	0.002	NUM
alkej-528	173	20	0.00206	0.00206	NUM
alkej-528	173	21	0.00212	0.00212	NUM
alkej-528	173	22	0.00218	0.00218	NUM
alkej-528	173	23	0.00224	0.00224	NUM
alkej-528	173	24	0.0023	0.0023	NUM
alkej-528	173	25	fig.(5	fig.(5	PROPN
alkej-528	173	26	)	)	PUNCT
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alkej-528	173	29	deflection	deflection	NOUN
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alkej-528	174	6	(	(	PUNCT
alkej-528	174	7	mm	mm	NOUN
alkej-528	174	8	)	)	PUNCT
alkej-528	174	9	0	0	NUM
alkej-528	174	10	2	2	NUM
alkej-528	174	11	4	4	NUM
alkej-528	174	12	6	6	NUM
alkej-528	174	13	8	8	NUM
alkej-528	174	14	10	10	NUM
alkej-528	174	15	12	12	NUM
alkej-528	174	16	14	14	NUM
alkej-528	174	17	16	16	NUM
alkej-528	174	18	18	18	NUM
alkej-528	174	19	20	20	NUM
alkej-528	174	20	22	22	NUM
alkej-528	174	21	25.5	25.5	NUM
alkej-528	174	22	26	26	NUM
alkej-528	174	23	26.5	26.5	NUM
alkej-528	174	24	27	27	NUM
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alkej-528	174	26	)	)	PUNCT
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alkej-528	174	29	robot	robot	NOUN
alkej-528	174	30	wight	wight	NOUN
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alkej-528	174	37	(	(	PUNCT
alkej-528	174	38	n	n	CCONJ
alkej-528	174	39	)	)	PUNCT
alkej-528	174	40	0	0	NUM
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alkej-528	174	42	4	4	NUM
alkej-528	174	43	6	6	NUM
alkej-528	174	44	8	8	NUM
alkej-528	174	45	10	10	NUM
alkej-528	174	46	12	12	NUM
alkej-528	174	47	14	14	NUM
alkej-528	174	48	16	16	NUM
alkej-528	174	49	18	18	NUM
alkej-528	174	50	20	20	NUM
alkej-528	174	51	22	22	NUM
alkej-528	174	52	0.05	0.05	NUM
alkej-528	174	53	0.055	0.055	NUM
alkej-528	174	54	0.06	0.06	NUM
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alkej-528	174	56	vareant(var	vareant(var	NOUN
alkej-528	174	57	)	)	PUNCT
alkej-528	174	58	2	2	NUM
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alkej-528	174	63	l	l	NOUN
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alkej-528	174	65	2	2	NUM
alkej-528	174	66	3	3	NUM
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alkej-528	174	72	(	(	PUNCT
alkej-528	174	73	)	)	PUNCT
alkej-528	174	74	2	2	NUM
alkej-528	174	75	1	1	NUM
alkej-528	174	76	2	2	NUM
alkej-528	174	77	2	2	NUM
alkej-528	174	78	3	3	NUM
alkej-528	174	79	,	,	PUNCT
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alkej-528	174	84	+	+	CCONJ
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alkej-528	174	86	=	=	NOUN
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alkej-528	174	91	total	total	NOUN
alkej-528	174	92	d	d	PROPN
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alkej-528	174	96	d	d	PROPN
alkej-528	174	97	d	d	PROPN
alkej-528	174	98	d	d	X
alkej-528	174	99	á	á	X
alkej-528	174	100	á	á	X
alkej-528	174	101	total	total	ADJ
alkej-528	174	102	3	3	NUM
alkej-528	174	103	2	2	NUM
alkej-528	174	104	1	1	NUM
alkej-528	174	105	,	,	PUNCT
alkej-528	174	106	,	,	PUNCT
alkej-528	174	107	d	d	PROPN
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alkej-528	174	109	d	d	X
alkej-528	174	110	(	(	PUNCT
alkej-528	174	111	)	)	PUNCT
alkej-528	174	112	2	2	NUM
alkej-528	174	113	3	3	NUM
alkej-528	174	114	2	2	NUM
alkej-528	174	115	2	2	NUM
alkej-528	174	116	3	3	NUM
alkej-528	174	117	d	d	NOUN
alkej-528	174	118	d	d	PROPN
alkej-528	174	119	d	d	PROPN
alkej-528	174	120	d	d	X
alkej-528	174	121	+	+	CCONJ
alkej-528	174	122	+	+	CCONJ
alkej-528	174	123	=	=	VERB
alkej-528	174	124	total	total	PROPN
alkej-528	174	125	al	al	PROPN
alkej-528	174	126	-	-	PUNCT
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alkej-528	174	128	ahmed	ahmed	PROPN
alkej-528	174	129	abdul	abdul	PROPN
alkej-528	174	130	hussain	hussain	PROPN
alkej-528	174	131	ali	ali	PROPN
alkej-528	174	132	al	al	PROPN
alkej-528	174	133	-	-	PUNCT
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alkej-528	174	136	journal	journal	PROPN
alkej-528	174	137	,	,	PUNCT
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alkej-528	174	139	,	,	PUNCT
alkej-528	174	140	no	no	INTJ
alkej-528	174	141	.	.	NOUN
alkej-528	174	142	1	1	NUM
alkej-528	174	143	pp	pp	ADP
alkej-528	174	144	17	17	NUM
alkej-528	174	145	-	-	SYM
alkej-528	174	146	26	26	NUM
alkej-528	174	147	(	(	PUNCT
alkej-528	174	148	2008	2008	NUM
alkej-528	174	149	)	)	PUNCT
alkej-528	174	150	al	al	PROPN
alkej-528	174	151	-	-	PUNCT
alkej-528	174	152	khwarizmi	khwarizmi	PROPN
alkej-528	174	153	engineering	engineering	PROPN
alkej-528	174	154	journal	journal	PROPN
alkej-528	174	155	al	al	PROPN
alkej-528	174	156	-	-	PUNCT
alkej-528	174	157	khwarizmi	khwarizmi	PROPN
alkej-528	174	158	engineering	engineering	NOUN
alkej-528	174	159	journal	journal	PROPN
alkej-528	174	160	,	,	PUNCT
alkej-528	174	161	vol.4	vol.4	PROPN
alkej-528	174	162	,	,	PUNCT
alkej-528	174	163	no.1	no.1	X
alkej-528	174	164	,	,	PUNCT
alkej-528	174	165	pp	pp	ADP
alkej-528	174	166	1726	1726	NUM
alkej-528	174	167	(	(	PUNCT
alkej-528	174	168	2008	2008	NUM
alkej-528	174	169	)	)	PUNCT
alkej-528	174	170	minimizing	minimize	VERB
alkej-528	174	171	error	error	NOUN
alkej-528	174	172	in	in	ADP
alkej-528	174	173	robot	robot	NOUN
alkej-528	174	174	arm	arm	NOUN
alkej-528	174	175	based	base	VERB
alkej-528	174	176	on	on	ADP
alkej-528	174	177	design	design	NOUN
alkej-528	174	178	optimization	optimization	NOUN
alkej-528	174	179	for	for	ADP
alkej-528	174	180	high	high	ADJ
alkej-528	174	181	stiffness	stiffness	NOUN
alkej-528	174	182	to	to	ADP
alkej-528	174	183	weight	weight	NOUN
alkej-528	174	184	ratio	ratio	NOUN
alkej-528	174	185	.	.	PUNCT
alkej-528	175	1	ahmed	ahmed	PROPN
alkej-528	175	2	abdul	abdul	PROPN
alkej-528	175	3	hussain	hussain	PROPN
alkej-528	175	4	ali	ali	PROPN
alkej-528	175	5	university	university	PROPN
alkej-528	175	6	of	of	ADP
alkej-528	175	7	baghdad	baghdad	PROPN
alkej-528	175	8	college	college	PROPN
alkej-528	175	9	of	of	ADP
alkej-528	175	10	engineering	engineering	NOUN
alkej-528	175	11	,	,	PUNCT
alkej-528	175	12	mech	mech	NOUN
alkej-528	175	13	.	.	PUNCT
alkej-528	176	1	department	department	PROPN
alkej-528	176	2	(	(	PUNCT
alkej-528	176	3	received	receive	VERB
alkej-528	176	4	8	8	NUM
alkej-528	176	5	may	may	PROPN
alkej-528	176	6	2007	2007	NUM
alkej-528	176	7	;	;	PUNCT
alkej-528	176	8	accepted	accept	VERB
alkej-528	176	9	3	3	NUM
alkej-528	176	10	december	december	PROPN
alkej-528	176	11	2007	2007	NUM
alkej-528	176	12	)	)	PUNCT
alkej-528	176	13	abstract	abstract	NOUN
alkej-528	176	14	:	:	PUNCT
alkej-528	176	15	in	in	ADP
alkej-528	176	16	this	this	DET
alkej-528	176	17	work	work	NOUN
alkej-528	176	18	the	the	DET
alkej-528	176	19	effect	effect	NOUN
alkej-528	176	20	of	of	ADP
alkej-528	176	21	choosing	choose	VERB
alkej-528	176	22	tri	tri	ADJ
alkej-528	176	23	-	-	ADJ
alkej-528	176	24	circular	circular	ADJ
alkej-528	176	25	tube	tube	NOUN
alkej-528	176	26	section	section	NOUN
alkej-528	176	27	had	have	AUX
alkej-528	176	28	been	be	AUX
alkej-528	176	29	addressed	address	VERB
alkej-528	176	30	to	to	PART
alkej-528	176	31	minimize	minimize	VERB
alkej-528	176	32	the	the	DET
alkej-528	176	33	end	end	NOUN
alkej-528	176	34	effector	effector	NOUN
alkej-528	176	35	’s	’s	PART
alkej-528	176	36	error	error	NOUN
alkej-528	176	37	,	,	PUNCT
alkej-528	176	38	a	a	DET
alkej-528	176	39	comparison	comparison	NOUN
alkej-528	176	40	had	have	AUX
alkej-528	176	41	been	be	AUX
alkej-528	176	42	made	make	VERB
alkej-528	176	43	between	between	ADP
alkej-528	176	44	the	the	DET
alkej-528	176	45	tri	tri	ADJ
alkej-528	176	46	-	-	ADJ
alkej-528	176	47	tube	tube	ADJ
alkej-528	176	48	section	section	NOUN
alkej-528	176	49	and	and	CCONJ
alkej-528	176	50	the	the	DET
alkej-528	176	51	traditional	traditional	ADJ
alkej-528	176	52	square	square	PROPN
alkej-528	176	53	cross	cross	PROPN
alkej-528	176	54	section	section	NOUN
alkej-528	176	55	for	for	ADP
alkej-528	176	56	a	a	DET
alkej-528	176	57	robot	robot	NOUN
alkej-528	176	58	arm	arm	NOUN
alkej-528	176	59	,	,	PUNCT
alkej-528	176	60	the	the	DET
alkej-528	176	61	study	study	NOUN
alkej-528	176	62	shows	show	VERB
alkej-528	176	63	that	that	SCONJ
alkej-528	176	64	for	for	ADP
alkej-528	176	65	the	the	DET
alkej-528	176	66	same	same	ADJ
alkej-528	176	67	weight	weight	NOUN
alkej-528	176	68	of	of	ADP
alkej-528	176	69	square	square	ADJ
alkej-528	176	70	section	section	NOUN
alkej-528	176	71	and	and	CCONJ
alkej-528	176	72	tri	tri	ADJ
alkej-528	176	73	-	-	ADJ
alkej-528	176	74	tube	tube	ADJ
alkej-528	176	75	section	section	NOUN
alkej-528	176	76	the	the	DET
alkej-528	176	77	error	error	NOUN
alkej-528	176	78	may	may	AUX
alkej-528	176	79	be	be	AUX
alkej-528	176	80	reduced	reduce	VERB
alkej-528	176	81	by	by	ADP
alkej-528	176	82	about	about	ADV
alkej-528	176	83	33	33	NUM
alkej-528	176	84	%	%	NOUN
alkej-528	176	85	.	.	PUNCT
alkej-528	177	1	a	a	DET
alkej-528	177	2	program	program	NOUN
alkej-528	177	3	had	have	AUX
alkej-528	177	4	been	be	AUX
alkej-528	177	5	built	build	VERB
alkej-528	177	6	up	up	ADP
alkej-528	177	7	by	by	ADP
alkej-528	177	8	the	the	DET
alkej-528	177	9	use	use	NOUN
alkej-528	177	10	of	of	ADP
alkej-528	177	11	mathcad	mathcad	PROPN
alkej-528	177	12	software	software	PROPN
alkej-528	177	13	to	to	PART
alkej-528	177	14	calculate	calculate	VERB
alkej-528	177	15	the	the	DET
alkej-528	177	16	minimum	minimum	ADJ
alkej-528	177	17	weight	weight	NOUN
alkej-528	177	18	of	of	ADP
alkej-528	177	19	a	a	DET
alkej-528	177	20	square	square	ADJ
alkej-528	177	21	section	section	NOUN
alkej-528	177	22	robot	robot	NOUN
alkej-528	177	23	arm	arm	NOUN
alkej-528	177	24	that	that	PRON
alkej-528	177	25	could	could	AUX
alkej-528	177	26	with	with	AUX
alkej-528	177	27	stand	stand	VERB
alkej-528	177	28	a	a	DET
alkej-528	177	29	given	give	VERB
alkej-528	177	30	pay	pay	NOUN
alkej-528	177	31	load	load	NOUN
alkej-528	177	32	and	and	CCONJ
alkej-528	177	33	gives	give	VERB
alkej-528	177	34	a	a	DET
alkej-528	177	35	minimum	minimum	ADJ
alkej-528	177	36	deflection	deflection	NOUN
alkej-528	177	37	.	.	PUNCT
alkej-528	178	1	the	the	DET
alkej-528	178	2	second	second	ADJ
alkej-528	178	3	part	part	NOUN
alkej-528	178	4	of	of	ADP
alkej-528	178	5	the	the	DET
alkej-528	178	6	program	program	NOUN
alkej-528	178	7	makes	make	VERB
alkej-528	178	8	an	an	DET
alkej-528	178	9	optimization	optimization	NOUN
alkej-528	178	10	process	process	NOUN
alkej-528	178	11	for	for	ADP
alkej-528	178	12	the	the	DET
alkej-528	178	13	dimension	dimension	NOUN
alkej-528	178	14	of	of	ADP
alkej-528	178	15	the	the	DET
alkej-528	178	16	cross	cross	NOUN
alkej-528	178	17	section	section	NOUN
alkej-528	178	18	and	and	CCONJ
alkej-528	178	19	gives	give	VERB
alkej-528	178	20	the	the	DET
alkej-528	178	21	dimensions	dimension	NOUN
alkej-528	178	22	of	of	ADP
alkej-528	178	23	the	the	DET
alkej-528	178	24	tri	tri	ADJ
alkej-528	178	25	-	-	ADJ
alkej-528	178	26	circular	circular	ADJ
alkej-528	178	27	tube	tube	NOUN
alkej-528	178	28	cross	cross	NOUN
alkej-528	178	29	section	section	NOUN
alkej-528	178	30	that	that	PRON
alkej-528	178	31	have	have	VERB
alkej-528	178	32	the	the	DET
alkej-528	178	33	same	same	ADJ
alkej-528	178	34	weight	weight	NOUN
alkej-528	178	35	of	of	ADP
alkej-528	178	36	the	the	DET
alkej-528	178	37	corresponding	corresponding	ADJ
alkej-528	178	38	square	square	ADJ
alkej-528	178	39	section	section	NOUN
alkej-528	178	40	but	but	CCONJ
alkej-528	178	41	with	with	ADP
alkej-528	178	42	less	less	ADJ
alkej-528	178	43	deflection	deflection	NOUN
alkej-528	178	44	.	.	PUNCT
alkej-528	179	1	key	key	ADJ
alkej-528	179	2	word	word	NOUN
alkej-528	179	3	:	:	PUNCT
alkej-528	179	4	robot	robot	NOUN
alkej-528	179	5	arm	arm	NOUN
alkej-528	179	6	stiffness	stiffness	NOUN
alkej-528	179	7	,	,	PUNCT
alkej-528	179	8	flexible	flexible	ADJ
alkej-528	179	9	manipulator	manipulator	NOUN
alkej-528	179	10	,	,	PUNCT
alkej-528	179	11	robot	robot	NOUN
alkej-528	179	12	structure	structure	NOUN
alkej-528	179	13	analysis	analysis	NOUN
alkej-528	179	14	,	,	PUNCT
alkej-528	179	15	flexible	flexible	ADJ
alkej-528	179	16	link	link	NOUN
alkej-528	179	17	robot	robot	NOUN
alkej-528	179	18	.	.	PUNCT
alkej-528	180	1	introduction	introduction	NOUN
alkej-528	180	2	:	:	PUNCT
alkej-528	180	3	the	the	DET
alkej-528	180	4	links	link	NOUN
alkej-528	180	5	of	of	ADP
alkej-528	180	6	serial	serial	ADJ
alkej-528	180	7	manipulators	manipulator	NOUN
alkej-528	180	8	are	be	AUX
alkej-528	180	9	usually	usually	ADV
alkej-528	180	10	over	over	ADP
alkej-528	180	11	designed	design	VERB
alkej-528	180	12	in	in	ADP
alkej-528	180	13	order	order	NOUN
alkej-528	180	14	to	to	PART
alkej-528	180	15	be	be	AUX
alkej-528	180	16	able	able	ADJ
alkej-528	180	17	to	to	PART
alkej-528	180	18	support	support	VERB
alkej-528	180	19	the	the	DET
alkej-528	180	20	subsequent	subsequent	ADJ
alkej-528	180	21	links	link	NOUN
alkej-528	180	22	on	on	ADP
alkej-528	180	23	the	the	DET
alkej-528	180	24	chain	chain	NOUN
alkej-528	180	25	and	and	CCONJ
alkej-528	180	26	the	the	DET
alkej-528	180	27	pay	pay	NOUN
alkej-528	180	28	load	load	NOUN
alkej-528	180	29	to	to	PART
alkej-528	180	30	be	be	AUX
alkej-528	180	31	manipulated	manipulate	VERB
alkej-528	180	32	.	.	PUNCT
alkej-528	181	1	however	however	ADV
alkej-528	181	2	,	,	PUNCT
alkej-528	181	3	increasing	increase	VERB
alkej-528	181	4	the	the	DET
alkej-528	181	5	size	size	NOUN
alkej-528	181	6	of	of	ADP
alkej-528	181	7	the	the	DET
alkej-528	181	8	links	link	NOUN
alkej-528	181	9	unnecessarily	unnecessarily	ADV
alkej-528	181	10	requires	require	VERB
alkej-528	181	11	the	the	DET
alkej-528	181	12	use	use	NOUN
alkej-528	181	13	of	of	ADP
alkej-528	181	14	larger	large	ADJ
alkej-528	181	15	actuators	actuator	NOUN
alkej-528	181	16	resulting	result	VERB
alkej-528	181	17	in	in	ADP
alkej-528	181	18	higher	high	ADJ
alkej-528	181	19	power	power	NOUN
alkej-528	181	20	requirements	requirement	NOUN
alkej-528	181	21	.	.	PUNCT
alkej-528	182	1	optimum	optimum	ADJ
alkej-528	182	2	robot	robot	NOUN
alkej-528	182	3	design	design	NOUN
alkej-528	182	4	has	have	AUX
alkej-528	182	5	been	be	AUX
alkej-528	182	6	addressed	address	VERB
alkej-528	182	7	by	by	ADP
alkej-528	182	8	many	many	ADJ
alkej-528	182	9	researchers	researcher	NOUN
alkej-528	182	10	as	as	SCONJ
alkej-528	182	11	found	find	VERB
alkej-528	182	12	in	in	ADP
alkej-528	182	13	the	the	DET
alkej-528	182	14	open	open	ADJ
alkej-528	182	15	literature	literature	NOUN
alkej-528	182	16	;	;	PUNCT
alkej-528	182	17	shiakolas	shiakola	NOUN
alkej-528	182	18	and	and	CCONJ
alkej-528	182	19	koladiye	koladiye	NOUN
alkej-528	182	20	[	[	X
alkej-528	182	21	1	1	X
alkej-528	182	22	]	]	PUNCT
alkej-528	182	23	discuss	discuss	VERB
alkej-528	182	24	the	the	DET
alkej-528	182	25	application	application	NOUN
alkej-528	182	26	and	and	CCONJ
alkej-528	182	27	comparison	comparison	NOUN
alkej-528	182	28	of	of	ADP
alkej-528	182	29	the	the	DET
alkej-528	182	30	evolutionary	evolutionary	ADJ
alkej-528	182	31	techniques	technique	NOUN
alkej-528	182	32	for	for	ADP
alkej-528	182	33	optimum	optimum	ADJ
alkej-528	182	34	design	design	NOUN
alkej-528	182	35	of	of	ADP
alkej-528	182	36	serial	serial	ADJ
alkej-528	182	37	link	link	NOUN
alkej-528	182	38	robot	robot	NOUN
alkej-528	182	39	manipulators	manipulator	NOUN
alkej-528	182	40	based	base	VERB
alkej-528	182	41	on	on	ADP
alkej-528	182	42	task	task	NOUN
alkej-528	182	43	specifications	specification	NOUN
alkej-528	182	44	.	.	PUNCT
alkej-528	183	1	the	the	DET
alkej-528	183	2	objective	objective	ADJ
alkej-528	183	3	function	function	NOUN
alkej-528	183	4	minimizes	minimize	VERB
alkej-528	183	5	the	the	DET
alkej-528	183	6	required	require	VERB
alkej-528	183	7	torque	torque	NOUN
alkej-528	183	8	for	for	ADP
alkej-528	183	9	a	a	DET
alkej-528	183	10	defined	define	VERB
alkej-528	183	11	motion	motion	NOUN
alkej-528	183	12	subjected	subject	VERB
alkej-528	183	13	to	to	ADP
alkej-528	183	14	various	various	ADJ
alkej-528	183	15	constraints	constraint	NOUN
alkej-528	183	16	which	which	PRON
alkej-528	183	17	considering	consider	VERB
alkej-528	183	18	kinematics	kinematic	NOUN
alkej-528	183	19	,	,	PUNCT
alkej-528	183	20	dynamic	dynamic	ADJ
alkej-528	183	21	and	and	CCONJ
alkej-528	183	22	structural	structural	ADJ
alkej-528	183	23	conditions	condition	NOUN
alkej-528	183	24	.	.	PUNCT
alkej-528	184	1	the	the	DET
alkej-528	184	2	design	design	NOUN
alkej-528	184	3	variables	variable	NOUN
alkej-528	184	4	examined	examine	VERB
alkej-528	184	5	are	be	AUX
alkej-528	184	6	the	the	DET
alkej-528	184	7	link	link	NOUN
alkej-528	184	8	parameters	parameter	NOUN
alkej-528	184	9	and	and	CCONJ
alkej-528	184	10	the	the	DET
alkej-528	184	11	link	link	PROPN
alkej-528	184	12	cross	cross	PROPN
alkej-528	184	13	sectional	sectional	PROPN
alkej-528	184	14	characteristics	characteristic	NOUN
alkej-528	184	15	,	,	PUNCT
alkej-528	184	16	the	the	DET
alkej-528	184	17	developed	develop	VERB
alkej-528	184	18	environment	environment	NOUN
alkej-528	184	19	was	be	AUX
alkej-528	184	20	employed	employ	VERB
alkej-528	184	21	in	in	ADP
alkej-528	184	22	optimizing	optimize	VERB
alkej-528	184	23	the	the	DET
alkej-528	184	24	design	design	NOUN
alkej-528	184	25	variables	variable	NOUN
alkej-528	184	26	for	for	ADP
alkej-528	184	27	a	a	DET
alkej-528	184	28	scara	scara	NOUN
alkej-528	184	29	and	and	CCONJ
alkej-528	184	30	an	an	DET
alkej-528	184	31	articulated	articulated	ADJ
alkej-528	184	32	3	3	NUM
alkej-528	184	33	-	-	PUNCT
alkej-528	184	34	dof	dof	ADJ
alkej-528	184	35	puma	puma	NOUN
alkej-528	184	36	type	type	NOUN
alkej-528	184	37	manipulators	manipulator	NOUN
alkej-528	184	38	.	.	PUNCT
alkej-528	185	1	in	in	ADP
alkej-528	185	2	the	the	DET
alkej-528	185	3	work	work	NOUN
alkej-528	185	4	developed	develop	VERB
alkej-528	185	5	by	by	ADP
alkej-528	185	6	marcus	marcus	PROPN
alkej-528	185	7	pettersson	pettersson	PROPN
alkej-528	185	8	et	et	PROPN
alkej-528	185	9	al	al	PROPN
alkej-528	185	10	.	.	PUNCT
alkej-528	186	1	[	[	X
alkej-528	186	2	2	2	X
alkej-528	186	3	]	]	PUNCT
alkej-528	186	4	an	an	DET
alkej-528	186	5	optimization	optimization	NOUN
alkej-528	186	6	problem	problem	NOUN
alkej-528	186	7	are	be	AUX
alkej-528	186	8	formulated	formulate	VERB
alkej-528	186	9	to	to	PART
alkej-528	186	10	minimize	minimize	VERB
alkej-528	186	11	the	the	DET
alkej-528	186	12	weight	weight	NOUN
alkej-528	186	13	of	of	ADP
alkej-528	186	14	the	the	DET
alkej-528	186	15	gearboxes	gearbox	NOUN
alkej-528	186	16	,	,	PUNCT
alkej-528	186	17	by	by	ADP
alkej-528	186	18	choosing	choose	VERB
alkej-528	186	19	different	different	ADJ
alkej-528	186	20	discrete	discrete	ADJ
alkej-528	186	21	gear	gear	NOUN
alkej-528	186	22	boxes	box	NOUN
alkej-528	186	23	,	,	PUNCT
alkej-528	186	24	and	and	CCONJ
alkej-528	186	25	changing	change	VERB
alkej-528	186	26	the	the	DET
alkej-528	186	27	lengths	length	NOUN
alkej-528	186	28	of	of	ADP
alkej-528	186	29	the	the	DET
alkej-528	186	30	arms	arm	NOUN
alkej-528	186	31	continuously	continuously	ADV
alkej-528	186	32	,	,	PUNCT
alkej-528	186	33	subjected	subject	VERB
alkej-528	186	34	to	to	ADP
alkej-528	186	35	a	a	DET
alkej-528	186	36	few	few	ADJ
alkej-528	186	37	requirements	requirement	NOUN
alkej-528	186	38	on	on	ADP
alkej-528	186	39	acceleration	acceleration	NOUN
alkej-528	186	40	capability	capability	NOUN
alkej-528	186	41	reach	reach	NOUN
alkej-528	186	42	and	and	CCONJ
alkej-528	186	43	pay	pay	VERB
alkej-528	186	44	load	load	NOUN
alkej-528	186	45	capacity	capacity	NOUN
alkej-528	186	46	.	.	PUNCT
alkej-528	187	1	analysis	analysis	NOUN
alkej-528	187	2	of	of	ADP
alkej-528	187	3	stiffness	stiffness	NOUN
alkej-528	187	4	of	of	ADP
alkej-528	187	5	manipulator	manipulator	NOUN
alkej-528	187	6	link	link	NOUN
alkej-528	187	7	can	can	AUX
alkej-528	187	8	be	be	AUX
alkej-528	187	9	found	find	VERB
alkej-528	187	10	in	in	ADP
alkej-528	187	11	abdel	abdel	PROPN
alkej-528	187	12	malek	malek	PROPN
alkej-528	187	13	,	,	PUNCT
alkej-528	187	14	k.	k.	PROPN
alkej-528	187	15	and	and	CCONJ
alkej-528	187	16	paul	paul	PROPN
alkej-528	187	17	,	,	PUNCT
alkej-528	187	18	b.[3	b.[3	PROPN
alkej-528	187	19	]	]	PUNCT
alkej-528	187	20	where	where	SCONJ
alkej-528	187	21	aspects	aspect	NOUN
alkej-528	187	22	of	of	ADP
alkej-528	187	23	the	the	DET
alkej-528	187	24	structural	structural	ADJ
alkej-528	187	25	design	design	NOUN
alkej-528	187	26	of	of	ADP
alkej-528	187	27	the	the	DET
alkej-528	187	28	manipulator	manipulator	NOUN
alkej-528	187	29	arm	arm	NOUN
alkej-528	187	30	are	be	AUX
alkej-528	187	31	presented	present	VERB
alkej-528	187	32	.	.	PUNCT
alkej-528	188	1	prismatic	prismatic	ADJ
alkej-528	188	2	joints	joint	NOUN
alkej-528	188	3	of	of	ADP
alkej-528	188	4	manipulator	manipulator	NOUN
alkej-528	188	5	arm	arm	NOUN
alkej-528	188	6	are	be	AUX
alkej-528	188	7	based	base	VERB
alkej-528	188	8	upon	upon	SCONJ
alkej-528	188	9	a	a	DET
alkej-528	188	10	cross	cross	ADJ
alkej-528	188	11	sectional	sectional	ADJ
alkej-528	188	12	design	design	NOUN
alkej-528	188	13	of	of	ADP
alkej-528	188	14	the	the	DET
alkej-528	188	15	links	link	NOUN
alkej-528	188	16	that	that	PRON
alkej-528	188	17	provides	provide	VERB
alkej-528	188	18	a	a	DET
alkej-528	188	19	high	high	ADJ
alkej-528	188	20	stiffness	stiffness	NOUN
alkej-528	188	21	to	to	ADP
alkej-528	188	22	weight	weight	NOUN
alkej-528	188	23	ratio	ratio	NOUN
alkej-528	188	24	compared	compare	VERB
alkej-528	188	25	with	with	ADP
alkej-528	188	26	a	a	DET
alkej-528	188	27	hollow	hollow	ADJ
alkej-528	188	28	round	round	NOUN
alkej-528	188	29	cross	cross	NOUN
alkej-528	188	30	-	-	NOUN
alkej-528	188	31	section	section	NOUN
alkej-528	188	32	.	.	PUNCT
alkej-528	189	1	the	the	DET
alkej-528	189	2	case	case	NOUN
alkej-528	189	3	that	that	SCONJ
alkej-528	189	4	we	we	PRON
alkej-528	189	5	study	study	VERB
alkej-528	189	6	in	in	ADP
alkej-528	189	7	this	this	DET
alkej-528	189	8	work	work	NOUN
alkej-528	189	9	is	be	AUX
alkej-528	189	10	the	the	DET
alkej-528	189	11	robot	robot	NOUN
alkej-528	189	12	that	that	PRON
alkej-528	189	13	consists	consist	VERB
alkej-528	189	14	of	of	ADP
alkej-528	189	15	three	three	NUM
alkej-528	189	16	arms	arm	NOUN
alkej-528	189	17	as	as	SCONJ
alkej-528	189	18	shown	show	VERB
alkej-528	189	19	in	in	ADP
alkej-528	189	20	fig	fig	NOUN
alkej-528	189	21	.	.	PUNCT
alkej-528	190	1	(	(	PUNCT
alkej-528	190	2	1	1	NUM
alkej-528	190	3	)	)	PUNCT
alkej-528	190	4	.	.	PUNCT
alkej-528	191	1	where	where	SCONJ
alkej-528	191	2	the	the	DET
alkej-528	191	3	first	first	ADJ
alkej-528	191	4	arm	arm	NOUN
alkej-528	191	5	is	be	AUX
alkej-528	191	6	vertical	vertical	ADJ
alkej-528	191	7	and	and	CCONJ
alkej-528	191	8	the	the	DET
alkej-528	191	9	second	second	ADJ
alkej-528	191	10	and	and	CCONJ
alkej-528	191	11	third	third	ADJ
alkej-528	191	12	arm	arm	NOUN
alkej-528	191	13	are	be	AUX
alkej-528	191	14	horizontal	horizontal	ADJ
alkej-528	191	15	this	this	PRON
alkej-528	191	16	gives	give	VERB
alkej-528	191	17	the	the	DET
alkej-528	191	18	maximum	maximum	ADJ
alkej-528	191	19	reach	reach	NOUN
alkej-528	191	20	(	(	PUNCT
alkej-528	191	21	completely	completely	ADV
alkej-528	191	22	stretched	stretch	VERB
alkej-528	191	23	out	out	ADP
alkej-528	191	24	)	)	PUNCT
alkej-528	191	25	for	for	ADP
alkej-528	191	26	the	the	DET
alkej-528	191	27	robot	robot	NOUN
alkej-528	191	28	arm	arm	NOUN
alkej-528	191	29	and	and	CCONJ
alkej-528	191	30	will	will	AUX
alkej-528	191	31	yield	yield	VERB
alkej-528	191	32	the	the	DET
alkej-528	191	33	maximum	maximum	ADJ
alkej-528	191	34	deflection	deflection	NOUN
alkej-528	191	35	for	for	ADP
alkej-528	191	36	the	the	DET
alkej-528	191	37	robot	robot	NOUN
alkej-528	191	38	.	.	PUNCT
alkej-528	192	1	prismatic	prismatic	ADJ
alkej-528	192	2	joints	joint	NOUN
alkej-528	192	3	:	:	PUNCT
alkej-528	192	4	most	most	ADJ
alkej-528	192	5	manipulator	manipulator	NOUN
alkej-528	192	6	link	link	NOUN
alkej-528	192	7	crosssection	crosssection	NOUN
alkej-528	192	8	are	be	AUX
alkej-528	192	9	either	either	CCONJ
alkej-528	192	10	hollow	hollow	ADJ
alkej-528	192	11	round	round	NOUN
alkej-528	192	12	or	or	CCONJ
alkej-528	192	13	hollow	hollow	ADJ
alkej-528	192	14	rectangular	rectangular	ADJ
alkej-528	192	15	.	.	PUNCT
alkej-528	193	1	hollow	hollow	ADJ
alkej-528	193	2	links	link	NOUN
alkej-528	193	3	provide	provide	VERB
alkej-528	193	4	convenient	convenient	ADJ
alkej-528	193	5	conduits	conduit	NOUN
alkej-528	193	6	for	for	ADP
alkej-528	193	7	electric	electric	ADJ
alkej-528	193	8	power	power	NOUN
alkej-528	193	9	and	and	CCONJ
alkej-528	193	10	communication	communication	NOUN
alkej-528	193	11	cables	cable	NOUN
alkej-528	193	12	,	,	PUNCT
alkej-528	193	13	hoses	hose	NOUN
alkej-528	193	14	,	,	PUNCT
alkej-528	193	15	power	power	NOUN
alkej-528	193	16	transmission	transmission	NOUN
alkej-528	193	17	members	member	NOUN
alkej-528	193	18	,	,	PUNCT
alkej-528	193	19	etc	etc	X
alkej-528	193	20	.	.	X
alkej-528	193	21	rivin[4	rivin[4	NOUN
alkej-528	193	22	]	]	PUNCT
alkej-528	193	23	has	have	AUX
alkej-528	193	24	studied	study	VERB
alkej-528	193	25	the	the	DET
alkej-528	193	26	influence	influence	NOUN
alkej-528	193	27	of	of	ADP
alkej-528	193	28	cross	cross	NOUN
alkej-528	193	29	-	-	NOUN
alkej-528	193	30	sections	section	NOUN
alkej-528	193	31	on	on	ADP
alkej-528	193	32	the	the	DET
alkej-528	193	33	deflections	deflection	NOUN
alkej-528	193	34	both	both	CCONJ
alkej-528	193	35	in	in	ADP
alkej-528	193	36	bending	bending	NOUN
alkej-528	193	37	and	and	CCONJ
alkej-528	193	38	torsion	torsion	NOUN
alkej-528	193	39	.	.	PUNCT
alkej-528	194	1	he	he	PRON
alkej-528	194	2	had	have	AUX
alkej-528	194	3	compared	compare	VERB
alkej-528	194	4	hollow	hollow	ADJ
alkej-528	194	5	square	square	NOUN
alkej-528	194	6	with	with	ADP
alkej-528	194	7	hollow	hollow	ADJ
alkej-528	194	8	circular	circular	ADJ
alkej-528	194	9	cross	cross	NOUN
alkej-528	194	10	sections	section	NOUN
alkej-528	194	11	.	.	PUNCT
alkej-528	195	1	rivin	rivin	PROPN
alkej-528	195	2	states	state	NOUN
alkej-528	195	3	that	that	SCONJ
alkej-528	195	4	a	a	DET
alkej-528	195	5	square	square	PROPN
alkej-528	195	6	cross	cross	NOUN
alkej-528	195	7	section	section	NOUN
alkej-528	195	8	can	can	AUX
alkej-528	195	9	provide	provide	VERB
alkej-528	195	10	a	a	DET
alkej-528	195	11	69	69	NUM
alkej-528	195	12	to	to	PART
alkej-528	195	13	84	84	NUM
alkej-528	195	14	percent	percent	NOUN
alkej-528	195	15	increase	increase	NOUN
alkej-528	195	16	in	in	ADP
alkej-528	195	17	bending	bend	VERB
alkej-528	195	18	stiffness	stiffness	NOUN
alkej-528	195	19	over	over	ADP
alkej-528	195	20	a	a	DET
alkej-528	195	21	circular	circular	ADJ
alkej-528	195	22	hollow	hollow	ADJ
alkej-528	195	23	cross	cross	NOUN
alkej-528	195	24	section	section	NOUN
alkej-528	195	25	with	with	ADP
alkej-528	195	26	only	only	ADV
alkej-528	195	27	a	a	DET
alkej-528	195	28	27	27	NUM
alkej-528	195	29	percent	percent	NOUN
alkej-528	195	30	increase	increase	NOUN
alkej-528	195	31	in	in	ADP
alkej-528	195	32	weight	weight	NOUN
alkej-528	195	33	.	.	PUNCT
alkej-528	196	1	in	in	ADP
alkej-528	196	2	this	this	DET
alkej-528	196	3	paper	paper	NOUN
alkej-528	196	4	a	a	DET
alkej-528	196	5	different	different	ADJ
alkej-528	196	6	cross	cross	NOUN
alkej-528	196	7	-	-	NOUN
alkej-528	196	8	section	section	NOUN
alkej-528	196	9	is	be	AUX
alkej-528	196	10	introduced	introduce	VERB
alkej-528	196	11	,	,	PUNCT
alkej-528	196	12	consisting	consist	VERB
alkej-528	196	13	of	of	ADP
alkej-528	196	14	three	three	NUM
alkej-528	196	15	tubes	tube	NOUN
alkej-528	196	16	centered	center	VERB
alkej-528	196	17	on	on	ADP
alkej-528	196	18	the	the	DET
alkej-528	196	19	vertices	vertex	NOUN
alkej-528	196	20	of	of	ADP
alkej-528	196	21	an	an	DET
alkej-528	196	22	equilateral	equilateral	ADJ
alkej-528	196	23	triangle	triangle	NOUN
alkej-528	196	24	.	.	PUNCT
alkej-528	197	1	this	this	DET
alkej-528	197	2	cross	cross	NOUN
alkej-528	197	3	section	section	NOUN
alkej-528	197	4	is	be	AUX
alkej-528	197	5	referred	refer	VERB
alkej-528	197	6	to	to	ADP
alkej-528	197	7	as	as	ADP
alkej-528	197	8	a	a	DET
alkej-528	197	9	tri	tri	ADJ
alkej-528	197	10	-	-	ADJ
alkej-528	197	11	tube	tube	ADJ
alkej-528	197	12	configuration	configuration	NOUN
alkej-528	197	13	the	the	DET
alkej-528	197	14	hollow	hollow	ADJ
alkej-528	197	15	square	square	ADJ
alkej-528	197	16	link	link	NOUN
alkej-528	197	17	will	will	AUX
alkej-528	197	18	be	be	AUX
alkej-528	197	19	referred	refer	VERB
alkej-528	197	20	to	to	ADP
alkej-528	197	21	as	as	ADP
alkej-528	197	22	a	a	DET
alkej-528	197	23	uni	uni	ADJ
alkej-528	197	24	-	-	ADJ
alkej-528	197	25	tube	tube	ADJ
alkej-528	197	26	configuration	configuration	NOUN
alkej-528	197	27	,	,	PUNCT
alkej-528	197	28	as	as	SCONJ
alkej-528	197	29	shown	show	VERB
alkej-528	197	30	in	in	ADP
alkej-528	197	31	fig	fig	NOUN
alkej-528	197	32	.	.	PUNCT
alkej-528	198	1	(	(	PUNCT
alkej-528	198	2	2	2	NUM
alkej-528	198	3	)	)	PUNCT
alkej-528	198	4	.	.	PUNCT
alkej-528	199	1	deflection	deflection	NOUN
alkej-528	199	2	due	due	ADP
alkej-528	199	3	to	to	ADP
alkej-528	199	4	pure	pure	ADJ
alkej-528	199	5	bending	bending	NOUN
alkej-528	199	6	:	:	PUNCT
alkej-528	199	7	links	link	NOUN
alkej-528	199	8	with	with	ADP
alkej-528	199	9	an	an	DET
alkej-528	199	10	open	open	ADJ
alkej-528	199	11	end	end	NOUN
alkej-528	199	12	manipulator	manipulator	NOUN
alkej-528	199	13	are	be	AUX
alkej-528	199	14	normally	normally	ADV
alkej-528	199	15	modeled	model	VERB
alkej-528	199	16	as	as	ADP
alkej-528	199	17	cantilevers	cantilever	NOUN
alkej-528	199	18	.	.	PUNCT
alkej-528	200	1	consider	consider	VERB
alkej-528	200	2	a	a	DET
alkej-528	200	3	simple	simple	ADJ
alkej-528	200	4	cantilever	cantilever	NOUN
alkej-528	200	5	with	with	ADP
alkej-528	200	6	solid	solid	ADJ
alkej-528	200	7	or	or	CCONJ
alkej-528	200	8	hollow	hollow	ADJ
alkej-528	200	9	cross	cross	NOUN
alkej-528	200	10	–	–	PUNCT
alkej-528	200	11	section	section	NOUN
alkej-528	200	12	as	as	SCONJ
alkej-528	200	13	shown	show	VERB
alkej-528	200	14	in	in	ADP
alkej-528	200	15	fig.(3).to	fig.(3).to	PROPN
alkej-528	200	16	study	study	VERB
alkej-528	200	17	the	the	DET
alkej-528	200	18	proposed	propose	VERB
alkej-528	200	19	cross	cross	NOUN
alkej-528	200	20	–	–	PUNCT
alkej-528	200	21	section	section	NOUN
alkej-528	200	22	,	,	PUNCT
alkej-528	200	23	we	we	PRON
alkej-528	200	24	use	use	VERB
alkej-528	200	25	the	the	DET
alkej-528	200	26	following	follow	VERB
alkej-528	200	27	equations	equation	NOUN
alkej-528	200	28	for	for	ADP
alkej-528	200	29	moments	moment	NOUN
alkej-528	200	30	of	of	ADP
alkej-528	200	31	inertia	inertia	NOUN
alkej-528	200	32	(	(	PUNCT
alkej-528	200	33	2nd	2nd	ADJ
alkej-528	200	34	moment	moment	NOUN
alkej-528	200	35	of	of	ADP
alkej-528	200	36	area	area	NOUN
alkej-528	200	37	)	)	PUNCT
alkej-528	200	38	about	about	ADP
alkej-528	200	39	any	any	DET
alkej-528	200	40	diametrical	diametrical	ADJ
alkej-528	200	41	axis	axis	NOUN
alkej-528	200	42	through	through	ADP
alkej-528	200	43	the	the	DET
alkej-528	200	44	centroid	centroid	NOUN
alkej-528	200	45	of	of	ADP
alkej-528	200	46	area	area	NOUN
alkej-528	200	47	.	.	PUNCT
alkej-528	201	1	uni	uni	ADJ
alkej-528	201	2	–	–	PUNCT
alkej-528	201	3	tube	tube	NOUN
alkej-528	201	4	:	:	PUNCT
alkej-528	201	5	for	for	SCONJ
alkej-528	201	6	the	the	DET
alkej-528	201	7	unitube	unitube	NOUN
alkej-528	201	8	depicted	depict	VERB
alkej-528	201	9	fig.(2,a	fig.(2,a	PROPN
alkej-528	201	10	)	)	PUNCT
alkej-528	201	11	the	the	DET
alkej-528	201	12	moment	moment	NOUN
alkej-528	201	13	of	of	ADP
alkej-528	201	14	inertia	inertia	NOUN
alkej-528	201	15	about	about	ADP
alkej-528	201	16	the	the	DET
alkej-528	201	17	neutral	neutral	ADJ
alkej-528	201	18	axis	axis	NOUN
alkej-528	201	19	is	be	AUX
alkej-528	201	20	where	where	SCONJ
alkej-528	201	21	b	b	X
alkej-528	201	22	,	,	PUNCT
alkej-528	201	23	b	b	PROPN
alkej-528	201	24	is	be	AUX
alkej-528	201	25	the	the	DET
alkej-528	201	26	outer	outer	ADJ
alkej-528	201	27	and	and	CCONJ
alkej-528	201	28	inner	inner	ADJ
alkej-528	201	29	sides	side	NOUN
alkej-528	201	30	,	,	PUNCT
alkej-528	201	31	respectively	respectively	ADV
alkej-528	201	32	for	for	ADP
alkej-528	201	33	the	the	DET
alkej-528	201	34	uni	uni	ADJ
alkej-528	201	35	-	-	ADJ
alkej-528	201	36	tube	tube	ADJ
alkej-528	201	37	construction	construction	NOUN
alkej-528	201	38	,	,	PUNCT
alkej-528	201	39	t	t	PROPN
alkej-528	201	40	is	be	AUX
alkej-528	201	41	the	the	DET
alkej-528	201	42	thickness	thickness	NOUN
alkej-528	201	43	of	of	ADP
alkej-528	201	44	the	the	DET
alkej-528	201	45	uni	uni	ADJ
alkej-528	201	46	-	-	ADJ
alkej-528	201	47	tube	tube	NOUN
alkej-528	201	48	and	and	CCONJ
alkej-528	201	49	the	the	DET
alkej-528	201	50	area	area	NOUN
alkej-528	201	51	is	be	AUX
alkej-528	201	52	tri	tri	ADJ
alkej-528	201	53	-	-	ADJ
alkej-528	201	54	tube	tube	NOUN
alkej-528	201	55	:	:	PUNCT
alkej-528	201	56	for	for	ADP
alkej-528	201	57	the	the	DET
alkej-528	201	58	tri	tri	ADJ
alkej-528	201	59	-	-	ADJ
alkej-528	201	60	tube	tube	NOUN
alkej-528	201	61	depicted	depict	VERB
alkej-528	201	62	in	in	ADP
alkej-528	201	63	fig.(2,b	fig.(2,b	PROPN
alkej-528	201	64	)	)	PUNCT
alkej-528	201	65	the	the	DET
alkej-528	201	66	moment	moment	NOUN
alkej-528	201	67	of	of	ADP
alkej-528	201	68	inertia	inertia	NOUN
alkej-528	201	69	about	about	ADP
alkej-528	201	70	the	the	DET
alkej-528	201	71	neutral	neutral	ADJ
alkej-528	201	72	axis	axis	NOUN
alkej-528	201	73	is	be	AUX
alkej-528	201	74	where	where	SCONJ
alkej-528	201	75	d	d	NOUN
alkej-528	201	76	and	and	CCONJ
alkej-528	201	77	d	d	NOUN
alkej-528	201	78	are	be	AUX
alkej-528	201	79	the	the	DET
alkej-528	201	80	out	out	ADJ
alkej-528	201	81	side	side	NOUN
alkej-528	201	82	and	and	CCONJ
alkej-528	201	83	inside	inside	ADJ
alkej-528	201	84	diameters	diameter	NOUN
alkej-528	201	85	,	,	PUNCT
alkej-528	201	86	respectively	respectively	ADV
alkej-528	201	87	,	,	PUNCT
alkej-528	201	88	for	for	ADP
alkej-528	201	89	each	each	DET
alkej-528	201	90	tube	tube	NOUN
alkej-528	201	91	on	on	ADP
alkej-528	201	92	the	the	DET
alkej-528	201	93	equilateral	equilateral	ADJ
alkej-528	201	94	triangle	triangle	NOUN
alkej-528	201	95	,	,	PUNCT
alkej-528	201	96	t	t	PROPN
alkej-528	201	97	is	be	AUX
alkej-528	201	98	the	the	DET
alkej-528	201	99	thickness	thickness	NOUN
alkej-528	201	100	of	of	ADP
alkej-528	201	101	each	each	DET
alkej-528	201	102	tube	tube	NOUN
alkej-528	201	103	in	in	ADP
alkej-528	201	104	the	the	DET
alkej-528	201	105	tri	tri	ADJ
alkej-528	201	106	–	–	PUNCT
alkej-528	201	107	tube	tube	NOUN
alkej-528	201	108	construction	construction	NOUN
alkej-528	201	109	.	.	PUNCT
alkej-528	202	1	the	the	DET
alkej-528	202	2	area	area	NOUN
alkej-528	202	3	of	of	ADP
alkej-528	202	4	each	each	DET
alkej-528	202	5	tube	tube	NOUN
alkej-528	202	6	is	be	AUX
alkej-528	202	7	to	to	PART
alkej-528	202	8	demonstrate	demonstrate	VERB
alkej-528	202	9	the	the	DET
alkej-528	202	10	deflection	deflection	NOUN
alkej-528	202	11	due	due	ADP
alkej-528	202	12	to	to	ADP
alkej-528	202	13	loading	loading	NOUN
alkej-528	202	14	,	,	PUNCT
alkej-528	202	15	consider	consider	VERB
alkej-528	202	16	the	the	DET
alkej-528	202	17	third	third	ADJ
alkej-528	202	18	arm	arm	NOUN
alkej-528	202	19	beam	beam	NOUN
alkej-528	202	20	depicted	depict	VERB
alkej-528	202	21	in	in	ADP
alkej-528	202	22	fig.(3,c	fig.(3,c	PROPN
alkej-528	202	23	)	)	PUNCT
alkej-528	202	24	.	.	PUNCT
alkej-528	203	1	where	where	SCONJ
alkej-528	203	2	m	m	NOUN
alkej-528	203	3	is	be	AUX
alkej-528	203	4	the	the	DET
alkej-528	203	5	mass	mass	NOUN
alkej-528	203	6	of	of	ADP
alkej-528	203	7	each	each	DET
alkej-528	203	8	arm	arm	NOUN
alkej-528	203	9	,	,	PUNCT
alkej-528	203	10	m	m	VERB
alkej-528	203	11	is	be	AUX
alkej-528	203	12	the	the	DET
alkej-528	203	13	mass	mass	NOUN
alkej-528	203	14	of	of	ADP
alkej-528	203	15	the	the	DET
alkej-528	203	16	gear	gear	NOUN
alkej-528	203	17	box	box	NOUN
alkej-528	203	18	and	and	CCONJ
alkej-528	203	19	the	the	DET
alkej-528	203	20	mass	mass	NOUN
alkej-528	203	21	of	of	ADP
alkej-528	203	22	the	the	DET
alkej-528	203	23	load	load	NOUN
alkej-528	203	24	to	to	PART
alkej-528	203	25	be	be	AUX
alkej-528	203	26	manipulated	manipulate	VERB
alkej-528	203	27	at	at	ADP
alkej-528	203	28	the	the	DET
alkej-528	203	29	end	end	NOUN
alkej-528	203	30	of	of	ADP
alkej-528	203	31	the	the	DET
alkej-528	203	32	arm	arm	NOUN
alkej-528	203	33	,	,	PUNCT
alkej-528	203	34	q	q	PUNCT
alkej-528	203	35	is	be	AUX
alkej-528	203	36	the	the	DET
alkej-528	203	37	weight	weight	NOUN
alkej-528	203	38	per	per	ADP
alkej-528	203	39	unit	unit	NOUN
alkej-528	203	40	length	length	NOUN
alkej-528	203	41	of	of	ADP
alkej-528	203	42	the	the	DET
alkej-528	203	43	beam	beam	NOUN
alkej-528	203	44	,	,	PUNCT
alkej-528	203	45	w	w	PROPN
alkej-528	203	46	is	be	AUX
alkej-528	203	47	the	the	DET
alkej-528	203	48	load	load	NOUN
alkej-528	203	49	in	in	ADP
alkej-528	203	50	newton	newton	PROPN
alkej-528	203	51	,	,	PUNCT
alkej-528	203	52	g	g	PROPN
alkej-528	203	53	is	be	AUX
alkej-528	203	54	the	the	DET
alkej-528	203	55	gravitational	gravitational	ADJ
alkej-528	203	56	acceleration	acceleration	NOUN
alkej-528	203	57	and	and	CCONJ
alkej-528	203	58	l	l	NOUN
alkej-528	203	59	is	be	AUX
alkej-528	203	60	the	the	DET
alkej-528	203	61	length	length	NOUN
alkej-528	203	62	of	of	ADP
alkej-528	203	63	the	the	DET
alkej-528	203	64	arm	arm	NOUN
alkej-528	203	65	,	,	PUNCT
alkej-528	203	66	a	a	PRON
alkej-528	203	67	is	be	AUX
alkej-528	203	68	the	the	DET
alkej-528	203	69	cross	cross	ADJ
alkej-528	203	70	sectional	sectional	ADJ
alkej-528	203	71	area	area	NOUN
alkej-528	203	72	of	of	ADP
alkej-528	203	73	the	the	DET
alkej-528	203	74	beam	beam	NOUN
alkej-528	203	75	,	,	PUNCT
alkej-528	203	76	is	be	AUX
alkej-528	203	77	the	the	DET
alkej-528	203	78	specific	specific	ADJ
alkej-528	203	79	density	density	NOUN
alkej-528	203	80	.	.	PUNCT
alkej-528	204	1	to	to	PART
alkej-528	204	2	get	get	VERB
alkej-528	204	3	the	the	DET
alkej-528	204	4	reactions	reaction	NOUN
alkej-528	204	5	(	(	PUNCT
alkej-528	204	6	force	force	NOUN
alkej-528	204	7	and	and	CCONJ
alkej-528	204	8	moment	moment	NOUN
alkej-528	204	9	)	)	PUNCT
alkej-528	204	10	at	at	ADP
alkej-528	204	11	the	the	DET
alkej-528	204	12	fixed	fixed	ADJ
alkej-528	204	13	end	end	NOUN
alkej-528	204	14	of	of	ADP
alkej-528	204	15	the	the	DET
alkej-528	204	16	third	third	ADJ
alkej-528	204	17	arm	arm	NOUN
alkej-528	204	18	we	we	PRON
alkej-528	204	19	equate	equate	VERB
alkej-528	204	20	the	the	DET
alkej-528	204	21	summation	summation	NOUN
alkej-528	204	22	of	of	ADP
alkej-528	204	23	forces	force	NOUN
alkej-528	204	24	and	and	CCONJ
alkej-528	204	25	moment	moment	NOUN
alkej-528	204	26	to	to	ADP
alkej-528	204	27	zero	zero	NUM
alkej-528	204	28	i.e.	i.e.	X
alkej-528	204	29	the	the	DET
alkej-528	204	30	same	same	ADJ
alkej-528	204	31	thing	thing	NOUN
alkej-528	204	32	may	may	AUX
alkej-528	204	33	be	be	AUX
alkej-528	204	34	said	say	VERB
alkej-528	204	35	for	for	ADP
alkej-528	204	36	the	the	DET
alkej-528	204	37	second	second	ADJ
alkej-528	204	38	arm	arm	NOUN
alkej-528	204	39	(	(	PUNCT
alkej-528	204	40	fig.3	fig.3	PROPN
alkej-528	204	41	-	-	PUNCT
alkej-528	204	42	b	b	NOUN
alkej-528	204	43	)	)	PUNCT
alkej-528	204	44	taking	take	VERB
alkej-528	204	45	in	in	ADP
alkej-528	204	46	to	to	PART
alkej-528	204	47	account	account	VERB
alkej-528	204	48	the	the	DET
alkej-528	204	49	effect	effect	NOUN
alkej-528	204	50	of	of	ADP
alkej-528	204	51	moment	moment	NOUN
alkej-528	204	52	in	in	ADP
alkej-528	204	53	calculating	calculate	VERB
alkej-528	204	54	the	the	DET
alkej-528	204	55	deflection	deflection	NOUN
alkej-528	204	56	i.e.	i.e.	X
alkej-528	204	57	the	the	DET
alkej-528	204	58	reactions	reaction	NOUN
alkej-528	204	59	at	at	ADP
alkej-528	204	60	the	the	DET
alkej-528	204	61	fixed	fix	VERB
alkej-528	204	62	end	end	NOUN
alkej-528	204	63	will	will	AUX
alkej-528	204	64	be	be	AUX
alkej-528	204	65	for	for	ADP
alkej-528	204	66	the	the	DET
alkej-528	204	67	first	first	ADJ
alkej-528	204	68	arm	arm	NOUN
alkej-528	204	69	(	(	PUNCT
alkej-528	204	70	fig.3	fig.3	PROPN
alkej-528	204	71	-	-	PUNCT
alkej-528	204	72	a	a	NOUN
alkej-528	204	73	)	)	PUNCT
alkej-528	204	74	we	we	PRON
alkej-528	204	75	assume	assume	VERB
alkej-528	204	76	that	that	SCONJ
alkej-528	204	77	the	the	DET
alkej-528	204	78	deflection	deflection	NOUN
alkej-528	204	79	at	at	ADP
alkej-528	204	80	the	the	DET
alkej-528	204	81	free	free	ADJ
alkej-528	204	82	end	end	NOUN
alkej-528	204	83	is	be	AUX
alkej-528	204	84	due	due	ADJ
alkej-528	204	85	to	to	ADP
alkej-528	204	86	bending	bend	VERB
alkej-528	204	87	moment	moment	NOUN
alkej-528	204	88	only	only	ADV
alkej-528	204	89	and	and	CCONJ
alkej-528	204	90	the	the	DET
alkej-528	204	91	effect	effect	NOUN
alkej-528	204	92	of	of	ADP
alkej-528	204	93	compressive	compressive	ADJ
alkej-528	204	94	loads	load	NOUN
alkej-528	204	95	on	on	ADP
alkej-528	204	96	the	the	DET
alkej-528	204	97	whole	whole	ADJ
alkej-528	204	98	deflection	deflection	NOUN
alkej-528	204	99	is	be	AUX
alkej-528	204	100	neglected	neglect	VERB
alkej-528	204	101	therefore	therefore	ADV
alkej-528	204	102	the	the	DET
alkej-528	204	103	total	total	ADJ
alkej-528	204	104	deflection	deflection	NOUN
alkej-528	204	105	at	at	ADP
alkej-528	204	106	the	the	DET
alkej-528	204	107	end	end	NOUN
alkej-528	204	108	effecter	effecter	NOUN
alkej-528	204	109	of	of	ADP
alkej-528	204	110	the	the	DET
alkej-528	204	111	robot	robot	NOUN
alkej-528	204	112	manipulator	manipulator	NOUN
alkej-528	204	113	arm	arm	NOUN
alkej-528	204	114	will	will	AUX
alkej-528	204	115	be	be	AUX
alkej-528	204	116	the	the	DET
alkej-528	204	117	sequence	sequence	NOUN
alkej-528	204	118	of	of	ADP
alkej-528	204	119	analysis	analysis	NOUN
alkej-528	204	120	in	in	ADP
alkej-528	204	121	this	this	DET
alkej-528	204	122	work	work	NOUN
alkej-528	204	123	is	be	AUX
alkej-528	204	124	to	to	PART
alkej-528	204	125	calculate	calculate	VERB
alkej-528	204	126	the	the	DET
alkej-528	204	127	weight	weight	NOUN
alkej-528	204	128	of	of	ADP
alkej-528	204	129	the	the	DET
alkej-528	204	130	lightest	light	ADJ
alkej-528	204	131	structure	structure	NOUN
alkej-528	204	132	that	that	PRON
alkej-528	204	133	has	have	VERB
alkej-528	204	134	a	a	DET
alkej-528	204	135	square	square	ADJ
alkej-528	204	136	hollow	hollow	ADJ
alkej-528	204	137	section	section	NOUN
alkej-528	204	138	and	and	CCONJ
alkej-528	204	139	with	with	ADP
alkej-528	204	140	stand	stand	VERB
alkej-528	204	141	the	the	DET
alkej-528	204	142	given	give	VERB
alkej-528	204	143	loading	loading	NOUN
alkej-528	204	144	condition	condition	NOUN
alkej-528	204	145	this	this	PRON
alkej-528	204	146	may	may	AUX
alkej-528	204	147	be	be	AUX
alkej-528	204	148	achieved	achieve	VERB
alkej-528	204	149	by	by	ADP
alkej-528	204	150	letting	let	VERB
alkej-528	204	151	the	the	DET
alkej-528	204	152	stress	stress	NOUN
alkej-528	204	153	in	in	ADP
alkej-528	204	154	each	each	DET
alkej-528	204	155	arm	arm	NOUN
alkej-528	204	156	reaches	reach	VERB
alkej-528	204	157	the	the	DET
alkej-528	204	158	maximum	maximum	ADJ
alkej-528	204	159	allowable	allowable	ADJ
alkej-528	204	160	stress	stress	NOUN
alkej-528	204	161	to	to	PART
alkej-528	204	162	avoid	avoid	VERB
alkej-528	204	163	failure	failure	NOUN
alkej-528	204	164	of	of	ADP
alkej-528	204	165	the	the	DET
alkej-528	204	166	structure	structure	NOUN
alkej-528	204	167	,	,	PUNCT
alkej-528	204	168	the	the	DET
alkej-528	204	169	equation	equation	NOUN
alkej-528	204	170	for	for	ADP
alkej-528	204	171	calculating	calculate	VERB
alkej-528	204	172	the	the	DET
alkej-528	204	173	stress	stress	NOUN
alkej-528	204	174	in	in	ADP
alkej-528	204	175	the	the	DET
alkej-528	204	176	third	third	ADJ
alkej-528	204	177	arm	arm	NOUN
alkej-528	204	178	may	may	AUX
alkej-528	204	179	be	be	AUX
alkej-528	204	180	written	write	VERB
alkej-528	204	181	as	as	ADP
alkej-528	204	182	by	by	ADP
alkej-528	204	183	letting	let	VERB
alkej-528	204	184	the	the	DET
alkej-528	204	185	stress	stress	NOUN
alkej-528	204	186	equal	equal	VERB
alkej-528	204	187	the	the	DET
alkej-528	204	188	allowable	allowable	ADJ
alkej-528	204	189	stress	stress	NOUN
alkej-528	204	190	and	and	CCONJ
alkej-528	204	191	assuming	assume	VERB
alkej-528	204	192	the	the	DET
alkej-528	204	193	thickness	thickness	NOUN
alkej-528	204	194	of	of	ADP
alkej-528	204	195	the	the	DET
alkej-528	204	196	tube	tube	NOUN
alkej-528	204	197	walls	wall	NOUN
alkej-528	204	198	to	to	PART
alkej-528	204	199	be	be	AUX
alkej-528	204	200	2	2	NUM
alkej-528	204	201	mm	mm	NOUN
alkej-528	204	202	we	we	PRON
alkej-528	204	203	may	may	AUX
alkej-528	204	204	found	find	VERB
alkej-528	204	205	the	the	DET
alkej-528	204	206	dimension	dimension	NOUN
alkej-528	204	207	of	of	ADP
alkej-528	204	208	the	the	DET
alkej-528	204	209	third	third	ADJ
alkej-528	204	210	arm	arm	NOUN
alkej-528	204	211	,	,	PUNCT
alkej-528	204	212	this	this	PRON
alkej-528	204	213	had	have	AUX
alkej-528	204	214	been	be	AUX
alkej-528	204	215	done	do	VERB
alkej-528	204	216	by	by	ADP
alkej-528	204	217	the	the	DET
alkej-528	204	218	aid	aid	NOUN
alkej-528	204	219	of	of	ADP
alkej-528	204	220	a	a	DET
alkej-528	204	221	program	program	NOUN
alkej-528	204	222	built	build	VERB
alkej-528	204	223	up	up	ADP
alkej-528	204	224	using	use	VERB
alkej-528	204	225	mathcad	mathcad	PROPN
alkej-528	204	226	software	software	PROPN
alkej-528	204	227	.	.	PUNCT
alkej-528	205	1	the	the	DET
alkej-528	205	2	stress	stress	NOUN
alkej-528	205	3	in	in	ADP
alkej-528	205	4	the	the	DET
alkej-528	205	5	second	second	ADJ
alkej-528	205	6	arm	arm	NOUN
alkej-528	205	7	may	may	AUX
alkej-528	205	8	also	also	ADV
alkej-528	205	9	be	be	AUX
alkej-528	205	10	calculated	calculate	VERB
alkej-528	205	11	in	in	ADP
alkej-528	205	12	the	the	DET
alkej-528	205	13	same	same	ADJ
alkej-528	205	14	way	way	NOUN
alkej-528	205	15	i.e.	i.e.	X
alkej-528	205	16	the	the	DET
alkej-528	205	17	dimension	dimension	NOUN
alkej-528	205	18	of	of	ADP
alkej-528	205	19	the	the	DET
alkej-528	205	20	first	first	ADJ
alkej-528	205	21	arm	arm	NOUN
alkej-528	205	22	fig.(3.a	fig.(3.a	NOUN
alkej-528	205	23	)	)	PUNCT
alkej-528	205	24	is	be	AUX
alkej-528	205	25	calculated	calculate	VERB
alkej-528	205	26	by	by	ADP
alkej-528	205	27	equating	equate	VERB
alkej-528	205	28	the	the	DET
alkej-528	205	29	maximum	maximum	ADJ
alkej-528	205	30	stress	stress	NOUN
alkej-528	205	31	induced	induce	VERB
alkej-528	205	32	in	in	ADP
alkej-528	205	33	it	it	PRON
alkej-528	205	34	with	with	ADP
alkej-528	205	35	the	the	DET
alkej-528	205	36	maximum	maximum	ADJ
alkej-528	205	37	allowable	allowable	ADJ
alkej-528	205	38	,	,	PUNCT
alkej-528	205	39	this	this	DET
alkej-528	205	40	maximum	maximum	ADJ
alkej-528	205	41	stress	stress	NOUN
alkej-528	205	42	is	be	AUX
alkej-528	205	43	found	find	VERB
alkej-528	205	44	by	by	ADP
alkej-528	205	45	the	the	DET
alkej-528	205	46	rankine	rankine	PROPN
alkej-528	205	47	-	-	PUNCT
alkej-528	205	48	gorden	gorden	PROPN
alkej-528	205	49	formula	formula	NOUN
alkej-528	206	1	[	[	X
alkej-528	206	2	5	5	NUM
alkej-528	206	3	]	]	PUNCT
alkej-528	206	4	which	which	PRON
alkej-528	206	5	is	be	AUX
alkej-528	206	6	a	a	DET
alkej-528	206	7	combination	combination	NOUN
alkej-528	206	8	of	of	ADP
alkej-528	206	9	the	the	DET
alkej-528	206	10	euler	euler	NOUN
alkej-528	206	11	and	and	CCONJ
alkej-528	206	12	crushing	crush	VERB
alkej-528	206	13	loads	load	NOUN
alkej-528	206	14	for	for	ADP
alkej-528	206	15	a	a	DET
alkej-528	206	16	strut	strut	NOUN
alkej-528	206	17	for	for	ADP
alkej-528	206	18	very	very	ADV
alkej-528	206	19	short	short	ADJ
alkej-528	206	20	strut	strut	NOUN
alkej-528	206	21	is	be	AUX
alkej-528	206	22	very	very	ADV
alkej-528	206	23	large	large	ADJ
alkej-528	206	24	,	,	PUNCT
alkej-528	206	25	can	can	AUX
alkej-528	206	26	therefore	therefore	ADV
alkej-528	206	27	be	be	AUX
alkej-528	206	28	neglected	neglect	VERB
alkej-528	206	29	and	and	CCONJ
alkej-528	206	30	,	,	PUNCT
alkej-528	206	31	for	for	ADP
alkej-528	206	32	very	very	ADV
alkej-528	206	33	long	long	ADJ
alkej-528	206	34	struts	strut	NOUN
alkej-528	206	35	is	be	AUX
alkej-528	206	36	very	very	ADV
alkej-528	206	37	small	small	ADJ
alkej-528	206	38	and	and	CCONJ
alkej-528	206	39	is	be	AUX
alkej-528	206	40	very	very	ADV
alkej-528	206	41	large	large	ADJ
alkej-528	206	42	so	so	SCONJ
alkej-528	206	43	that	that	PRON
alkej-528	206	44	can	can	AUX
alkej-528	206	45	be	be	AUX
alkej-528	206	46	neglected	neglect	VERB
alkej-528	206	47	.	.	PUNCT
alkej-528	207	1	thus	thus	ADV
alkej-528	207	2	.	.	PUNCT
alkej-528	208	1	the	the	DET
alkej-528	208	2	rankine	rankine	PROPN
alkej-528	208	3	formula	formula	NOUN
alkej-528	208	4	is	be	AUX
alkej-528	208	5	therefore	therefore	ADV
alkej-528	208	6	valid	valid	ADJ
alkej-528	208	7	for	for	ADP
alkej-528	208	8	extreme	extreme	ADJ
alkej-528	208	9	values	value	NOUN
alkej-528	208	10	of	of	ADP
alkej-528	208	11	slenderness	slenderness	ADJ
alkej-528	208	12	ratios	ratio	NOUN
alkej-528	208	13	.	.	PUNCT
alkej-528	209	1	it	it	PRON
alkej-528	209	2	is	be	AUX
alkej-528	209	3	also	also	ADV
alkej-528	209	4	found	find	VERB
alkej-528	209	5	to	to	PART
alkej-528	209	6	be	be	AUX
alkej-528	209	7	fairly	fairly	ADV
alkej-528	209	8	accurate	accurate	ADJ
alkej-528	209	9	for	for	ADP
alkej-528	209	10	the	the	DET
alkej-528	209	11	intermediate	intermediate	ADJ
alkej-528	209	12	values	value	NOUN
alkej-528	209	13	.	.	PUNCT
alkej-528	210	1	thus	thus	ADV
alkej-528	210	2	,	,	PUNCT
alkej-528	210	3	re	re	ADP
alkej-528	210	4	–	–	PUNCT
alkej-528	210	5	writing	write	VERB
alkej-528	210	6	the	the	DET
alkej-528	210	7	formula	formula	NOUN
alkej-528	210	8	in	in	ADP
alkej-528	210	9	terms	term	NOUN
alkej-528	210	10	of	of	ADP
alkej-528	210	11	stresses	stress	NOUN
alkej-528	210	12	for	for	ADP
alkej-528	210	13	a	a	DET
alkej-528	210	14	strut	strut	NOUN
alkej-528	210	15	with	with	ADP
alkej-528	210	16	one	one	NUM
alkej-528	210	17	end	end	NOUN
alkej-528	210	18	free	free	ADJ
alkej-528	210	19	and	and	CCONJ
alkej-528	210	20	the	the	DET
alkej-528	210	21	other	other	ADJ
alkej-528	210	22	fixed	fix	VERB
alkej-528	210	23	and	and	CCONJ
alkej-528	210	24	the	the	DET
alkej-528	210	25	crushing	crush	VERB
alkej-528	210	26	load	load	NOUN
alkej-528	210	27	on	on	ADP
alkej-528	210	28	the	the	DET
alkej-528	210	29	first	first	ADJ
alkej-528	210	30	arm	arm	NOUN
alkej-528	210	31	is	be	AUX
alkej-528	210	32	the	the	DET
alkej-528	210	33	final	final	ADJ
alkej-528	210	34	stress	stress	NOUN
alkej-528	210	35	on	on	ADP
alkej-528	210	36	the	the	DET
alkej-528	210	37	first	first	ADJ
alkej-528	210	38	arm	arm	NOUN
alkej-528	210	39	is	be	AUX
alkej-528	210	40	thus	thus	ADV
alkej-528	210	41	the	the	DET
alkej-528	210	42	sum	sum	NOUN
alkej-528	210	43	of	of	ADP
alkej-528	210	44	the	the	DET
alkej-528	210	45	direct	direct	ADJ
alkej-528	210	46	stress	stress	NOUN
alkej-528	210	47	calculated	calculate	VERB
alkej-528	210	48	by	by	ADP
alkej-528	210	49	rankine	rankine	NOUN
alkej-528	210	50	formula	formula	NOUN
alkej-528	210	51	and	and	CCONJ
alkej-528	210	52	that	that	PRON
alkej-528	210	53	due	due	ADP
alkej-528	210	54	to	to	ADP
alkej-528	210	55	bending	bend	VERB
alkej-528	210	56	generated	generate	VERB
alkej-528	210	57	by	by	ADP
alkej-528	210	58	the	the	DET
alkej-528	210	59	exerted	exert	VERB
alkej-528	210	60	moment	moment	NOUN
alkej-528	210	61	as	as	SCONJ
alkej-528	210	62	was	be	AUX
alkej-528	210	63	explained	explain	VERB
alkej-528	210	64	in	in	ADP
alkej-528	210	65	figure	figure	NOUN
alkej-528	210	66	(	(	PUNCT
alkej-528	210	67	3	3	NUM
alkej-528	210	68	-	-	PUNCT
alkej-528	210	69	a	a	NOUN
alkej-528	210	70	and	and	CCONJ
alkej-528	210	71	b	b	NOUN
alkej-528	210	72	)	)	PUNCT
alkej-528	210	73	from	from	ADP
alkej-528	210	74	this	this	DET
alkej-528	210	75	equation	equation	NOUN
alkej-528	210	76	we	we	PRON
alkej-528	210	77	may	may	AUX
alkej-528	210	78	find	find	VERB
alkej-528	210	79	the	the	DET
alkej-528	210	80	dimension	dimension	NOUN
alkej-528	210	81	of	of	ADP
alkej-528	210	82	the	the	DET
alkej-528	210	83	first	first	ADJ
alkej-528	210	84	arm	arm	NOUN
alkej-528	210	85	.	.	PUNCT
alkej-528	211	1	after	after	ADP
alkej-528	211	2	knowing	know	VERB
alkej-528	211	3	the	the	DET
alkej-528	211	4	dimension	dimension	NOUN
alkej-528	211	5	of	of	ADP
alkej-528	211	6	each	each	DET
alkej-528	211	7	arm	arm	NOUN
alkej-528	211	8	the	the	DET
alkej-528	211	9	weight	weight	NOUN
alkej-528	211	10	of	of	ADP
alkej-528	211	11	each	each	DET
alkej-528	211	12	arm	arm	NOUN
alkej-528	211	13	may	may	AUX
alkej-528	211	14	be	be	AUX
alkej-528	211	15	found	find	VERB
alkej-528	211	16	and	and	CCONJ
alkej-528	211	17	also	also	ADV
alkej-528	211	18	the	the	DET
alkej-528	211	19	total	total	ADJ
alkej-528	211	20	weight	weight	NOUN
alkej-528	211	21	of	of	ADP
alkej-528	211	22	the	the	DET
alkej-528	211	23	manipulator	manipulator	NOUN
alkej-528	211	24	structure	structure	NOUN
alkej-528	211	25	will	will	AUX
alkej-528	211	26	be	be	AUX
alkej-528	211	27	determined	determine	VERB
alkej-528	211	28	.	.	PUNCT
alkej-528	212	1	the	the	DET
alkej-528	212	2	next	next	ADJ
alkej-528	212	3	step	step	NOUN
alkej-528	212	4	in	in	ADP
alkej-528	212	5	the	the	DET
alkej-528	212	6	analysis	analysis	NOUN
alkej-528	212	7	is	be	AUX
alkej-528	212	8	to	to	PART
alkej-528	212	9	input	input	VERB
alkej-528	212	10	those	those	DET
alkej-528	212	11	information	information	NOUN
alkej-528	212	12	to	to	ADP
alkej-528	212	13	the	the	DET
alkej-528	212	14	program	program	NOUN
alkej-528	212	15	to	to	PART
alkej-528	212	16	began	begin	VERB
alkej-528	212	17	the	the	DET
alkej-528	212	18	process	process	NOUN
alkej-528	212	19	of	of	ADP
alkej-528	212	20	changing	change	VERB
alkej-528	212	21	the	the	DET
alkej-528	212	22	dimension	dimension	NOUN
alkej-528	212	23	of	of	ADP
alkej-528	212	24	the	the	DET
alkej-528	212	25	cross	cross	NOUN
alkej-528	212	26	section	section	NOUN
alkej-528	212	27	to	to	PART
alkej-528	212	28	minimize	minimize	VERB
alkej-528	212	29	the	the	DET
alkej-528	212	30	total	total	ADJ
alkej-528	212	31	error	error	NOUN
alkej-528	212	32	(	(	PUNCT
alkej-528	212	33	deflection	deflection	NOUN
alkej-528	212	34	)	)	PUNCT
alkej-528	212	35	at	at	ADP
alkej-528	212	36	the	the	DET
alkej-528	212	37	end	end	NOUN
alkej-528	212	38	of	of	ADP
alkej-528	212	39	the	the	DET
alkej-528	212	40	robot	robot	NOUN
alkej-528	212	41	arm	arm	NOUN
alkej-528	212	42	this	this	DET
alkej-528	212	43	process	process	NOUN
alkej-528	212	44	gives	give	VERB
alkej-528	212	45	many	many	ADJ
alkej-528	212	46	generations	generation	NOUN
alkej-528	212	47	of	of	ADP
alkej-528	212	48	the	the	DET
alkej-528	212	49	dimensions	dimension	NOUN
alkej-528	212	50	of	of	ADP
alkej-528	212	51	the	the	DET
alkej-528	212	52	arm	arm	NOUN
alkej-528	212	53	cross	cross	PROPN
alkej-528	212	54	section	section	NOUN
alkej-528	212	55	which	which	PRON
alkej-528	212	56	satisfies	satisfy	VERB
alkej-528	212	57	the	the	DET
alkej-528	212	58	conditions	condition	NOUN
alkej-528	212	59	specified	specify	VERB
alkej-528	212	60	for	for	ADP
alkej-528	212	61	the	the	DET
alkej-528	212	62	maximum	maximum	ADJ
alkej-528	212	63	and	and	CCONJ
alkej-528	212	64	minimum	minimum	ADJ
alkej-528	212	65	error	error	NOUN
alkej-528	212	66	allowed	allow	VERB
alkej-528	212	67	at	at	ADP
alkej-528	212	68	the	the	DET
alkej-528	212	69	end	end	NOUN
alkej-528	212	70	effecter	effecter	NOUN
alkej-528	212	71	and	and	CCONJ
alkej-528	212	72	also	also	ADV
alkej-528	212	73	the	the	DET
alkej-528	212	74	permissible	permissible	ADJ
alkej-528	212	75	increase	increase	NOUN
alkej-528	212	76	in	in	ADP
alkej-528	212	77	the	the	DET
alkej-528	212	78	weight	weight	NOUN
alkej-528	212	79	of	of	ADP
alkej-528	212	80	the	the	DET
alkej-528	212	81	robot	robot	NOUN
alkej-528	212	82	structure	structure	NOUN
alkej-528	212	83	specified	specify	VERB
alkej-528	212	84	from	from	ADP
alkej-528	212	85	us	we	PRON
alkej-528	212	86	,	,	PUNCT
alkej-528	212	87	from	from	ADP
alkej-528	212	88	between	between	ADP
alkej-528	212	89	all	all	DET
alkej-528	212	90	those	those	DET
alkej-528	212	91	generation	generation	NOUN
alkej-528	212	92	the	the	DET
alkej-528	212	93	program	program	NOUN
alkej-528	212	94	select	select	VERB
alkej-528	212	95	the	the	DET
alkej-528	212	96	best	good	ADJ
alkej-528	212	97	generation	generation	NOUN
alkej-528	212	98	or	or	CCONJ
alkej-528	212	99	probability	probability	NOUN
alkej-528	212	100	that	that	PRON
alkej-528	212	101	gives	give	VERB
alkej-528	212	102	the	the	DET
alkej-528	212	103	lightest	light	ADJ
alkej-528	212	104	weight	weight	NOUN
alkej-528	212	105	and	and	CCONJ
alkej-528	212	106	the	the	DET
alkej-528	212	107	less	less	ADJ
alkej-528	212	108	deformation	deformation	NOUN
alkej-528	212	109	.	.	PUNCT
alkej-528	213	1	the	the	DET
alkej-528	213	2	next	next	ADJ
alkej-528	213	3	step	step	NOUN
alkej-528	213	4	in	in	ADP
alkej-528	213	5	the	the	DET
alkej-528	213	6	analysis	analysis	NOUN
alkej-528	213	7	is	be	AUX
alkej-528	213	8	to	to	PART
alkej-528	213	9	input	input	VERB
alkej-528	213	10	the	the	DET
alkej-528	213	11	new	new	ADJ
alkej-528	213	12	weight	weight	NOUN
alkej-528	213	13	of	of	ADP
alkej-528	213	14	the	the	DET
alkej-528	213	15	robot	robot	NOUN
alkej-528	213	16	arms	arm	NOUN
alkej-528	213	17	to	to	ADP
alkej-528	213	18	the	the	DET
alkej-528	213	19	optimization	optimization	NOUN
alkej-528	213	20	process	process	NOUN
alkej-528	213	21	for	for	ADP
alkej-528	213	22	the	the	DET
alkej-528	213	23	tri	tri	ADJ
alkej-528	213	24	–	–	PUNCT
alkej-528	213	25	tube	tube	NOUN
alkej-528	213	26	cross	cross	NOUN
alkej-528	213	27	section	section	NOUN
alkej-528	213	28	shown	show	VERB
alkej-528	213	29	in	in	ADP
alkej-528	213	30	figure(2	figure(2	PROPN
alkej-528	213	31	-	-	PUNCT
alkej-528	213	32	b	b	NOUN
alkej-528	213	33	)	)	PUNCT
alkej-528	213	34	and	and	CCONJ
alkej-528	213	35	trying	try	VERB
alkej-528	213	36	to	to	PART
alkej-528	213	37	find	find	VERB
alkej-528	213	38	the	the	DET
alkej-528	213	39	best	good	ADJ
alkej-528	213	40	dimensions	dimension	NOUN
alkej-528	213	41	that	that	PRON
alkej-528	213	42	gives	give	VERB
alkej-528	213	43	the	the	DET
alkej-528	213	44	highest	high	ADJ
alkej-528	213	45	moment	moment	NOUN
alkej-528	213	46	of	of	ADP
alkej-528	213	47	inertia	inertia	NOUN
alkej-528	213	48	for	for	ADP
alkej-528	213	49	the	the	DET
alkej-528	213	50	cross	cross	NOUN
alkej-528	213	51	section	section	NOUN
alkej-528	213	52	so	so	SCONJ
alkej-528	213	53	as	as	SCONJ
alkej-528	213	54	to	to	PART
alkej-528	213	55	minimize	minimize	VERB
alkej-528	213	56	the	the	DET
alkej-528	213	57	deflection	deflection	NOUN
alkej-528	213	58	in	in	ADP
alkej-528	213	59	each	each	DET
alkej-528	213	60	arm	arm	NOUN
alkej-528	213	61	and	and	CCONJ
alkej-528	213	62	also	also	ADV
alkej-528	213	63	the	the	DET
alkej-528	213	64	total	total	ADJ
alkej-528	213	65	deflection	deflection	NOUN
alkej-528	213	66	of	of	ADP
alkej-528	213	67	the	the	DET
alkej-528	213	68	robot	robot	NOUN
alkej-528	213	69	at	at	ADP
alkej-528	213	70	the	the	DET
alkej-528	213	71	end	end	NOUN
alkej-528	213	72	effecter	effecter	NOUN
alkej-528	213	73	,	,	PUNCT
alkej-528	213	74	i.e.	i.e.	X
alkej-528	213	75	the	the	DET
alkej-528	213	76	mass	mass	NOUN
alkej-528	213	77	of	of	ADP
alkej-528	213	78	uni	uni	ADJ
alkej-528	213	79	–	–	PUNCT
alkej-528	213	80	tube	tube	NOUN
alkej-528	213	81	section	section	NOUN
alkej-528	213	82	found	find	VERB
alkej-528	213	83	by	by	ADP
alkej-528	213	84	the	the	DET
alkej-528	213	85	program	program	NOUN
alkej-528	213	86	should	should	AUX
alkej-528	213	87	be	be	AUX
alkej-528	213	88	equal	equal	ADJ
alkej-528	213	89	to	to	ADP
alkej-528	213	90	the	the	DET
alkej-528	213	91	mass	mass	NOUN
alkej-528	213	92	of	of	ADP
alkej-528	213	93	the	the	DET
alkej-528	213	94	tri	tri	ADJ
alkej-528	213	95	–	–	PUNCT
alkej-528	213	96	tube	tube	NOUN
alkej-528	213	97	section	section	NOUN
alkej-528	213	98	which	which	PRON
alkej-528	213	99	is	be	AUX
alkej-528	213	100	equal	equal	ADJ
alkej-528	213	101	to	to	ADP
alkej-528	213	102	where	where	SCONJ
alkej-528	213	103	is	be	AUX
alkej-528	213	104	the	the	DET
alkej-528	213	105	density	density	NOUN
alkej-528	213	106	of	of	ADP
alkej-528	213	107	robot	robot	NOUN
alkej-528	213	108	arm	arm	NOUN
alkej-528	213	109	metal	metal	NOUN
alkej-528	213	110	,	,	PUNCT
alkej-528	213	111	is	be	AUX
alkej-528	213	112	the	the	DET
alkej-528	213	113	radius	radius	NOUN
alkej-528	213	114	of	of	ADP
alkej-528	213	115	the	the	DET
alkej-528	213	116	two	two	NUM
alkej-528	213	117	flanges	flange	NOUN
alkej-528	213	118	(	(	PUNCT
alkej-528	213	119	stiffeners	stiffener	NOUN
alkej-528	213	120	)	)	PUNCT
alkej-528	213	121	welded	weld	VERB
alkej-528	213	122	at	at	ADP
alkej-528	213	123	each	each	DET
alkej-528	213	124	end	end	NOUN
alkej-528	213	125	,	,	PUNCT
alkej-528	213	126	is	be	AUX
alkej-528	213	127	the	the	DET
alkej-528	213	128	thickness	thickness	NOUN
alkej-528	213	129	of	of	ADP
alkej-528	213	130	the	the	DET
alkej-528	213	131	flanges	flange	NOUN
alkej-528	213	132	and	and	CCONJ
alkej-528	213	133	is	be	AUX
alkej-528	213	134	the	the	DET
alkej-528	213	135	distance	distance	NOUN
alkej-528	213	136	between	between	ADP
alkej-528	213	137	the	the	DET
alkej-528	213	138	vertices	vertex	NOUN
alkej-528	213	139	of	of	ADP
alkej-528	213	140	the	the	DET
alkej-528	213	141	equilateral	equilateral	ADJ
alkej-528	213	142	triangle	triangle	NOUN
alkej-528	213	143	.	.	PUNCT
alkej-528	214	1	the	the	DET
alkej-528	214	2	optimization	optimization	NOUN
alkej-528	214	3	problem	problem	NOUN
alkej-528	214	4	is	be	AUX
alkej-528	214	5	defined	define	VERB
alkej-528	214	6	as	as	ADP
alkej-528	214	7	follow	follow	NOUN
alkej-528	214	8	in	in	ADP
alkej-528	214	9	the	the	DET
alkej-528	214	10	optimization	optimization	NOUN
alkej-528	214	11	problem	problem	NOUN
alkej-528	214	12	the	the	DET
alkej-528	214	13	thickness	thickness	NOUN
alkej-528	214	14	of	of	ADP
alkej-528	214	15	the	the	DET
alkej-528	214	16	tubes	tube	NOUN
alkej-528	214	17	and	and	CCONJ
alkej-528	214	18	the	the	DET
alkej-528	214	19	thickness	thickness	NOUN
alkej-528	214	20	of	of	ADP
alkej-528	214	21	the	the	DET
alkej-528	214	22	flanges	flange	NOUN
alkej-528	214	23	are	be	AUX
alkej-528	214	24	assumed	assume	VERB
alkej-528	214	25	to	to	PART
alkej-528	214	26	be	be	AUX
alkej-528	214	27	2	2	NUM
alkej-528	214	28	mm	mm	NOUN
alkej-528	214	29	.	.	PUNCT
alkej-528	215	1	the	the	DET
alkej-528	215	2	results	result	NOUN
alkej-528	215	3	of	of	ADP
alkej-528	215	4	the	the	DET
alkej-528	215	5	optimization	optimization	NOUN
alkej-528	215	6	problem	problem	NOUN
alkej-528	215	7	showed	show	VERB
alkej-528	215	8	that	that	SCONJ
alkej-528	215	9	the	the	DET
alkej-528	215	10	tri	tri	ADJ
alkej-528	215	11	–	–	PUNCT
alkej-528	215	12	tube	tube	NOUN
alkej-528	215	13	section	section	NOUN
alkej-528	215	14	that	that	PRON
alkej-528	215	15	have	have	VERB
alkej-528	215	16	the	the	DET
alkej-528	215	17	same	same	ADJ
alkej-528	215	18	weight	weight	NOUN
alkej-528	215	19	(	(	PUNCT
alkej-528	215	20	mass	mass	NOUN
alkej-528	215	21	)	)	PUNCT
alkej-528	215	22	of	of	ADP
alkej-528	215	23	a	a	DET
alkej-528	215	24	uni	uni	ADJ
alkej-528	215	25	–	–	PUNCT
alkej-528	215	26	tube	tube	NOUN
alkej-528	215	27	may	may	AUX
alkej-528	215	28	improve	improve	VERB
alkej-528	215	29	the	the	DET
alkej-528	215	30	stiffness	stiffness	NOUN
alkej-528	215	31	of	of	ADP
alkej-528	215	32	the	the	DET
alkej-528	215	33	robot	robot	NOUN
alkej-528	215	34	and	and	CCONJ
alkej-528	215	35	minimize	minimize	VERB
alkej-528	215	36	the	the	DET
alkej-528	215	37	total	total	ADJ
alkej-528	215	38	deflection	deflection	NOUN
alkej-528	215	39	in	in	ADP
alkej-528	215	40	about	about	ADV
alkej-528	215	41	33	33	NUM
alkej-528	215	42	%	%	NOUN
alkej-528	215	43	,	,	PUNCT
alkej-528	215	44	this	this	DET
alkej-528	215	45	results	result	NOUN
alkej-528	215	46	means	mean	VERB
alkej-528	215	47	that	that	SCONJ
alkej-528	215	48	we	we	PRON
alkej-528	215	49	may	may	AUX
alkej-528	215	50	construct	construct	VERB
alkej-528	215	51	a	a	DET
alkej-528	215	52	robot	robot	NOUN
alkej-528	215	53	having	have	VERB
alkej-528	215	54	tri	tri	ADJ
alkej-528	215	55	–	–	PUNCT
alkej-528	215	56	tube	tube	NOUN
alkej-528	215	57	section	section	NOUN
alkej-528	215	58	which	which	PRON
alkej-528	215	59	is	be	AUX
alkej-528	215	60	less	less	ADJ
alkej-528	215	61	in	in	ADP
alkej-528	215	62	weight	weight	NOUN
alkej-528	215	63	from	from	ADP
alkej-528	215	64	that	that	PRON
alkej-528	215	65	of	of	ADP
alkej-528	215	66	uni	uni	ADJ
alkej-528	215	67	–	–	PUNCT
alkej-528	215	68	tube	tube	NOUN
alkej-528	215	69	section	section	NOUN
alkej-528	215	70	and	and	CCONJ
alkej-528	215	71	both	both	PRON
alkej-528	215	72	of	of	ADP
alkej-528	215	73	them	they	PRON
alkej-528	215	74	having	have	VERB
alkej-528	215	75	the	the	DET
alkej-528	215	76	same	same	ADJ
alkej-528	215	77	end	end	NOUN
alkej-528	215	78	effecter	effecter	NOUN
alkej-528	215	79	deformation	deformation	NOUN
alkej-528	215	80	.	.	PUNCT
alkej-528	216	1	results	result	NOUN
alkej-528	216	2	:	:	PUNCT
alkej-528	216	3	in	in	ADP
alkej-528	216	4	order	order	NOUN
alkej-528	216	5	to	to	PART
alkej-528	216	6	verify	verify	VERB
alkej-528	216	7	the	the	DET
alkej-528	216	8	analysis	analysis	NOUN
alkej-528	216	9	of	of	ADP
alkej-528	216	10	the	the	DET
alkej-528	216	11	previous	previous	ADJ
alkej-528	216	12	section	section	NOUN
alkej-528	216	13	a	a	DET
alkej-528	216	14	run	run	NOUN
alkej-528	216	15	had	have	AUX
alkej-528	216	16	been	be	AUX
alkej-528	216	17	done	do	VERB
alkej-528	216	18	which	which	PRON
alkej-528	216	19	has	have	VERB
alkej-528	216	20	the	the	DET
alkej-528	216	21	following	follow	VERB
alkej-528	216	22	characteristics	characteristic	NOUN
alkej-528	216	23	for	for	ADP
alkej-528	216	24	the	the	DET
alkej-528	216	25	robot	robot	NOUN
alkej-528	216	26	arm	arm	NOUN
alkej-528	216	27	,	,	PUNCT
alkej-528	216	28	,	,	PUNCT
alkej-528	216	29	,	,	PUNCT
alkej-528	216	30	,	,	PUNCT
alkej-528	216	31	,	,	PUNCT
alkej-528	216	32	,	,	PUNCT
alkej-528	216	33	(	(	PUNCT
alkej-528	216	34	tube	tube	NOUN
alkej-528	216	35	thickness	thickness	NOUN
alkej-528	216	36	)	)	PUNCT
alkej-528	216	37	,	,	PUNCT
alkej-528	216	38	(	(	PUNCT
alkej-528	216	39	stiffener	stiffener	NOUN
alkej-528	216	40	thickness	thickness	NOUN
alkej-528	216	41	)	)	PUNCT
alkej-528	216	42	,	,	PUNCT
alkej-528	216	43	(	(	PUNCT
alkej-528	216	44	mass	mass	NOUN
alkej-528	216	45	of	of	ADP
alkej-528	216	46	the	the	DET
alkej-528	216	47	first	first	ADJ
alkej-528	216	48	gear	gear	NOUN
alkej-528	216	49	box	box	PROPN
alkej-528	216	50	)	)	PUNCT
alkej-528	216	51	,	,	PUNCT
alkej-528	216	52	(	(	PUNCT
alkej-528	216	53	mass	mass	NOUN
alkej-528	216	54	of	of	ADP
alkej-528	216	55	the	the	DET
alkej-528	216	56	second	second	ADJ
alkej-528	216	57	gear	gear	NOUN
alkej-528	216	58	box	box	PROPN
alkej-528	216	59	)	)	PUNCT
alkej-528	216	60	,	,	PUNCT
alkej-528	216	61	(	(	PUNCT
alkej-528	216	62	manipulated	manipulate	VERB
alkej-528	216	63	mass	mass	NOUN
alkej-528	216	64	)	)	PUNCT
alkej-528	216	65	.	.	PUNCT
alkej-528	217	1	the	the	DET
alkej-528	217	2	available	available	ADJ
alkej-528	217	3	gear	gear	NOUN
alkej-528	217	4	boxes	box	NOUN
alkej-528	217	5	for	for	ADP
alkej-528	217	6	the	the	DET
alkej-528	217	7	application	application	NOUN
alkej-528	217	8	are	be	AUX
alkej-528	217	9	given	give	VERB
alkej-528	217	10	in	in	ADP
alkej-528	217	11	the	the	DET
alkej-528	217	12	list	list	NOUN
alkej-528	217	13	of	of	ADP
alkej-528	217	14	table	table	NOUN
alkej-528	217	15	1	1	NUM
alkej-528	217	16	the	the	DET
alkej-528	217	17	results	result	NOUN
alkej-528	217	18	of	of	ADP
alkej-528	217	19	the	the	DET
alkej-528	217	20	program	program	NOUN
alkej-528	217	21	shows	show	VERB
alkej-528	217	22	that	that	SCONJ
alkej-528	217	23	for	for	ADP
alkej-528	217	24	the	the	DET
alkej-528	217	25	given	give	VERB
alkej-528	217	26	configuration	configuration	NOUN
alkej-528	217	27	the	the	DET
alkej-528	217	28	minimum	minimum	ADJ
alkej-528	217	29	weight	weight	NOUN
alkej-528	217	30	for	for	ADP
alkej-528	217	31	the	the	DET
alkej-528	217	32	structure	structure	NOUN
alkej-528	217	33	of	of	ADP
alkej-528	217	34	the	the	DET
alkej-528	217	35	uni	uni	ADJ
alkej-528	217	36	–	–	PUNCT
alkej-528	217	37	tube	tube	NOUN
alkej-528	217	38	robot	robot	NOUN
alkej-528	217	39	is	be	AUX
alkej-528	217	40	(	(	PUNCT
alkej-528	217	41	wmin=19.986	wmin=19.986	PROPN
alkej-528	217	42	n	n	CCONJ
alkej-528	217	43	)	)	PUNCT
alkej-528	217	44	,	,	PUNCT
alkej-528	217	45	the	the	DET
alkej-528	217	46	robot	robot	NOUN
alkej-528	217	47	with	with	ADP
alkej-528	217	48	such	such	ADJ
alkej-528	217	49	structural	structural	ADJ
alkej-528	217	50	weight	weight	NOUN
alkej-528	217	51	could	could	AUX
alkej-528	217	52	manipulate	manipulate	VERB
alkej-528	217	53	the	the	DET
alkej-528	217	54	load	load	NOUN
alkej-528	217	55	with	with	ADP
alkej-528	217	56	out	out	ADJ
alkej-528	217	57	failure	failure	NOUN
alkej-528	217	58	because	because	SCONJ
alkej-528	217	59	the	the	DET
alkej-528	217	60	stress	stress	NOUN
alkej-528	217	61	in	in	ADP
alkej-528	217	62	each	each	DET
alkej-528	217	63	arm	arm	NOUN
alkej-528	217	64	is	be	AUX
alkej-528	217	65	less	less	ADJ
alkej-528	217	66	than	than	ADP
alkej-528	217	67	or	or	CCONJ
alkej-528	217	68	equal	equal	ADJ
alkej-528	217	69	to	to	ADP
alkej-528	217	70	the	the	DET
alkej-528	217	71	allowable	allowable	ADJ
alkej-528	217	72	stress	stress	NOUN
alkej-528	217	73	,	,	PUNCT
alkej-528	217	74	but	but	CCONJ
alkej-528	217	75	the	the	DET
alkej-528	217	76	deflection	deflection	NOUN
alkej-528	217	77	of	of	ADP
alkej-528	217	78	the	the	DET
alkej-528	217	79	end	end	NOUN
alkej-528	217	80	point	point	NOUN
alkej-528	217	81	effecter	effecter	NOUN
alkej-528	217	82	is	be	AUX
alkej-528	217	83	very	very	ADV
alkej-528	217	84	large	large	ADJ
alkej-528	217	85	.	.	PUNCT
alkej-528	218	1	the	the	DET
alkej-528	218	2	iteration	iteration	NOUN
alkej-528	218	3	process	process	NOUN
alkej-528	218	4	for	for	ADP
alkej-528	218	5	increasing	increase	VERB
alkej-528	218	6	the	the	DET
alkej-528	218	7	dimension	dimension	NOUN
alkej-528	218	8	of	of	ADP
alkej-528	218	9	the	the	DET
alkej-528	218	10	section	section	NOUN
alkej-528	218	11	to	to	PART
alkej-528	218	12	minimize	minimize	VERB
alkej-528	218	13	the	the	DET
alkej-528	218	14	deflection	deflection	NOUN
alkej-528	218	15	and	and	CCONJ
alkej-528	218	16	letting	let	VERB
alkej-528	218	17	it	it	PRON
alkej-528	218	18	be	be	AUX
alkej-528	218	19	within	within	ADP
alkej-528	218	20	the	the	DET
alkej-528	218	21	range	range	NOUN
alkej-528	218	22	(	(	PUNCT
alkej-528	218	23	0.0005	0.0005	NUM
alkej-528	218	24	<	<	X
alkej-528	218	25	<	<	X
alkej-528	218	26	0.0022	0.0022	NUM
alkej-528	218	27	)	)	PUNCT
alkej-528	218	28	shows	show	VERB
alkej-528	218	29	that	that	SCONJ
alkej-528	218	30	there	there	PRON
alkej-528	218	31	are	be	VERB
alkej-528	218	32	22	22	NUM
alkej-528	218	33	generation	generation	NOUN
alkej-528	218	34	all	all	PRON
alkej-528	218	35	of	of	ADP
alkej-528	218	36	which	which	PRON
alkej-528	218	37	has	have	VERB
alkej-528	218	38	a	a	DET
alkej-528	218	39	deflection	deflection	NOUN
alkej-528	218	40	(	(	PUNCT
alkej-528	218	41	0.0005	0.0005	NUM
alkej-528	218	42	<	<	X
alkej-528	218	43	<	<	X
alkej-528	218	44	0.0022	0.0022	NUM
alkej-528	218	45	)	)	PUNCT
alkej-528	218	46	and	and	CCONJ
alkej-528	218	47	also	also	ADV
alkej-528	218	48	a	a	DET
alkej-528	218	49	weight	weight	NOUN
alkej-528	218	50	(	(	PUNCT
alkej-528	218	51	w	w	NOUN
alkej-528	218	52	<	<	X
alkej-528	218	53	factor	factor	NOUN
alkej-528	218	54	*	*	PUNCT
alkej-528	218	55	wmin	wmin	NOUN
alkej-528	218	56	)	)	PUNCT
alkej-528	218	57	the	the	DET
alkej-528	218	58	permissible	permissible	ADJ
alkej-528	218	59	weight	weight	NOUN
alkej-528	218	60	factor	factor	NOUN
alkej-528	218	61	(	(	PUNCT
alkej-528	218	62	fac	fac	PROPN
alkej-528	218	63	.	.	PUNCT
alkej-528	218	64	)	)	PUNCT
alkej-528	218	65	for	for	ADP
alkej-528	218	66	increasing	increase	VERB
alkej-528	218	67	the	the	DET
alkej-528	218	68	weight	weight	NOUN
alkej-528	218	69	was	be	AUX
alkej-528	218	70	chosen	choose	VERB
alkej-528	218	71	to	to	PART
alkej-528	218	72	be	be	AUX
alkej-528	218	73	(	(	PUNCT
alkej-528	218	74	fac.=1.35	fac.=1.35	NOUN
alkej-528	218	75	)	)	PUNCT
alkej-528	218	76	.	.	PUNCT
alkej-528	219	1	the	the	DET
alkej-528	219	2	dimensions	dimension	NOUN
alkej-528	219	3	of	of	ADP
alkej-528	219	4	the	the	DET
alkej-528	219	5	inner	inner	ADJ
alkej-528	219	6	side	side	NOUN
alkej-528	219	7	of	of	ADP
alkej-528	219	8	the	the	DET
alkej-528	219	9	uni	uni	ADJ
alkej-528	219	10	–	–	PUNCT
alkej-528	219	11	tube	tube	NOUN
alkej-528	219	12	section	section	NOUN
alkej-528	219	13	for	for	ADP
alkej-528	219	14	the	the	DET
alkej-528	219	15	22	22	NUM
alkej-528	219	16	generation	generation	NOUN
alkej-528	219	17	are	be	AUX
alkej-528	219	18	shown	show	VERB
alkej-528	219	19	in	in	ADP
alkej-528	219	20	fig.(4	fig.(4	PROPN
alkej-528	219	21	)	)	PUNCT
alkej-528	219	22	.	.	PUNCT
alkej-528	220	1	the	the	DET
alkej-528	220	2	relation	relation	NOUN
alkej-528	220	3	between	between	ADP
alkej-528	220	4	the	the	DET
alkej-528	220	5	total	total	ADJ
alkej-528	220	6	deflection	deflection	NOUN
alkej-528	220	7	at	at	ADP
alkej-528	220	8	the	the	DET
alkej-528	220	9	end	end	NOUN
alkej-528	220	10	-effecter	-effecter	NOUN
alkej-528	220	11	and	and	CCONJ
alkej-528	220	12	number	number	NOUN
alkej-528	220	13	of	of	ADP
alkej-528	220	14	generation	generation	NOUN
alkej-528	220	15	is	be	AUX
alkej-528	220	16	shown	show	VERB
alkej-528	220	17	in	in	ADP
alkej-528	220	18	fig.(5	fig.(5	PROPN
alkej-528	220	19	)	)	PUNCT
alkej-528	220	20	.	.	PUNCT
alkej-528	221	1	the	the	DET
alkej-528	221	2	relation	relation	NOUN
alkej-528	221	3	between	between	ADP
alkej-528	221	4	the	the	DET
alkej-528	221	5	new	new	ADJ
alkej-528	221	6	weight	weight	NOUN
alkej-528	221	7	of	of	ADP
alkej-528	221	8	the	the	DET
alkej-528	221	9	robot	robot	NOUN
alkej-528	221	10	structure	structure	NOUN
alkej-528	221	11	and	and	CCONJ
alkej-528	221	12	its	its	PRON
alkej-528	221	13	generation	generation	NOUN
alkej-528	221	14	is	be	AUX
alkej-528	221	15	shown	show	VERB
alkej-528	221	16	in	in	ADP
alkej-528	221	17	fig.(6	fig.(6	PROPN
alkej-528	221	18	)	)	PUNCT
alkej-528	221	19	.	.	PUNCT
alkej-528	222	1	the	the	DET
alkej-528	222	2	program	program	NOUN
alkej-528	222	3	chooses	choose	VERB
alkej-528	222	4	the	the	DET
alkej-528	222	5	best	good	ADJ
alkej-528	222	6	generation	generation	NOUN
alkej-528	222	7	which	which	PRON
alkej-528	222	8	has	have	VERB
alkej-528	222	9	the	the	DET
alkej-528	222	10	less	less	ADV
alkej-528	222	11	variable	variable	ADJ
alkej-528	222	12	(	(	PUNCT
alkej-528	222	13	variable=	variable=	NUM
alkej-528	222	14	weight*deflection	weight*deflection	NOUN
alkej-528	222	15	)	)	PUNCT
alkej-528	222	16	,	,	PUNCT
alkej-528	222	17	the	the	DET
alkej-528	222	18	relation	relation	NOUN
alkej-528	222	19	between	between	ADP
alkej-528	222	20	the	the	DET
alkej-528	222	21	variable	variable	NOUN
alkej-528	222	22	and	and	CCONJ
alkej-528	222	23	the	the	DET
alkej-528	222	24	generation	generation	NOUN
alkej-528	222	25	is	be	AUX
alkej-528	222	26	shown	show	VERB
alkej-528	222	27	in	in	ADP
alkej-528	222	28	fig(7	fig(7	NOUN
alkej-528	222	29	)	)	PUNCT
alkej-528	223	1	it	it	PRON
alkej-528	223	2	is	be	AUX
alkej-528	223	3	obvious	obvious	ADJ
alkej-528	223	4	that	that	SCONJ
alkej-528	223	5	the	the	DET
alkej-528	223	6	generation	generation	NOUN
alkej-528	223	7	no	no	INTJ
alkej-528	223	8	.	.	PROPN
alkej-528	223	9	16	16	NUM
alkej-528	223	10	has	have	VERB
alkej-528	223	11	the	the	DET
alkej-528	223	12	minimum	minimum	ADJ
alkej-528	223	13	value	value	NOUN
alkej-528	223	14	,	,	PUNCT
alkej-528	223	15	the	the	DET
alkej-528	223	16	dimensions	dimension	NOUN
alkej-528	223	17	of	of	ADP
alkej-528	223	18	the	the	DET
alkej-528	223	19	section	section	NOUN
alkej-528	223	20	for	for	ADP
alkej-528	223	21	that	that	DET
alkej-528	223	22	generation	generation	NOUN
alkej-528	223	23	are	be	AUX
alkej-528	223	24	b1	b1	NOUN
alkej-528	223	25	=	=	SYM
alkej-528	223	26	0.07464	0.07464	NUM
alkej-528	223	27	m	m	NOUN
alkej-528	223	28	,	,	PUNCT
alkej-528	223	29	b2	b2	NOUN
alkej-528	223	30	=	=	NOUN
alkej-528	223	31	0.06397	0.06397	NUM
alkej-528	223	32	m	m	NOUN
alkej-528	223	33	,	,	PUNCT
alkej-528	223	34	b3=0.05657	b3=0.05657	PRON
alkej-528	223	35	m	m	PRON
alkej-528	223	36	and	and	CCONJ
alkej-528	223	37	has	have	VERB
alkej-528	223	38	a	a	DET
alkej-528	223	39	deflection	deflection	NOUN
alkej-528	223	40	=	=	NOUN
alkej-528	223	41	1.87125	1.87125	NUM
alkej-528	223	42	*	*	SYM
alkej-528	223	43	10	10	NUM
alkej-528	223	44	-	-	SYM
alkej-528	223	45	3	3	NUM
alkej-528	223	46	m	m	NOUN
alkej-528	223	47	and	and	CCONJ
alkej-528	223	48	a	a	DET
alkej-528	223	49	total	total	ADJ
alkej-528	223	50	structural	structural	ADJ
alkej-528	223	51	weight	weight	NOUN
alkej-528	223	52	wtotal	wtotal	NOUN
alkej-528	223	53	=	=	NOUN
alkej-528	223	54	26.917n	26.917n	NUM
alkej-528	223	55	.	.	PUNCT
alkej-528	224	1	those	those	DET
alkej-528	224	2	results	result	NOUN
alkej-528	224	3	are	be	AUX
alkej-528	224	4	the	the	DET
alkej-528	224	5	input	input	NOUN
alkej-528	224	6	for	for	ADP
alkej-528	224	7	the	the	DET
alkej-528	224	8	next	next	ADJ
alkej-528	224	9	step	step	NOUN
alkej-528	224	10	in	in	ADP
alkej-528	224	11	the	the	DET
alkej-528	224	12	program	program	NOUN
alkej-528	224	13	for	for	ADP
alkej-528	224	14	calculating	calculate	VERB
alkej-528	224	15	the	the	DET
alkej-528	224	16	dimensions	dimension	NOUN
alkej-528	224	17	of	of	ADP
alkej-528	224	18	the	the	DET
alkej-528	224	19	tri	tri	ADJ
alkej-528	224	20	–	–	PUNCT
alkej-528	224	21	tube	tube	NOUN
alkej-528	224	22	section	section	NOUN
alkej-528	224	23	in	in	ADP
alkej-528	224	24	which	which	PRON
alkej-528	224	25	an	an	DET
alkej-528	224	26	optimization	optimization	NOUN
alkej-528	224	27	problem	problem	NOUN
alkej-528	224	28	where	where	SCONJ
alkej-528	224	29	solved	solve	VERB
alkej-528	224	30	to	to	PART
alkej-528	224	31	maximize	maximize	VERB
alkej-528	224	32	the	the	DET
alkej-528	224	33	moment	moment	NOUN
alkej-528	224	34	of	of	ADP
alkej-528	224	35	inertia	inertia	NOUN
alkej-528	224	36	for	for	ADP
alkej-528	224	37	the	the	DET
alkej-528	224	38	section	section	NOUN
alkej-528	224	39	in	in	ADP
alkej-528	224	40	terms	term	NOUN
alkej-528	224	41	of	of	ADP
alkej-528	224	42	the	the	DET
alkej-528	224	43	dimensions	dimension	NOUN
alkej-528	224	44	h	h	NOUN
alkej-528	224	45	and	and	CCONJ
alkej-528	224	46	d	d	NOUN
alkej-528	224	47	,	,	PUNCT
alkej-528	224	48	the	the	DET
alkej-528	224	49	results	result	NOUN
alkej-528	224	50	of	of	ADP
alkej-528	224	51	the	the	DET
alkej-528	224	52	program	program	NOUN
alkej-528	224	53	are	be	AUX
alkej-528	224	54	shown	show	VERB
alkej-528	224	55	in	in	ADP
alkej-528	224	56	table	table	NOUN
alkej-528	224	57	(	(	PUNCT
alkej-528	224	58	2	2	NUM
alkej-528	224	59	)	)	PUNCT
alkej-528	224	60	the	the	DET
alkej-528	224	61	total	total	ADJ
alkej-528	224	62	deflection	deflection	NOUN
alkej-528	224	63	for	for	ADP
alkej-528	224	64	the	the	DET
alkej-528	224	65	tri	tri	ADJ
alkej-528	224	66	–	–	PUNCT
alkej-528	224	67	tube	tube	NOUN
alkej-528	224	68	configuration	configuration	NOUN
alkej-528	225	1	=	=	NOUN
alkej-528	225	2	1.31462	1.31462	NUM
alkej-528	225	3	*	*	SYM
alkej-528	225	4	10	10	NUM
alkej-528	225	5	-	-	SYM
alkej-528	225	6	3	3	NUM
alkej-528	225	7	m	m	NOUN
alkej-528	225	8	the	the	DET
alkej-528	225	9	deflection	deflection	NOUN
alkej-528	225	10	for	for	ADP
alkej-528	225	11	the	the	DET
alkej-528	225	12	tri	tri	ADJ
alkej-528	225	13	–	–	PUNCT
alkej-528	225	14	tube	tube	NOUN
alkej-528	225	15	configuration	configuration	NOUN
alkej-528	225	16	is	be	AUX
alkej-528	225	17	less	less	ADJ
alkej-528	225	18	than	than	ADP
alkej-528	225	19	that	that	PRON
alkej-528	225	20	for	for	ADP
alkej-528	225	21	the	the	DET
alkej-528	225	22	uni	uni	ADJ
alkej-528	225	23	–	–	PUNCT
alkej-528	225	24	tube	tube	NOUN
alkej-528	225	25	which	which	PRON
alkej-528	225	26	was	be	AUX
alkej-528	225	27	found	find	VERB
alkej-528	225	28	to	to	PART
alkej-528	225	29	be	be	AUX
alkej-528	225	30	(	(	PUNCT
alkej-528	225	31	)	)	PUNCT
alkej-528	225	32	this	this	DET
alkej-528	225	33	results	result	NOUN
alkej-528	225	34	shows	show	VERB
alkej-528	225	35	that	that	SCONJ
alkej-528	225	36	the	the	DET
alkej-528	225	37	tri	tri	ADJ
alkej-528	225	38	–	–	PUNCT
alkej-528	225	39	tube	tube	NOUN
alkej-528	225	40	section	section	NOUN
alkej-528	225	41	reduces	reduce	VERB
alkej-528	225	42	the	the	DET
alkej-528	225	43	deflection	deflection	NOUN
alkej-528	225	44	in	in	ADP
alkej-528	225	45	a	a	DET
alkej-528	225	46	bout	bout	NOUN
alkej-528	225	47	29.7	29.7	NUM
alkej-528	225	48	%	%	NOUN
alkej-528	225	49	from	from	ADP
alkej-528	225	50	that	that	PRON
alkej-528	225	51	of	of	ADP
alkej-528	225	52	uni	uni	ADJ
alkej-528	225	53	–	–	PUNCT
alkej-528	225	54	tube	tube	NOUN
alkej-528	225	55	section	section	NOUN
alkej-528	225	56	,	,	PUNCT
alkej-528	225	57	the	the	DET
alkej-528	225	58	result	result	NOUN
alkej-528	225	59	may	may	AUX
alkej-528	225	60	be	be	AUX
alkej-528	225	61	improved	improve	VERB
alkej-528	225	62	to	to	PART
alkej-528	225	63	reach	reach	VERB
alkej-528	225	64	a	a	DET
alkej-528	225	65	value	value	NOUN
alkej-528	225	66	of	of	ADP
alkej-528	225	67	33.38	33.38	NUM
alkej-528	225	68	%	%	NOUN
alkej-528	225	69	if	if	SCONJ
alkej-528	225	70	we	we	PRON
alkej-528	225	71	change	change	VERB
alkej-528	225	72	the	the	DET
alkej-528	225	73	weight	weight	NOUN
alkej-528	225	74	factor	factor	NOUN
alkej-528	225	75	(	(	PUNCT
alkej-528	225	76	fac	fac	PROPN
alkej-528	225	77	.	.	PUNCT
alkej-528	225	78	)	)	PUNCT
alkej-528	225	79	to	to	PART
alkej-528	225	80	make	make	VERB
alkej-528	225	81	it	it	PRON
alkej-528	225	82	equal	equal	ADJ
alkej-528	225	83	to	to	ADP
alkej-528	225	84	(	(	PUNCT
alkej-528	225	85	1.3	1.3	NUM
alkej-528	225	86	)	)	PUNCT
alkej-528	225	87	on	on	ADP
alkej-528	225	88	the	the	DET
alkej-528	225	89	other	other	ADJ
alkej-528	225	90	hand	hand	NOUN
alkej-528	225	91	if	if	SCONJ
alkej-528	225	92	(	(	PUNCT
alkej-528	225	93	fac	fac	PROPN
alkej-528	225	94	.	.	PUNCT
alkej-528	225	95	)	)	PUNCT
alkej-528	225	96	is	be	AUX
alkej-528	225	97	increased	increase	VERB
alkej-528	225	98	to(1.65	to(1.65	ADP
alkej-528	225	99	)	)	PUNCT
alkej-528	225	100	the	the	DET
alkej-528	225	101	improvement	improvement	NOUN
alkej-528	225	102	in	in	ADP
alkej-528	225	103	deflection	deflection	NOUN
alkej-528	225	104	would	would	AUX
alkej-528	225	105	be	be	AUX
alkej-528	225	106	less	less	ADV
alkej-528	225	107	and	and	CCONJ
alkej-528	225	108	equal	equal	ADJ
alkej-528	225	109	to	to	ADP
alkej-528	225	110	(	(	PUNCT
alkej-528	225	111	6.02	6.02	NUM
alkej-528	225	112	%	%	NOUN
alkej-528	225	113	)	)	PUNCT
alkej-528	225	114	those	those	DET
alkej-528	225	115	results	result	VERB
alkej-528	225	116	for	for	ADP
alkej-528	225	117	iteration	iteration	NOUN
alkej-528	225	118	and	and	CCONJ
alkej-528	225	119	optimization	optimization	NOUN
alkej-528	225	120	are	be	AUX
alkej-528	225	121	shown	show	VERB
alkej-528	225	122	in	in	ADP
alkej-528	225	123	table(3	table(3	PROPN
alkej-528	225	124	)	)	PUNCT
alkej-528	225	125	another	another	DET
alkej-528	225	126	interesting	interesting	ADJ
alkej-528	225	127	feature	feature	NOUN
alkej-528	225	128	in	in	ADP
alkej-528	225	129	the	the	DET
alkej-528	225	130	design	design	NOUN
alkej-528	225	131	of	of	ADP
alkej-528	225	132	the	the	DET
alkej-528	225	133	uni	uni	ADJ
alkej-528	225	134	–	–	PUNCT
alkej-528	225	135	tube	tube	NOUN
alkej-528	225	136	section	section	NOUN
alkej-528	225	137	is	be	AUX
alkej-528	225	138	that	that	SCONJ
alkej-528	225	139	if	if	SCONJ
alkej-528	225	140	the	the	DET
alkej-528	225	141	weight	weight	NOUN
alkej-528	225	142	factor	factor	NOUN
alkej-528	225	143	(	(	PUNCT
alkej-528	225	144	fac	fac	PROPN
alkej-528	225	145	.	.	PUNCT
alkej-528	225	146	)	)	PUNCT
alkej-528	225	147	was	be	AUX
alkej-528	225	148	chosen	choose	VERB
alkej-528	225	149	to	to	PART
alkej-528	225	150	be	be	AUX
alkej-528	225	151	1.3	1.3	NUM
alkej-528	225	152	and	and	CCONJ
alkej-528	225	153	the	the	DET
alkej-528	225	154	range	range	NOUN
alkej-528	225	155	of	of	ADP
alkej-528	225	156	deflection	deflection	NOUN
alkej-528	225	157	is	be	AUX
alkej-528	225	158	limited	limit	VERB
alkej-528	225	159	to	to	ADP
alkej-528	225	160	<	<	X
alkej-528	225	161	0.0022	0.0022	NUM
alkej-528	225	162	we	we	PRON
alkej-528	225	163	would	would	AUX
alkej-528	225	164	find	find	VERB
alkej-528	225	165	only	only	ADV
alkej-528	225	166	five	five	NUM
alkej-528	225	167	generation	generation	NOUN
alkej-528	225	168	which	which	PRON
alkej-528	225	169	satisfies	satisfy	VERB
alkej-528	225	170	the	the	DET
alkej-528	225	171	previous	previous	ADJ
alkej-528	225	172	mentioned	mention	VERB
alkej-528	225	173	configuration	configuration	NOUN
alkej-528	225	174	and	and	CCONJ
alkej-528	225	175	if	if	SCONJ
alkej-528	225	176	(	(	PUNCT
alkej-528	225	177	fac	fac	PROPN
alkej-528	225	178	.	.	PUNCT
alkej-528	225	179	)	)	PUNCT
alkej-528	225	180	was	be	AUX
alkej-528	225	181	changed	change	VERB
alkej-528	225	182	to	to	ADP
alkej-528	225	183	1.65	1.65	NUM
alkej-528	225	184	and	and	CCONJ
alkej-528	225	185	<	<	X
alkej-528	225	186	0.00104	0.00104	X
alkej-528	225	187	we	we	PRON
alkej-528	225	188	would	would	AUX
alkej-528	225	189	find	find	VERB
alkej-528	225	190	only	only	ADV
alkej-528	225	191	4	4	NUM
alkej-528	225	192	generation	generation	NOUN
alkej-528	225	193	these	these	DET
alkej-528	225	194	results	result	NOUN
alkej-528	225	195	which	which	PRON
alkej-528	225	196	are	be	AUX
alkej-528	225	197	shown	show	VERB
alkej-528	225	198	in	in	ADP
alkej-528	225	199	table	table	NOUN
alkej-528	225	200	(	(	PUNCT
alkej-528	225	201	4	4	X
alkej-528	225	202	)	)	PUNCT
alkej-528	225	203	shows	show	VERB
alkej-528	225	204	the	the	DET
alkej-528	225	205	band	band	NOUN
alkej-528	225	206	of	of	ADP
alkej-528	225	207	limits	limit	NOUN
alkej-528	225	208	of	of	ADP
alkej-528	225	209	the	the	DET
alkej-528	225	210	design	design	NOUN
alkej-528	225	211	of	of	ADP
alkej-528	225	212	robot	robot	NOUN
alkej-528	225	213	in	in	ADP
alkej-528	225	214	other	other	ADJ
alkej-528	225	215	word	word	NOUN
alkej-528	225	216	we	we	PRON
alkej-528	225	217	can	can	AUX
alkej-528	225	218	not	not	PART
alkej-528	225	219	find	find	VERB
alkej-528	225	220	a	a	DET
alkej-528	225	221	robot	robot	NOUN
alkej-528	225	222	with	with	ADP
alkej-528	225	223	a	a	DET
alkej-528	225	224	weight	weight	NOUN
alkej-528	225	225	factor	factor	NOUN
alkej-528	225	226	less	less	ADJ
alkej-528	225	227	than	than	ADP
alkej-528	225	228	(	(	PUNCT
alkej-528	225	229	fac.=1.3	fac.=1.3	PROPN
alkej-528	225	230	)	)	PUNCT
alkej-528	225	231	and	and	CCONJ
alkej-528	225	232	has	have	VERB
alkej-528	225	233	a	a	DET
alkej-528	225	234	deflection	deflection	NOUN
alkej-528	225	235	less	less	ADJ
alkej-528	225	236	than	than	ADP
alkej-528	225	237	0.0022	0.0022	NUM
alkej-528	225	238	m	m	VERB
alkej-528	225	239	or	or	CCONJ
alkej-528	225	240	we	we	PRON
alkej-528	225	241	can	can	AUX
alkej-528	225	242	not	not	PART
alkej-528	225	243	find	find	VERB
alkej-528	225	244	a	a	DET
alkej-528	225	245	robot	robot	NOUN
alkej-528	225	246	with	with	ADP
alkej-528	225	247	a	a	DET
alkej-528	225	248	weight	weight	NOUN
alkej-528	225	249	factor	factor	NOUN
alkej-528	225	250	less	less	ADJ
alkej-528	225	251	than	than	ADP
alkej-528	225	252	(	(	PUNCT
alkej-528	225	253	fac.=1.65	fac.=1.65	PROPN
alkej-528	225	254	)	)	PUNCT
alkej-528	225	255	and	and	CCONJ
alkej-528	225	256	had	have	VERB
alkej-528	225	257	a	a	DET
alkej-528	225	258	deflection	deflection	NOUN
alkej-528	225	259	less	less	ADJ
alkej-528	225	260	than	than	ADP
alkej-528	225	261	0.00104	0.00104	NUM
alkej-528	225	262	m	m	PROPN
alkej-528	225	263	those	those	DET
alkej-528	225	264	results	result	NOUN
alkej-528	225	265	of	of	ADP
alkej-528	225	266	iteration	iteration	NOUN
alkej-528	225	267	are	be	AUX
alkej-528	225	268	shown	show	VERB
alkej-528	225	269	in	in	ADP
alkej-528	225	270	table(4	table(4	PROPN
alkej-528	225	271	)	)	PUNCT
alkej-528	225	272	.	.	PUNCT
alkej-528	226	1	a	a	DET
alkej-528	226	2	flow	flow	NOUN
alkej-528	226	3	chart	chart	NOUN
alkej-528	226	4	of	of	ADP
alkej-528	226	5	the	the	DET
alkej-528	226	6	program	program	NOUN
alkej-528	226	7	used	use	VERB
alkej-528	226	8	is	be	AUX
alkej-528	226	9	shown	show	VERB
alkej-528	226	10	in	in	ADP
alkej-528	226	11	fig.(8	fig.(8	PROPN
alkej-528	226	12	)	)	PUNCT
alkej-528	226	13	.	.	PUNCT
alkej-528	227	1	conclusions	conclusion	NOUN
alkej-528	227	2	:	:	PUNCT
alkej-528	227	3	this	this	DET
alkej-528	227	4	paper	paper	NOUN
alkej-528	227	5	presents	present	VERB
alkej-528	227	6	a	a	DET
alkej-528	227	7	method	method	NOUN
alkej-528	227	8	for	for	ADP
alkej-528	227	9	optimization	optimization	NOUN
alkej-528	227	10	of	of	ADP
alkej-528	227	11	robot	robot	NOUN
alkej-528	227	12	design	design	NOUN
alkej-528	227	13	in	in	ADP
alkej-528	227	14	the	the	DET
alkej-528	227	15	conceptual	conceptual	ADJ
alkej-528	227	16	design	design	NOUN
alkej-528	227	17	stage	stage	NOUN
alkej-528	227	18	.	.	PUNCT
alkej-528	228	1	the	the	DET
alkej-528	228	2	robot	robot	NOUN
alkej-528	228	3	is	be	AUX
alkej-528	228	4	modeled	model	VERB
alkej-528	228	5	in	in	ADP
alkej-528	228	6	the	the	DET
alkej-528	228	7	mathcad	mathcad	PROPN
alkej-528	228	8	package	package	NOUN
alkej-528	228	9	and	and	CCONJ
alkej-528	228	10	the	the	DET
alkej-528	228	11	optimization	optimization	NOUN
alkej-528	228	12	problem	problem	NOUN
alkej-528	228	13	is	be	AUX
alkej-528	228	14	formulated	formulate	VERB
alkej-528	228	15	as	as	SCONJ
alkej-528	228	16	to	to	PART
alkej-528	228	17	determine	determine	VERB
alkej-528	228	18	the	the	DET
alkej-528	228	19	dimension	dimension	NOUN
alkej-528	228	20	of	of	ADP
alkej-528	228	21	robot	robot	NOUN
alkej-528	228	22	arm	arm	NOUN
alkej-528	228	23	in	in	ADP
alkej-528	228	24	order	order	NOUN
alkej-528	228	25	to	to	PART
alkej-528	228	26	minimize	minimize	VERB
alkej-528	228	27	the	the	DET
alkej-528	228	28	weight	weight	NOUN
alkej-528	228	29	and	and	CCONJ
alkej-528	228	30	maximize	maximize	VERB
alkej-528	228	31	stiffness	stiffness	NOUN
alkej-528	228	32	this	this	DET
alkej-528	228	33	formulation	formulation	NOUN
alkej-528	228	34	can	can	AUX
alkej-528	228	35	be	be	AUX
alkej-528	228	36	interpreted	interpret	VERB
alkej-528	228	37	as	as	ADP
alkej-528	228	38	to	to	PART
alkej-528	228	39	design	design	VERB
alkej-528	228	40	the	the	DET
alkej-528	228	41	cheapest	cheap	ADJ
alkej-528	228	42	possible	possible	ADJ
alkej-528	228	43	robot	robot	NOUN
alkej-528	228	44	that	that	PRON
alkej-528	228	45	will	will	AUX
alkej-528	228	46	still	still	ADV
alkej-528	228	47	meets	meet	VERB
alkej-528	228	48	the	the	DET
alkej-528	228	49	design	design	NOUN
alkej-528	228	50	demands	demand	NOUN
alkej-528	228	51	.	.	PUNCT
alkej-528	229	1	the	the	DET
alkej-528	229	2	optimization	optimization	NOUN
alkej-528	229	3	method	method	NOUN
alkej-528	229	4	showed	show	VERB
alkej-528	229	5	good	good	ADJ
alkej-528	229	6	capability	capability	NOUN
alkej-528	229	7	in	in	ADP
alkej-528	229	8	finding	find	VERB
alkej-528	229	9	an	an	DET
alkej-528	229	10	optimum	optimum	ADJ
alkej-528	229	11	set	set	NOUN
alkej-528	229	12	of	of	ADP
alkej-528	229	13	dimension	dimension	NOUN
alkej-528	229	14	of	of	ADP
alkej-528	229	15	the	the	DET
alkej-528	229	16	arm	arm	NOUN
alkej-528	229	17	of	of	ADP
alkej-528	229	18	robot	robot	NOUN
alkej-528	229	19	manipulator	manipulator	NOUN
alkej-528	229	20	with	with	ADP
alkej-528	229	21	three	three	NUM
alkej-528	229	22	degree	degree	NOUN
alkej-528	229	23	of	of	ADP
alkej-528	229	24	freedom	freedom	NOUN
alkej-528	229	25	.	.	PUNCT
alkej-528	230	1	the	the	DET
alkej-528	230	2	optimization	optimization	NOUN
alkej-528	230	3	method	method	NOUN
alkej-528	230	4	shows	show	VERB
alkej-528	230	5	that	that	SCONJ
alkej-528	230	6	the	the	DET
alkej-528	230	7	tri	tri	PROPN
alkej-528	230	8	–	–	PUNCT
alkej-528	230	9	tube	tube	NOUN
alkej-528	230	10	is	be	AUX
alkej-528	230	11	superior	superior	ADJ
alkej-528	230	12	to	to	ADP
alkej-528	230	13	uni	uni	ADJ
alkej-528	230	14	–	–	PUNCT
alkej-528	230	15	tube	tube	NOUN
alkej-528	230	16	section	section	NOUN
alkej-528	230	17	in	in	ADP
alkej-528	230	18	minimizing	minimize	VERB
alkej-528	230	19	deflection	deflection	NOUN
alkej-528	230	20	in	in	ADP
alkej-528	230	21	about	about	ADV
alkej-528	230	22	33	33	NUM
alkej-528	230	23	%	%	NOUN
alkej-528	230	24	.	.	PUNCT
alkej-528	231	1	the	the	DET
alkej-528	231	2	presented	present	VERB
alkej-528	231	3	work	work	NOUN
alkej-528	231	4	provides	provide	VERB
alkej-528	231	5	a	a	DET
alkej-528	231	6	good	good	ADJ
alkej-528	231	7	support	support	NOUN
alkej-528	231	8	for	for	ADP
alkej-528	231	9	conceptual	conceptual	ADJ
alkej-528	231	10	robot	robot	NOUN
alkej-528	231	11	design	design	NOUN
alkej-528	231	12	.	.	PUNCT
alkej-528	232	1	fig	fig	NOUN
alkej-528	232	2	.	.	PUNCT
alkej-528	233	1	(	(	PUNCT
alkej-528	233	2	1	1	X
alkej-528	233	3	)	)	PUNCT
alkej-528	233	4	robot	robot	NOUN
alkej-528	233	5	configuration	configuration	NOUN
alkej-528	233	6	(	(	PUNCT
alkej-528	233	7	b	b	NOUN
alkej-528	233	8	)	)	PUNCT
alkej-528	233	9	(	(	PUNCT
alkej-528	233	10	a	a	X
alkej-528	233	11	)	)	PUNCT
alkej-528	233	12	fig.(2	fig.(2	NUM
alkej-528	233	13	)	)	PUNCT
alkej-528	233	14	(	(	PUNCT
alkej-528	233	15	a	a	X
alkej-528	233	16	)	)	PUNCT
alkej-528	233	17	uni	uni	ADJ
alkej-528	233	18	-	-	ADJ
alkej-528	233	19	tube	tube	ADJ
alkej-528	233	20	configuration	configuration	NOUN
alkej-528	233	21	(	(	PUNCT
alkej-528	233	22	b	b	NOUN
alkej-528	233	23	)	)	PUNCT
alkej-528	233	24	tri	tri	ADJ
alkej-528	233	25	-	-	ADJ
alkej-528	233	26	tube	tube	ADJ
alkej-528	233	27	configuration	configuration	NOUN
alkej-528	233	28	.	.	PUNCT
alkej-528	234	1	fig.(3	fig.(3	NOUN
alkej-528	234	2	)	)	PUNCT
alkej-528	234	3	modulation	modulation	NOUN
alkej-528	234	4	of	of	ADP
alkej-528	234	5	manipulator	manipulator	NOUN
alkej-528	234	6	links	link	NOUN
alkej-528	234	7	table	table	VERB
alkej-528	234	8	1	1	NUM
alkej-528	234	9	torque	torque	NOUN
alkej-528	234	10	–	–	PUNCT
alkej-528	234	11	mass	mass	NOUN
alkej-528	234	12	relation	relation	NOUN
alkej-528	234	13	for	for	ADP
alkej-528	234	14	available	available	ADJ
alkej-528	234	15	gear	gear	NOUN
alkej-528	234	16	boxes	box	NOUN
alkej-528	234	17	[	[	X
alkej-528	234	18	2	2	X
alkej-528	234	19	]	]	PUNCT
alkej-528	234	20	out	out	ADP
alkej-528	234	21	put	put	VERB
alkej-528	234	22	torques	torque	NOUN
alkej-528	234	23	(	(	PUNCT
alkej-528	234	24	n.m	n.m	NOUN
alkej-528	234	25	)	)	PUNCT
alkej-528	234	26	mass	mass	NOUN
alkej-528	234	27	(	(	PUNCT
alkej-528	234	28	kg	kg	NOUN
alkej-528	234	29	)	)	PUNCT
alkej-528	234	30	101	101	NUM
alkej-528	234	31	231	231	NUM
alkej-528	234	32	572	572	NUM
alkej-528	234	33	1088	1088	NUM
alkej-528	234	34	1499	1499	NUM
alkej-528	234	35	2176	2176	NUM
alkej-528	234	36	4361	4361	NUM
alkej-528	234	37	6135	6135	NUM
alkej-528	234	38	2.5	2.5	NUM
alkej-528	234	39	4.4	4.4	NUM
alkej-528	234	40	9.5	9.5	NUM
alkej-528	234	41	12.7	12.7	NUM
alkej-528	234	42	18	18	NUM
alkej-528	234	43	28	28	NUM
alkej-528	234	44	47	47	NUM
alkej-528	234	45	69	69	NUM
alkej-528	234	46	table	table	NOUN
alkej-528	234	47	(	(	PUNCT
alkej-528	234	48	2	2	NUM
alkej-528	234	49	)	)	PUNCT
alkej-528	234	50	dimension	dimension	NOUN
alkej-528	234	51	of	of	ADP
alkej-528	234	52	the	the	DET
alkej-528	234	53	tri	tri	ADJ
alkej-528	234	54	–	–	PUNCT
alkej-528	234	55	tube	tube	NOUN
alkej-528	234	56	section	section	NOUN
alkej-528	234	57	arm	arm	NOUN
alkej-528	235	1	no	no	INTJ
alkej-528	235	2	.	.	PUNCT
alkej-528	236	1	h	h	PROPN
alkej-528	236	2	(	(	PUNCT
alkej-528	236	3	m	m	NOUN
alkej-528	236	4	)	)	PUNCT
alkej-528	236	5	d	d	PROPN
alkej-528	236	6	(	(	PUNCT
alkej-528	236	7	m	m	NOUN
alkej-528	236	8	)	)	PUNCT
alkej-528	236	9	*	*	PUNCT
alkej-528	236	10	10	10	NUM
alkej-528	236	11	-	-	SYM
alkej-528	236	12	3	3	NUM
alkej-528	236	13	itri	itri	ADJ
alkej-528	236	14	–	–	PUNCT
alkej-528	236	15	tube(m4	tube(m4	NOUN
alkej-528	236	16	)	)	PUNCT
alkej-528	236	17	*	*	PUNCT
alkej-528	236	18	10	10	NUM
alkej-528	236	19	-	-	SYM
alkej-528	236	20	7	7	NUM
alkej-528	236	21	deflection	deflection	NOUN
alkej-528	236	22	(	(	PUNCT
alkej-528	236	23	)	)	PUNCT
alkej-528	236	24	m	m	VERB
alkej-528	236	25	*	*	ADJ
alkej-528	236	26	10	10	NUM
alkej-528	236	27	-	-	SYM
alkej-528	236	28	4	4	NUM
alkej-528	236	29	3	3	NUM
alkej-528	236	30	2	2	NUM
alkej-528	236	31	1	1	NUM
alkej-528	236	32	0.10028	0.10028	NUM
alkej-528	236	33	0.10440	0.10440	NUM
alkej-528	236	34	0.10440	0.10440	NUM
alkej-528	236	35	7.52652	7.52652	NUM
alkej-528	236	36	9.22085	9.22085	NUM
alkej-528	236	37	11.92	11.92	NUM
alkej-528	236	38	1.75056	1.75056	NUM
alkej-528	236	39	2.48207	2.48207	NUM
alkej-528	236	40	3.42024	3.42024	NUM
alkej-528	236	41	8.09087	8.09087	NUM
alkej-528	236	42	7.35704	7.35704	NUM
alkej-528	236	43	3.0044	3.0044	NUM
alkej-528	236	44	table	table	NOUN
alkej-528	236	45	(	(	PUNCT
alkej-528	236	46	3	3	X
alkej-528	236	47	)	)	PUNCT
alkej-528	236	48	results	result	NOUN
alkej-528	236	49	for	for	ADP
alkej-528	236	50	iteration	iteration	NOUN
alkej-528	236	51	and	and	CCONJ
alkej-528	236	52	optimization	optimization	NOUN
alkej-528	236	53	problem	problem	PROPN
alkej-528	236	54	fac	fac	PROPN
alkej-528	236	55	.	.	PUNCT
alkej-528	237	1	(	(	PUNCT
alkej-528	237	2	m)*10	m)*10	NOUN
alkej-528	237	3	-	-	SYM
alkej-528	237	4	3	3	NUM
alkej-528	237	5	(	(	PUNCT
alkej-528	237	6	m)*10	m)*10	NOUN
alkej-528	237	7	-	-	SYM
alkej-528	237	8	3	3	NUM
alkej-528	237	9	improvement	improvement	NOUN
alkej-528	237	10	in	in	ADP
alkej-528	237	11	deflection	deflection	NOUN
alkej-528	237	12	1.3	1.3	NUM
alkej-528	237	13	1.35	1.35	NUM
alkej-528	237	14	1.4	1.4	NUM
alkej-528	237	15	1.45	1.45	NUM
alkej-528	237	16	1.5	1.5	NUM
alkej-528	237	17	1.55	1.55	NUM
alkej-528	237	18	1.6	1.6	NUM
alkej-528	237	19	1.65	1.65	NUM
alkej-528	237	20	1.39973	1.39973	NUM
alkej-528	237	21	1.31462	1.31462	NUM
alkej-528	237	22	1.2189	1.2189	NUM
alkej-528	237	23	1.16048	1.16048	NUM
alkej-528	237	24	1.09686	1.09686	NUM
alkej-528	237	25	1.04631	1.04631	NUM
alkej-528	237	26	0.985197	0.985197	NUM
alkej-528	237	27	.948732	.948732	NOUN
alkej-528	237	28	2.10114	2.10114	NUM
alkej-528	237	29	1.87125	1.87125	NUM
alkej-528	237	30	1.6237	1.6237	NUM
alkej-528	237	31	1.48623	1.48623	NUM
alkej-528	237	32	1.3437	1.3437	NUM
alkej-528	237	33	1.22646	1.22646	NUM
alkej-528	237	34	1.08422	1.08422	NUM
alkej-528	237	35	1.00955	1.00955	NUM
alkej-528	237	36	33.38	33.38	NUM
alkej-528	237	37	%	%	NOUN
alkej-528	237	38	29.7	29.7	NUM
alkej-528	237	39	%	%	NOUN
alkej-528	237	40	24.9	24.9	NUM
alkej-528	237	41	%	%	NOUN
alkej-528	237	42	21.9	21.9	NUM
alkej-528	237	43	%	%	NOUN
alkej-528	237	44	18.37	18.37	NUM
alkej-528	237	45	%	%	NOUN
alkej-528	237	46	14.68	14.68	NUM
alkej-528	237	47	%	%	NOUN
alkej-528	237	48	9.13	9.13	NUM
alkej-528	237	49	%	%	NOUN
alkej-528	237	50	6.02	6.02	NUM
alkej-528	237	51	%	%	NOUN
alkej-528	237	52	table	table	NOUN
alkej-528	237	53	(	(	PUNCT
alkej-528	237	54	4	4	NUM
alkej-528	237	55	)	)	PUNCT
alkej-528	237	56	limits	limit	NOUN
alkej-528	237	57	of	of	ADP
alkej-528	237	58	deflection	deflection	NOUN
alkej-528	237	59	-	-	PUNCT
alkej-528	237	60	weight	weight	NOUN
alkej-528	237	61	factor	factor	NOUN
alkej-528	237	62	for	for	ADP
alkej-528	237	63	robot	robot	NOUN
alkej-528	237	64	design	design	PROPN
alkej-528	237	65	fac	fac	PROPN
alkej-528	237	66	.	.	PUNCT
alkej-528	238	1	max	max	PROPN
alkej-528	238	2	(	(	PUNCT
alkej-528	238	3	m	m	NOUN
alkej-528	238	4	)	)	PUNCT
alkej-528	238	5	generations	generation	NOUN
alkej-528	238	6	1.3	1.3	NUM
alkej-528	238	7	1.35	1.35	NUM
alkej-528	238	8	1.4	1.4	NUM
alkej-528	238	9	1.45	1.45	NUM
alkej-528	238	10	1.5	1.5	NUM
alkej-528	238	11	1.55	1.55	NUM
alkej-528	238	12	1.6	1.6	NUM
alkej-528	238	13	1.65	1.65	NUM
alkej-528	238	14	0.0022	0.0022	NUM
alkej-528	238	15	0.0019	0.0019	NUM
alkej-528	238	16	0.0017	0.0017	NUM
alkej-528	238	17	0.0015	0.0015	NUM
alkej-528	238	18	0.0014	0.0014	NUM
alkej-528	238	19	0.0013	0.0013	NUM
alkej-528	238	20	0.0011	0.0011	NUM
alkej-528	238	21	0.00104	0.00104	NUM
alkej-528	238	22	5	5	NUM
alkej-528	238	23	2	2	NUM
alkej-528	238	24	3	3	NUM
alkej-528	238	25	2	2	NUM
alkej-528	238	26	3	3	NUM
alkej-528	238	27	0	0	NUM
alkej-528	238	28	2	2	NUM
alkej-528	238	29	4	4	NUM
alkej-528	238	30	inner	inner	ADJ
alkej-528	238	31	-	-	PUNCT
alkej-528	238	32	side	side	NOUN
alkej-528	238	33	dimension	dimension	NOUN
alkej-528	238	34	(	(	PUNCT
alkej-528	238	35	b	b	NOUN
alkej-528	238	36	)	)	PUNCT
alkej-528	238	37	for	for	ADP
alkej-528	238	38	uni	uni	ADJ
alkej-528	238	39	-	-	ADJ
alkej-528	238	40	tube	tube	ADJ
alkej-528	238	41	section	section	NOUN
alkej-528	238	42	in	in	ADP
alkej-528	238	43	(	(	PUNCT
alkej-528	238	44	mm	mm	NOUN
alkej-528	238	45	)	)	PUNCT
alkej-528	238	46	generations	generation	NOUN
alkej-528	238	47	fig.(4	fig.(4	NOUN
alkej-528	238	48	)	)	PUNCT
alkej-528	238	49	correlation	correlation	NOUN
alkej-528	238	50	between	between	ADP
alkej-528	238	51	inner	inner	ADJ
alkej-528	238	52	side	side	NOUN
alkej-528	238	53	dimension	dimension	NOUN
alkej-528	238	54	and	and	CCONJ
alkej-528	238	55	no	no	INTJ
alkej-528	238	56	.	.	NOUN
alkej-528	238	57	of	of	ADP
alkej-528	238	58	generations	generation	NOUN
alkej-528	238	59	.	.	PUNCT
alkej-528	239	1	total	total	ADJ
alkej-528	239	2	deflection	deflection	NOUN
alkej-528	239	3	(	(	PUNCT
alkej-528	239	4	mm	mm	NOUN
alkej-528	239	5	)	)	PUNCT
alkej-528	239	6	generations	generation	NOUN
alkej-528	239	7	fig.(5	fig.(5	NOUN
alkej-528	239	8	)	)	PUNCT
alkej-528	239	9	correlation	correlation	NOUN
alkej-528	239	10	between	between	ADP
alkej-528	239	11	the	the	DET
alkej-528	239	12	deflection	deflection	NOUN
alkej-528	239	13	and	and	CCONJ
alkej-528	239	14	no	no	INTJ
alkej-528	239	15	.	.	NOUN
alkej-528	239	16	of	of	ADP
alkej-528	239	17	generations	generation	NOUN
alkej-528	239	18	.	.	PUNCT
alkej-528	240	1	total	total	ADJ
alkej-528	240	2	weight	weight	NOUN
alkej-528	240	3	(	(	PUNCT
alkej-528	240	4	n	n	CCONJ
alkej-528	240	5	)	)	PUNCT
alkej-528	240	6	generations	generation	NOUN
alkej-528	240	7	fig.(6	fig.(6	NOUN
alkej-528	240	8	)	)	PUNCT
alkej-528	240	9	correlation	correlation	NOUN
alkej-528	240	10	between	between	ADP
alkej-528	240	11	robot	robot	NOUN
alkej-528	240	12	weight	weight	NOUN
alkej-528	240	13	and	and	CCONJ
alkej-528	240	14	no	no	INTJ
alkej-528	240	15	.	.	NOUN
alkej-528	240	16	of	of	ADP
alkej-528	240	17	generations	generation	NOUN
alkej-528	240	18	.	.	PUNCT
alkej-528	241	1	variable	variable	NOUN
alkej-528	241	2	(	(	PUNCT
alkej-528	241	3	var	var	NOUN
alkej-528	241	4	.	.	PUNCT
alkej-528	241	5	)	)	PUNCT
alkej-528	242	1	generations	generation	NOUN
alkej-528	242	2	fig.(7	fig.(7	NOUN
alkej-528	242	3	)	)	PUNCT
alkej-528	242	4	correlation	correlation	NOUN
alkej-528	242	5	between	between	ADP
alkej-528	242	6	(	(	PUNCT
alkej-528	242	7	variable	variable	NOUN
alkej-528	242	8	)	)	PUNCT
alkej-528	242	9	and	and	CCONJ
alkej-528	242	10	no	no	INTJ
alkej-528	242	11	.	.	NOUN
alkej-528	242	12	of	of	ADP
alkej-528	242	13	generations	generation	NOUN
alkej-528	242	14	.	.	PUNCT
alkej-528	243	1	references	reference	NOUN
alkej-528	243	2	:	:	PUNCT
alkej-528	244	1	[	[	X
alkej-528	244	2	1	1	NUM
alkej-528	244	3	]	]	PUNCT
alkej-528	244	4	.	.	PUNCT
alkej-528	245	1	p.s	p.s	PROPN
alkej-528	245	2	.	.	PROPN
alkej-528	245	3	shiakolas	shiakolas	PROPN
alkej-528	245	4	,	,	PUNCT
alkej-528	245	5	d.	d.	PROPN
alkej-528	245	6	koladiya	koladiya	PROPN
alkej-528	245	7	and	and	CCONJ
alkej-528	245	8	j.kebrle	j.kebrle	VERB
alkej-528	245	9	“	"	PUNCT
alkej-528	245	10	optimum	optimum	ADJ
alkej-528	245	11	robot	robot	NOUN
alkej-528	245	12	design	design	NOUN
alkej-528	245	13	based	base	VERB
alkej-528	245	14	on	on	ADP
alkej-528	245	15	task	task	NOUN
alkej-528	245	16	specifications	specification	NOUN
alkej-528	245	17	using	use	VERB
alkej-528	245	18	evolutionary	evolutionary	ADJ
alkej-528	245	19	techniques	technique	NOUN
alkej-528	245	20	and	and	CCONJ
alkej-528	245	21	kinematic	kinematic	ADJ
alkej-528	245	22	,	,	PUNCT
alkej-528	245	23	dynamic	dynamic	ADJ
alkej-528	245	24	,	,	PUNCT
alkej-528	245	25	and	and	CCONJ
alkej-528	245	26	structural	structural	ADJ
alkej-528	245	27	constraints	constraint	NOUN
alkej-528	245	28	”	"	PUNCT
alkej-528	245	29	,	,	PUNCT
alkej-528	245	30	international	international	ADJ
alkej-528	245	31	journal	journal	NOUN
alkej-528	245	32	of	of	ADP
alkej-528	245	33	inverse	inverse	NOUN
alkej-528	245	34	problems	problem	NOUN
alkej-528	245	35	in	in	ADP
alkej-528	245	36	engineering	engineering	NOUN
alkej-528	245	37	,	,	PUNCT
alkej-528	245	38	volume	volume	NOUN
alkej-528	245	39	10	10	NUM
alkej-528	245	40	,	,	PUNCT
alkej-528	245	41	number	number	NOUN
alkej-528	245	42	4	4	NUM
alkej-528	245	43	,	,	PUNCT
alkej-528	245	44	pp	pp	ADV
alkej-528	245	45	359	359	NUM
alkej-528	245	46	-	-	SYM
alkej-528	245	47	375	375	NUM
alkej-528	245	48	,	,	PUNCT
alkej-528	245	49	2002	2002	NUM
alkej-528	245	50	.	.	PUNCT
alkej-528	246	1	[	[	X
alkej-528	246	2	2	2	NUM
alkej-528	246	3	]	]	PUNCT
alkej-528	246	4	.	.	PUNCT
alkej-528	247	1	marcus	marcus	PROPN
alkej-528	247	2	p.	p.	PROPN
alkej-528	247	3	,	,	PUNCT
alkej-528	247	4	peter	peter	PROPN
alkej-528	247	5	k.	k.	PROPN
alkej-528	247	6	,	,	PUNCT
alkej-528	247	7	xiaolong	xiaolong	PROPN
alkej-528	248	1	f.a	f.a	PROPN
alkej-528	248	2	.	.	PROPN
alkej-528	248	3	,	,	PUNCT
alkej-528	248	4	johan	johan	PROPN
alkej-528	248	5	a.	a.	PROPN
alkej-528	248	6	and	and	CCONJ
alkej-528	248	7	doniel	doniel	PROPN
alkej-528	248	8	w.	w.	PROPN
alkej-528	248	9	“	"	PUNCT
alkej-528	248	10	industrial	industrial	ADJ
alkej-528	248	11	robot	robot	NOUN
alkej-528	248	12	design	design	NOUN
alkej-528	248	13	optimization	optimization	NOUN
alkej-528	248	14	in	in	ADP
alkej-528	248	15	the	the	DET
alkej-528	248	16	conceptual	conceptual	ADJ
alkej-528	248	17	design	design	NOUN
alkej-528	248	18	phase	phase	NOUN
alkej-528	248	19	”	"	PUNCT
alkej-528	248	20	,	,	PUNCT
alkej-528	248	21	ieee	ieee	PROPN
alkej-528	248	22	–	–	PUNCT
alkej-528	248	23	mec	mec	PROPN
alkej-528	248	24	.	.	PROPN
alkej-528	248	25	of	of	ADP
alkej-528	248	26	robot	robot	NOUN
alkej-528	248	27	,	,	PUNCT
alkej-528	248	28	2004	2004	NUM
alkej-528	248	29	.	.	PUNCT
alkej-528	249	1	[	[	X
alkej-528	249	2	3	3	NUM
alkej-528	249	3	]	]	PUNCT
alkej-528	249	4	.	.	PUNCT
alkej-528	250	1	abdel	abdel	PROPN
alkej-528	250	2	–	–	PUNCT
alkej-528	250	3	malek	malek	PROPN
alkej-528	250	4	k.	k.	PROPN
alkej-528	250	5	and	and	CCONJ
alkej-528	250	6	paul	paul	PROPN
alkej-528	250	7	b.	b.	PROPN
alkej-528	250	8	,	,	PUNCT
alkej-528	250	9	“	"	PUNCT
alkej-528	250	10	criteria	criterion	NOUN
alkej-528	250	11	for	for	ADP
alkej-528	250	12	the	the	DET
alkej-528	250	13	design	design	NOUN
alkej-528	250	14	of	of	ADP
alkej-528	250	15	manipulator	manipulator	NOUN
alkej-528	250	16	arms	arm	NOUN
alkej-528	250	17	for	for	ADP
alkej-528	250	18	high	high	ADJ
alkej-528	250	19	stiffness	stiffness	NOUN
alkej-528	250	20	to	to	ADP
alkej-528	250	21	weight	weight	NOUN
alkej-528	250	22	ratio	ratio	NOUN
alkej-528	250	23	”	"	PUNCT
alkej-528	250	24	,	,	PUNCT
alkej-528	250	25	sme	sme	PROPN
alkej-528	250	26	journal	journal	PROPN
alkej-528	250	27	of	of	ADP
alkej-528	250	28	manufacturing	manufacturing	NOUN
alkej-528	250	29	systems	system	NOUN
alkej-528	250	30	,	,	PUNCT
alkej-528	250	31	vol.17	vol.17	PROPN
alkej-528	250	32	,	,	PUNCT
alkej-528	250	33	no.3	no.3	NOUN
alkej-528	250	34	,	,	PUNCT
alkej-528	250	35	pp.209	pp.209	NOUN
alkej-528	250	36	-	-	PUNCT
alkej-528	250	37	220	220	NUM
alkej-528	250	38	.	.	PUNCT
alkej-528	251	1	[	[	X
alkej-528	251	2	4	4	NUM
alkej-528	251	3	]	]	PUNCT
alkej-528	251	4	.	.	PUNCT
alkej-528	252	1	e.i	e.i	PROPN
alkej-528	252	2	.	.	PROPN
alkej-528	252	3	rivin	rivin	PROPN
alkej-528	252	4	,	,	PUNCT
alkej-528	252	5	mechanical	mechanical	ADJ
alkej-528	252	6	design	design	NOUN
alkej-528	252	7	of	of	ADP
alkej-528	252	8	robots	robot	NOUN
alkej-528	252	9	,	,	PUNCT
alkej-528	252	10	1988	1988	NUM
alkej-528	252	11	,	,	PUNCT
alkej-528	252	12	mc	mc	PROPN
alkej-528	252	13	grow	grow	VERB
alkej-528	252	14	–	–	PUNCT
alkej-528	252	15	hill	hill	PROPN
alkej-528	252	16	,	,	PUNCT
alkej-528	252	17	inc	inc	PROPN
alkej-528	252	18	,	,	PUNCT
alkej-528	252	19	new	new	PROPN
alkej-528	252	20	york	york	PROPN
alkej-528	252	21	.	.	PUNCT
alkej-528	253	1	[	[	X
alkej-528	253	2	5	5	NUM
alkej-528	253	3	]	]	PUNCT
alkej-528	253	4	.	.	PUNCT
alkej-528	254	1	e.j	e.j	PROPN
alkej-528	254	2	.	.	PROPN
alkej-528	254	3	hearn	hearn	PROPN
alkej-528	254	4	“	"	PUNCT
alkej-528	254	5	mechanics	mechanic	NOUN
alkej-528	254	6	of	of	ADP
alkej-528	254	7	materials	material	NOUN
alkej-528	254	8	”	"	PUNCT
alkej-528	254	9	,	,	PUNCT
alkej-528	254	10	pergamon	pergamon	PROPN
alkej-528	254	11	press	press	PROPN
alkej-528	254	12	,	,	PUNCT
alkej-528	254	13	1977	1977	NUM
alkej-528	254	14	.	.	PUNCT
alkej-528	255	1	تقليل	تقليل	PROPN
alkej-528	255	2	الخطاء	الخطاء	VERB
alkej-528	255	3	في	في	PRON
alkej-528	255	4	الذراع	الذراع	PROPN
alkej-528	255	5	الألي	الألي	PROPN
alkej-528	255	6	(	(	PUNCT
alkej-528	255	7	الروبوت	الروبوت	PROPN
alkej-528	255	8	)	)	PUNCT
alkej-528	256	1	على	على	PROPN
alkej-528	256	2	أساس	أساس	NOUN
alkej-528	256	3	التصميم	التصميم	PROPN
alkej-528	256	4	الأمثل	الأمثل	PROPN
alkej-528	256	5	ولنسبة	ولنسبة	PROPN
alkej-528	256	6	جساءة	جساءة	NOUN
alkej-528	256	7	الى	الى	VERB
alkej-528	256	8	وزن	وزن	PROPN
alkej-528	256	9	عالية	عالية	PROPN
alkej-528	256	10	.	.	PUNCT
alkej-528	257	1	د	د	X
alkej-528	257	2	.	.	PROPN
alkej-528	257	3	أحمد	أحمد	PROPN
alkej-528	257	4	عبد	عبد	PROPN
alkej-528	257	5	الحسين	الحسين	PROPN
alkej-528	257	6	علي	علي	PROPN
alkej-528	257	7	جامعة	جامعة	PROPN
alkej-528	257	8	بغداد	بغداد	PROPN
alkej-528	257	9	/	/	SYM
alkej-528	257	10	كلية	كلية	NOUN
alkej-528	257	11	الهندسة	الهندسة	NOUN
alkej-528	257	12	قسم	قسم	PROPN
alkej-528	257	13	الميكانيك	الميكانيك	PROPN
alkej-528	257	14	الخلاصة	الخلاصة	PROPN
alkej-528	257	15	:	:	PUNCT
alkej-528	257	16	في	في	ADP
alkej-528	257	17	هذا	هذا	NOUN
alkej-528	257	18	البحث	البحث	PROPN
alkej-528	257	19	تم	تم	ADP
alkej-528	257	20	دراسة	دراسة	PROPN
alkej-528	257	21	تاثير	تاثير	PROPN
alkej-528	257	22	استخدام	استخدام	PROPN
alkej-528	257	23	المقطع	المقطع	PROPN
alkej-528	257	24	الثلاثي	الثلاثي	PROPN
alkej-528	257	25	الأنابيب	الأنابيب	PROPN
alkej-528	257	26	الدائريه	الدائريه	PROPN
alkej-528	257	27	لأجل	لأجل	PROPN
alkej-528	257	28	تقليل	تقليل	PROPN
alkej-528	257	29	الخطاء	الخطاء	PROPN
alkej-528	257	30	الطرفي	الطرفي	PROPN
alkej-528	257	31	في	في	SCONJ
alkej-528	257	32	الذراع	الذراع	PROPN
alkej-528	257	33	الألي	الألي	PROPN
alkej-528	257	34	،	،	PROPN
alkej-528	257	35	تم	تم	PROPN
alkej-528	257	36	اجراء	اجراء	PROPN
alkej-528	257	37	مقارنه	مقارنه	PROPN
alkej-528	257	38	بين	بين	AUX
alkej-528	257	39	المقطع	المقطع	NOUN
alkej-528	257	40	الثلاثي	الثلاثي	ADJ
alkej-528	257	41	الأنابيب	الأنابيب	VERB
alkej-528	257	42	و	و	PRON
alkej-528	257	43	المقطع	المقطع	PROPN
alkej-528	257	44	المربع	المربع	PROPN
alkej-528	257	45	التقليدي	التقليدي	PROPN
alkej-528	257	46	للذراع	للذراع	PROPN
alkej-528	257	47	الألي	الألي	PROPN
alkej-528	257	48	،	،	PROPN
alkej-528	257	49	الدراسه	الدراسه	PROPN
alkej-528	257	50	بينت	بينت	PROPN
alkej-528	257	51	بانه	بانه	PROPN
alkej-528	257	52	لكلا	لكلا	PROPN
alkej-528	257	53	الذراعين	الذراعين	NOUN
alkej-528	257	54	ذات	ذات	NOUN
alkej-528	257	55	المقطع	المقطع	NOUN
alkej-528	257	56	الثلاثي	الثلاثي	NOUN
alkej-528	257	57	و	و	PRON
alkej-528	257	58	المربع	المربع	ADV
alkej-528	257	59	والذان	والذان	ADJ
alkej-528	257	60	لهما	لهما	NOUN
alkej-528	257	61	نفس	نفس	PROPN
alkej-528	257	62	الوزن	الوزن	PROPN
alkej-528	257	63	ممكن	ممكن	PROPN
alkej-528	257	64	تقليل	تقليل	PROPN
alkej-528	257	65	الخطاء	الخطاء	VERB
alkej-528	257	66	بحدود	بحدود	NOUN
alkej-528	257	67	%	%	NOUN
alkej-528	257	68	33	33	NUM
alkej-528	257	69	.	.	PUNCT
alkej-528	258	1	تم	تم	AUX
alkej-528	258	2	كتابة	كتابة	NOUN
alkej-528	258	3	برنامج	برنامج	NOUN
alkej-528	258	4	باستخدام	باستخدام	PROPN
alkej-528	258	5	mathcad	mathcad	PROPN
alkej-528	258	6	لحساب	لحساب	PROPN
alkej-528	258	7	أقل	أقل	VERB
alkej-528	258	8	وزن	وزن	ADJ
alkej-528	258	9	للذراع	للذراع	NOUN
alkej-528	258	10	الآلي	الآلي	PROPN
alkej-528	258	11	ذي	ذي	PROPN
alkej-528	258	12	المقطع	المقطع	PROPN
alkej-528	258	13	المربع	المربع	PROPN
alkej-528	258	14	الذي	الذي	PROPN
alkej-528	258	15	يمكن	يمكن	PROPN
alkej-528	258	16	أن	أن	AUX
alkej-528	258	17	يتحمل	يتحمل	ADJ
alkej-528	258	18	الأوزان	الأوزان	PROPN
alkej-528	258	19	المسلطه	المسلطه	PROPN
alkej-528	258	20	ويعطي	ويعطي	PROPN
alkej-528	258	21	أقل	أقل	PROPN
alkej-528	258	22	تشوه	تشوه	NOUN
alkej-528	258	23	.	.	PUNCT
alkej-528	259	1	الجزء	الجزء	PROPN
alkej-528	259	2	الثاني	الثاني	PROPN
alkej-528	259	3	من	من	PROPN
alkej-528	259	4	البرنامج	البرنامج	PROPN
alkej-528	259	5	يقوم	يقوم	PROPN
alkej-528	259	6	بعملية	بعملية	PROPN
alkej-528	259	7	الأمثليه	الأمثليه	PROPN
alkej-528	259	8	لأجل	لأجل	PROPN
alkej-528	259	9	ايجاد	ايجاد	PROPN
alkej-528	259	10	ابعاد	ابعاد	PROPN
alkej-528	259	11	المقطع	المقطع	PROPN
alkej-528	259	12	ذي	ذي	INTJ
alkej-528	259	13	الأنابيب	الأنابيب	VERB
alkej-528	259	14	الثلاثيه	الثلاثيه	PROPN
alkej-528	259	15	الدائريه	الدائريه	PROPN
alkej-528	259	16	والذي	والذي	PROPN
alkej-528	260	1	له	له	PROPN
alkej-528	260	2	نفس	نفس	PROPN
alkej-528	260	3	وزن	وزن	PROPN
alkej-528	260	4	الذراع	الذراع	PROPN
alkej-528	260	5	ذي	ذي	PROPN
alkej-528	260	6	المقطع	المقطع	PROPN
alkej-528	260	7	المربع	المربع	PROPN
alkej-528	260	8	وله	وله	NOUN
alkej-528	260	9	تشوه	تشوه	NOUN
alkej-528	260	10	أقل	أقل	VERB
alkej-528	260	11	من	من	DET
alkej-528	260	12	نضيره	نضيره	ADJ
alkej-528	260	13	المربع	المربع	NOUN
alkej-528	260	14	.	.	PUNCT
alkej-528	261	1	defining	define	VERB
alkej-528	261	2	:	:	PUNCT
alkej-528	261	3	e	e	X
alkej-528	261	4	,	,	PUNCT
alkej-528	261	5	�	�	PROPN
alkej-528	261	6	embed	embed	VERB
alkej-528	261	7	equation.3	equation.3	PROPN
alkej-528	261	8	�	�	PROPN
alkej-528	261	9	�	�	PROPN
alkej-528	261	10	�	�	PROPN
alkej-528	261	11	,	,	PUNCT
alkej-528	261	12	m1,m2,m3	m1,m2,m3	NOUN
alkej-528	261	13	,	,	PUNCT
alkej-528	261	14	�	�	PROPN
alkej-528	261	15	embed	embed	VERB
alkej-528	261	16	equation.3	equation.3	PROPN
alkej-528	261	17	�	�	PROPN
alkej-528	261	18	�	�	PROPN
alkej-528	261	19	�	�	PROPN
alkej-528	261	20	,	,	PUNCT
alkej-528	261	21	t	t	PROPN
alkej-528	261	22	,	,	PUNCT
alkej-528	261	23	s	s	PROPN
alkej-528	261	24	,	,	PUNCT
alkej-528	261	25	�	�	PROPN
alkej-528	261	26	embed	embed	VERB
alkej-528	261	27	equation.3	equation.3	PROPN
alkej-528	261	28	�	�	PROPN
alkej-528	261	29	�	�	PROPN
alkej-528	261	30	�	�	PROPN
alkej-528	261	31	�	�	PROPN
alkej-528	261	32	embed	embed	VERB
alkej-528	261	33	pbrush	pbrush	PROPN
alkej-528	261	34	�	�	PROPN
alkej-528	261	35	�	�	PROPN
alkej-528	261	36	�	�	PROPN
alkej-528	261	37	�	�	PROPN
alkej-528	261	38	embed	embed	VERB
alkej-528	261	39	equation.3	equation.3	PROPN
alkej-528	261	40	�	�	PROPN
alkej-528	261	41	�	�	PROPN
alkej-528	261	42	�	�	PROPN
alkej-528	261	43	2	2	NUM
alkej-528	261	44	�	�	PROPN
alkej-528	261	45	embed	embed	VERB
alkej-528	261	46	equation.3	equation.3	PROPN
alkej-528	261	47	�	�	PROPN
alkej-528	261	48	�	�	PROPN
alkej-528	261	49	�	�	PROPN
alkej-528	261	50	�	�	PROPN
alkej-528	261	51	embed	embed	VERB
alkej-528	261	52	equation.3	equation.3	PROPN
alkej-528	261	53	�	�	PROPN
alkej-528	261	54	�	�	PROPN
alkej-528	261	55	�	�	PROPN
alkej-528	261	56	1	1	NUM
alkej-528	261	57	�	�	PROPN
alkej-528	261	58	eq	eq	ADP
alkej-528	261	59	�	�	PROPN
alkej-528	261	60	�	�	PROPN
alkej-528	261	61	embed	embed	VERB
alkej-528	261	62	equation.3	equation.3	PROPN
alkej-528	261	63	�	�	PROPN
alkej-528	261	64	�	�	PROPN
alkej-528	261	65	�	�	PROPN
alkej-528	261	66	�	�	PROPN
alkej-528	261	67	embed	embed	VERB
alkej-528	261	68	equation.3	equation.3	PROPN
alkej-528	261	69	�	�	PROPN
alkej-528	261	70	�	�	PROPN
alkej-528	261	71	�	�	PROPN
alkej-528	261	72	m3	m3	PROPN
alkej-528	261	73	m1	m1	PROPN
alkej-528	261	74	m2	m2	PROPN
alkej-528	261	75	3	3	NUM
alkej-528	261	76	fig.(8	fig.(8	NOUN
alkej-528	261	77	)	)	PUNCT
alkej-528	261	78	flow	flow	NOUN
alkej-528	261	79	chart	chart	NOUN
alkej-528	261	80	of	of	ADP
alkej-528	261	81	the	the	DET
alkej-528	261	82	program	program	NOUN
alkej-528	261	83	built	build	VERB
alkej-528	261	84	-	-	PUNCT
alkej-528	261	85	up	up	NOUN
alkej-528	261	86	by	by	ADP
alkej-528	261	87	the	the	DET
alkej-528	261	88	use	use	NOUN
alkej-528	261	89	of	of	ADP
alkej-528	261	90	mathcad	mathcad	PROPN
alkej-528	261	91	soft	soft	ADJ
alkej-528	261	92	ware	ware	NOUN
alkej-528	262	1	yes	yes	INTJ
alkej-528	263	1	yes	yes	INTJ
alkej-528	264	1	no	no	INTJ
alkej-528	264	2	no	no	DET
alkej-528	264	3	finding	finding	NOUN
alkej-528	264	4	:	:	PUNCT
alkej-528	264	5	�	�	PROPN
alkej-528	264	6	embed	embed	VERB
alkej-528	264	7	equation.3	equation.3	PROPN
alkej-528	264	8	�	�	PROPN
alkej-528	264	9	�	�	PROPN
alkej-528	264	10	�	�	PROPN
alkej-528	264	11	�	�	PROPN
alkej-528	264	12	embed	embe	VERB
alkej-528	264	13	equation.3	equation.3	PROPN
alkej-528	264	14	�	�	PROPN
alkej-528	264	15	�	�	PROPN
alkej-528	264	16	�	�	PROPN
alkej-528	264	17	optimization	optimization	NOUN
alkej-528	264	18	for	for	ADP
alkej-528	264	19	tri	tri	ADJ
alkej-528	264	20	-	-	ADJ
alkej-528	264	21	tube	tube	ADJ
alkej-528	264	22	section	section	NOUN
alkej-528	264	23	h	h	NOUN
alkej-528	264	24	>	>	X
alkej-528	264	25	d	d	PROPN
alkej-528	264	26	,	,	PUNCT
alkej-528	264	27	wtii	wtii	NOUN
alkej-528	264	28	-	-	PUNCT
alkej-528	264	29	tube	tube	NOUN
alkej-528	264	30	=	=	SYM
alkej-528	264	31	wuni	wuni	NOUN
alkej-528	264	32	-	-	PUNCT
alkej-528	264	33	tube	tube	NOUN
alkej-528	264	34	,	,	PUNCT
alkej-528	264	35	d	d	X
alkej-528	264	36	�	�	PROPN
alkej-528	264	37	embed	embed	VERB
alkej-528	264	38	equation.3	equation.3	PROPN
alkej-528	264	39	�	�	PROPN
alkej-528	264	40	�	�	PROPN
alkej-528	264	41	�	�	PROPN
alkej-528	264	42	2	2	NUM
alkej-528	264	43	t	t	NOUN
alkej-528	264	44	maximize	maximize	NOUN
alkej-528	264	45	(	(	PUNCT
alkej-528	264	46	i	i	NOUN
alkej-528	264	47	)	)	PUNCT
alkej-528	264	48	,	,	PUNCT
alkej-528	264	49	find	find	VERB
alkej-528	264	50	h	h	NOUN
alkej-528	264	51	,	,	PUNCT
alkej-528	264	52	d	d	NOUN
alkej-528	264	53	1	1	NUM
alkej-528	264	54	1	1	NUM
alkej-528	264	55	finding	find	VERB
alkej-528	264	56	minimum	minimum	NOUN
alkej-528	264	57	(	(	PUNCT
alkej-528	264	58	var	var	NOUN
alkej-528	264	59	=	=	SYM
alkej-528	264	60	wrobot	wrobot	PROPN
alkej-528	264	61	�	�	PROPN
alkej-528	264	62	embed	embed	VERB
alkej-528	264	63	equation.3	equation.3	PROPN
alkej-528	264	64	�	�	PROPN
alkej-528	264	65	�	�	PROPN
alkej-528	264	66	�	�	PROPN
alkej-528	264	67	)	)	PUNCT
alkej-528	264	68	saving	save	VERB
alkej-528	264	69	generations	generation	NOUN
alkej-528	264	70	if	if	SCONJ
alkej-528	264	71	wrobot	wrobot	PROPN
alkej-528	264	72	>	>	X
alkej-528	264	73	fac.*wmin	fac.*wmin	PROPN
alkej-528	264	74	if	if	SCONJ
alkej-528	264	75	�	�	PROPN
alkej-528	264	76	embed	embed	VERB
alkej-528	264	77	equation.3	equation.3	PROPN
alkej-528	264	78	�	�	PROPN
alkej-528	264	79	�	�	PROPN
alkej-528	264	80	�	�	PROPN
alkej-528	264	81	calculation	calculation	NOUN
alkej-528	264	82	of	of	ADP
alkej-528	264	83	:	:	PUNCT
alkej-528	264	84	�	�	PROPN
alkej-528	264	85	embed	embed	VERB
alkej-528	264	86	equation.3	equation.3	PROPN
alkej-528	264	87	�	�	PROPN
alkej-528	264	88	�	�	PROPN
alkej-528	264	89	�	�	PROPN
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