id	sid	tid	token	lemma	pos
fumecheng-158	1	1	plane	plane	NOUN
fumecheng-158	1	2	thermoelastic	thermoelastic	ADJ
fumecheng-158	1	3	waves	wave	NOUN
fumecheng-158	1	4	in	in	ADP
fumecheng-158	1	5	infinite	infinite	ADJ
fumecheng-158	1	6	half	half	ADJ
fumecheng-158	1	7	-	-	PUNCT
fumecheng-158	1	8	space	space	NOUN
fumecheng-158	1	9	caused	cause	VERB
fumecheng-158	1	10	facta	facta	PROPN
fumecheng-158	1	11	universitatis	universitatis	PROPN
fumecheng-158	1	12	series	series	NOUN
fumecheng-158	1	13	:	:	PUNCT
fumecheng-158	1	14	mechanical	mechanical	ADJ
fumecheng-158	1	15	engineering	engineering	NOUN
fumecheng-158	1	16	vol	vol	NOUN
fumecheng-158	1	17	.	.	PROPN
fumecheng-158	2	1	12	12	NUM
fumecheng-158	2	2	,	,	PUNCT
fumecheng-158	2	3	no	no	DET
fumecheng-158	2	4	2	2	NUM
fumecheng-158	2	5	,	,	PUNCT
fumecheng-158	2	6	2014	2014	NUM
fumecheng-158	2	7	,	,	PUNCT
fumecheng-158	2	8	pp	pp	ADJ
fumecheng-158	2	9	.	.	PUNCT
fumecheng-158	3	1	157	157	NUM
fumecheng-158	3	2	169	169	NUM
fumecheng-158	3	3	experimental	experimental	ADJ
fumecheng-158	3	4	determination	determination	NOUN
fumecheng-158	3	5	of	of	ADP
fumecheng-158	3	6	bearing	bear	VERB
fumecheng-158	3	7	loads	load	NOUN
fumecheng-158	3	8	in	in	ADP
fumecheng-158	3	9	rotating	rotate	VERB
fumecheng-158	3	10	platform	platform	NOUN
fumecheng-158	3	11	drive	drive	NOUN
fumecheng-158	3	12	mechanisms	mechanism	NOUN
fumecheng-158	3	13	of	of	ADP
fumecheng-158	3	14	hydraulic	hydraulic	ADJ
fumecheng-158	3	15	excavators	excavator	NOUN
fumecheng-158	3	16	udc	udc	NOUN
fumecheng-158	3	17	621.22	621.22	NUM
fumecheng-158	3	18	vesna	vesna	PROPN
fumecheng-158	3	19	jovanović	jovanović	PROPN
fumecheng-158	3	20	,	,	PUNCT
fumecheng-158	3	21	dragoslav	dragoslav	ADJ
fumecheng-158	3	22	janošević	janošević	PROPN
fumecheng-158	3	23	,	,	PUNCT
fumecheng-158	3	24	nikola	nikola	PROPN
fumecheng-158	3	25	petrović	petrović	PROPN
fumecheng-158	3	26	university	university	PROPN
fumecheng-158	3	27	of	of	ADP
fumecheng-158	3	28	niš	niš	PROPN
fumecheng-158	3	29	,	,	PUNCT
fumecheng-158	3	30	faculty	faculty	NOUN
fumecheng-158	3	31	of	of	ADP
fumecheng-158	3	32	mechanical	mechanical	ADJ
fumecheng-158	3	33	engineering	engineering	NOUN
fumecheng-158	3	34	,	,	PUNCT
fumecheng-158	3	35	serbia	serbia	PROPN
fumecheng-158	3	36	abstract	abstract	ADJ
fumecheng-158	3	37	.	.	PUNCT
fumecheng-158	4	1	the	the	DET
fumecheng-158	4	2	paper	paper	NOUN
fumecheng-158	4	3	presents	present	VERB
fumecheng-158	4	4	a	a	DET
fumecheng-158	4	5	procedure	procedure	NOUN
fumecheng-158	4	6	for	for	ADP
fumecheng-158	4	7	experimental	experimental	ADJ
fumecheng-158	4	8	determination	determination	NOUN
fumecheng-158	4	9	of	of	ADP
fumecheng-158	4	10	slewing	slew	VERB
fumecheng-158	4	11	bearing	bear	VERB
fumecheng-158	4	12	loads	load	NOUN
fumecheng-158	4	13	in	in	ADP
fumecheng-158	4	14	the	the	DET
fumecheng-158	4	15	rotating	rotate	VERB
fumecheng-158	4	16	platform	platform	NOUN
fumecheng-158	4	17	drive	drive	NOUN
fumecheng-158	4	18	mechanisms	mechanism	NOUN
fumecheng-158	4	19	of	of	ADP
fumecheng-158	4	20	hydraulic	hydraulic	ADJ
fumecheng-158	4	21	excavators	excavator	NOUN
fumecheng-158	4	22	with	with	ADP
fumecheng-158	4	23	an	an	DET
fumecheng-158	4	24	excavating	excavate	VERB
fumecheng-158	4	25	manipulator	manipulator	NOUN
fumecheng-158	4	26	.	.	PUNCT
fumecheng-158	5	1	a	a	DET
fumecheng-158	5	2	mathematical	mathematical	ADJ
fumecheng-158	5	3	model	model	NOUN
fumecheng-158	5	4	is	be	AUX
fumecheng-158	5	5	defined	define	VERB
fumecheng-158	5	6	which	which	PRON
fumecheng-158	5	7	enables	enable	VERB
fumecheng-158	5	8	the	the	DET
fumecheng-158	5	9	determination	determination	NOUN
fumecheng-158	5	10	of	of	ADP
fumecheng-158	5	11	the	the	DET
fumecheng-158	5	12	vectors	vector	NOUN
fumecheng-158	5	13	of	of	ADP
fumecheng-158	5	14	force	force	NOUN
fumecheng-158	5	15	and	and	CCONJ
fumecheng-158	5	16	moment	moment	NOUN
fumecheng-158	5	17	of	of	ADP
fumecheng-158	5	18	bearing	bear	VERB
fumecheng-158	5	19	loads	load	NOUN
fumecheng-158	5	20	,	,	PUNCT
fumecheng-158	5	21	on	on	ADP
fumecheng-158	5	22	the	the	DET
fumecheng-158	5	23	basis	basis	NOUN
fumecheng-158	5	24	of	of	ADP
fumecheng-158	5	25	the	the	DET
fumecheng-158	5	26	measured	measure	VERB
fumecheng-158	5	27	quantities	quantity	NOUN
fumecheng-158	5	28	of	of	ADP
fumecheng-158	5	29	the	the	DET
fumecheng-158	5	30	state	state	NOUN
fumecheng-158	5	31	of	of	ADP
fumecheng-158	5	32	an	an	DET
fumecheng-158	5	33	excavator	excavator	NOUN
fumecheng-158	5	34	in	in	ADP
fumecheng-158	5	35	operation	operation	NOUN
fumecheng-158	5	36	under	under	ADP
fumecheng-158	5	37	exploitation	exploitation	NOUN
fumecheng-158	5	38	conditions	condition	NOUN
fumecheng-158	5	39	.	.	PUNCT
fumecheng-158	6	1	the	the	DET
fumecheng-158	6	2	measured	measure	VERB
fumecheng-158	6	3	quantities	quantity	NOUN
fumecheng-158	6	4	of	of	ADP
fumecheng-158	6	5	the	the	DET
fumecheng-158	6	6	state	state	NOUN
fumecheng-158	6	7	of	of	ADP
fumecheng-158	6	8	an	an	DET
fumecheng-158	6	9	excavator	excavator	NOUN
fumecheng-158	6	10	relate	relate	VERB
fumecheng-158	6	11	to	to	ADP
fumecheng-158	6	12	the	the	DET
fumecheng-158	6	13	position	position	NOUN
fumecheng-158	6	14	of	of	ADP
fumecheng-158	6	15	the	the	DET
fumecheng-158	6	16	kinematic	kinematic	ADJ
fumecheng-158	6	17	chain	chain	NOUN
fumecheng-158	6	18	and	and	CCONJ
fumecheng-158	6	19	pressures	pressure	NOUN
fumecheng-158	6	20	of	of	ADP
fumecheng-158	6	21	the	the	DET
fumecheng-158	6	22	hydrostatic	hydrostatic	ADJ
fumecheng-158	6	23	system	system	NOUN
fumecheng-158	6	24	in	in	ADP
fumecheng-158	6	25	the	the	DET
fumecheng-158	6	26	actuator	actuator	NOUN
fumecheng-158	6	27	ducts	duct	NOUN
fumecheng-158	6	28	of	of	ADP
fumecheng-158	6	29	the	the	DET
fumecheng-158	6	30	excavator	excavator	NOUN
fumecheng-158	6	31	drive	drive	NOUN
fumecheng-158	6	32	mechanisms	mechanism	NOUN
fumecheng-158	6	33	.	.	PUNCT
fumecheng-158	7	1	as	as	ADP
fumecheng-158	7	2	an	an	DET
fumecheng-158	7	3	example	example	NOUN
fumecheng-158	7	4	,	,	PUNCT
fumecheng-158	7	5	the	the	DET
fumecheng-158	7	6	paper	paper	NOUN
fumecheng-158	7	7	provides	provide	VERB
fumecheng-158	7	8	the	the	DET
fumecheng-158	7	9	research	research	NOUN
fumecheng-158	7	10	results	result	NOUN
fumecheng-158	7	11	obtained	obtain	VERB
fumecheng-158	7	12	in	in	ADP
fumecheng-158	7	13	the	the	DET
fumecheng-158	7	14	experimental	experimental	ADJ
fumecheng-158	7	15	determination	determination	NOUN
fumecheng-158	7	16	of	of	ADP
fumecheng-158	7	17	slewing	slew	VERB
fumecheng-158	7	18	bearing	bear	VERB
fumecheng-158	7	19	loads	load	NOUN
fumecheng-158	7	20	in	in	ADP
fumecheng-158	7	21	the	the	DET
fumecheng-158	7	22	rotating	rotate	VERB
fumecheng-158	7	23	platform	platform	NOUN
fumecheng-158	7	24	drive	drive	NOUN
fumecheng-158	7	25	mechanism	mechanism	NOUN
fumecheng-158	7	26	of	of	ADP
fumecheng-158	7	27	a	a	DET
fumecheng-158	7	28	hydraulic	hydraulic	ADJ
fumecheng-158	7	29	excavator	excavator	NOUN
fumecheng-158	7	30	with	with	ADP
fumecheng-158	7	31	the	the	DET
fumecheng-158	7	32	mass	mass	NOUN
fumecheng-158	7	33	of	of	ADP
fumecheng-158	7	34	16	16	NUM
fumecheng-158	7	35	t.	t.	NOUN
fumecheng-158	7	36	key	key	ADJ
fumecheng-158	7	37	words	word	NOUN
fumecheng-158	7	38	:	:	PUNCT
fumecheng-158	7	39	hydraulic	hydraulic	ADJ
fumecheng-158	7	40	excavators	excavator	NOUN
fumecheng-158	7	41	,	,	PUNCT
fumecheng-158	7	42	rotating	rotate	VERB
fumecheng-158	7	43	platform	platform	NOUN
fumecheng-158	7	44	bearing	bear	VERB
fumecheng-158	7	45	loads	load	VERB
fumecheng-158	7	46	1	1	NUM
fumecheng-158	7	47	.	.	PUNCT
fumecheng-158	8	1	introduction	introduction	NOUN
fumecheng-158	8	2	hydraulic	hydraulic	ADJ
fumecheng-158	8	3	excavators	excavator	NOUN
fumecheng-158	8	4	are	be	AUX
fumecheng-158	8	5	mobile	mobile	ADJ
fumecheng-158	8	6	machines	machine	NOUN
fumecheng-158	8	7	whose	whose	DET
fumecheng-158	8	8	primary	primary	ADJ
fumecheng-158	8	9	function	function	NOUN
fumecheng-158	8	10	is	be	AUX
fumecheng-158	8	11	non	non	ADJ
fumecheng-158	8	12	-	-	ADJ
fumecheng-158	8	13	continuous	continuous	ADJ
fumecheng-158	8	14	excavation	excavation	NOUN
fumecheng-158	8	15	and	and	CCONJ
fumecheng-158	8	16	transport	transport	NOUN
fumecheng-158	8	17	of	of	ADP
fumecheng-158	8	18	soil	soil	NOUN
fumecheng-158	8	19	within	within	ADP
fumecheng-158	8	20	a	a	DET
fumecheng-158	8	21	variable	variable	ADJ
fumecheng-158	8	22	working	work	VERB
fumecheng-158	8	23	range	range	NOUN
fumecheng-158	8	24	.	.	PUNCT
fumecheng-158	9	1	the	the	DET
fumecheng-158	9	2	structural	structural	ADJ
fumecheng-158	9	3	support	support	NOUN
fumecheng-158	9	4	of	of	ADP
fumecheng-158	9	5	the	the	DET
fumecheng-158	9	6	primary	primary	ADJ
fumecheng-158	9	7	function	function	NOUN
fumecheng-158	9	8	of	of	ADP
fumecheng-158	9	9	an	an	DET
fumecheng-158	9	10	excavator	excavator	NOUN
fumecheng-158	9	11	is	be	AUX
fumecheng-158	9	12	a	a	DET
fumecheng-158	9	13	kinematic	kinematic	ADJ
fumecheng-158	9	14	chain	chain	NOUN
fumecheng-158	9	15	,	,	PUNCT
fumecheng-158	9	16	which	which	PRON
fumecheng-158	9	17	comprises	comprise	VERB
fumecheng-158	9	18	the	the	DET
fumecheng-158	9	19	following	follow	VERB
fumecheng-158	9	20	members	member	NOUN
fumecheng-158	9	21	,	,	PUNCT
fumecheng-158	9	22	independently	independently	ADV
fumecheng-158	9	23	of	of	ADP
fumecheng-158	9	24	the	the	DET
fumecheng-158	9	25	excavator	excavator	NOUN
fumecheng-158	9	26	size	size	NOUN
fumecheng-158	9	27	:	:	PUNCT
fumecheng-158	9	28	support	support	NOUN
fumecheng-158	9	29	and	and	CCONJ
fumecheng-158	9	30	movement	movement	NOUN
fumecheng-158	9	31	mechanism	mechanism	NOUN
fumecheng-158	9	32	l1	l1	PROPN
fumecheng-158	9	33	(	(	PUNCT
fumecheng-158	9	34	fig	fig	NOUN
fumecheng-158	9	35	.	.	PUNCT
fumecheng-158	10	1	1a	1a	NOUN
fumecheng-158	10	2	)	)	PUNCT
fumecheng-158	10	3	,	,	PUNCT
fumecheng-158	10	4	rotating	rotate	VERB
fumecheng-158	10	5	platform	platform	NOUN
fumecheng-158	10	6	l2	l2	NOUN
fumecheng-158	10	7	and	and	CCONJ
fumecheng-158	10	8	the	the	DET
fumecheng-158	10	9	manipulator	manipulator	NOUN
fumecheng-158	10	10	with	with	ADP
fumecheng-158	10	11	boom	boom	NOUN
fumecheng-158	10	12	l3	l3	PROPN
fumecheng-158	10	13	,	,	PUNCT
fumecheng-158	10	14	stick	stick	PROPN
fumecheng-158	10	15	l4	l4	PROPN
fumecheng-158	10	16	and	and	CCONJ
fumecheng-158	10	17	tool	tool	PROPN
fumecheng-158	10	18	l5	l5	PROPN
fumecheng-158	10	19	–	–	PUNCT
fumecheng-158	10	20	most	most	ADV
fumecheng-158	10	21	often	often	ADV
fumecheng-158	10	22	in	in	ADP
fumecheng-158	10	23	the	the	DET
fumecheng-158	10	24	form	form	NOUN
fumecheng-158	10	25	of	of	ADP
fumecheng-158	10	26	a	a	DET
fumecheng-158	10	27	bucket	bucket	NOUN
fumecheng-158	10	28	.	.	PUNCT
fumecheng-158	11	1	in	in	ADP
fumecheng-158	11	2	the	the	DET
fumecheng-158	11	3	spatial	spatial	ADJ
fumecheng-158	11	4	manipulation	manipulation	NOUN
fumecheng-158	11	5	of	of	ADP
fumecheng-158	11	6	an	an	DET
fumecheng-158	11	7	excavator	excavator	NOUN
fumecheng-158	11	8	,	,	PUNCT
fumecheng-158	11	9	the	the	DET
fumecheng-158	11	10	rotating	rotate	VERB
fumecheng-158	11	11	platform	platform	NOUN
fumecheng-158	11	12	can	can	AUX
fumecheng-158	11	13	rotate	rotate	VERB
fumecheng-158	11	14	in	in	ADP
fumecheng-158	11	15	both	both	DET
fumecheng-158	11	16	directions	direction	NOUN
fumecheng-158	11	17	for	for	ADP
fumecheng-158	11	18	a	a	DET
fumecheng-158	11	19	desired	desire	VERB
fumecheng-158	11	20	number	number	NOUN
fumecheng-158	11	21	of	of	ADP
fumecheng-158	11	22	full	full	ADJ
fumecheng-158	11	23	rotations	rotation	NOUN
fumecheng-158	11	24	driven	drive	VERB
fumecheng-158	11	25	by	by	ADP
fumecheng-158	11	26	a	a	DET
fumecheng-158	11	27	drive	drive	ADJ
fumecheng-158	11	28	mechanism	mechanism	NOUN
fumecheng-158	11	29	which	which	PRON
fumecheng-158	11	30	principally	principally	ADV
fumecheng-158	11	31	comprises	comprise	VERB
fumecheng-158	11	32	:	:	PUNCT
fumecheng-158	11	33	a	a	DET
fumecheng-158	11	34	hydraulic	hydraulic	ADJ
fumecheng-158	11	35	motor	motor	NOUN
fumecheng-158	11	36	2.1	2.1	NUM
fumecheng-158	11	37	(	(	PUNCT
fumecheng-158	11	38	fig	fig	NOUN
fumecheng-158	11	39	.	.	PUNCT
fumecheng-158	12	1	1b	1b	NUM
fumecheng-158	12	2	)	)	PUNCT
fumecheng-158	12	3	,	,	PUNCT
fumecheng-158	13	1	a	a	DET
fumecheng-158	13	2	reducer	reducer	NOUN
fumecheng-158	13	3	2.2	2.2	NUM
fumecheng-158	13	4	and	and	CCONJ
fumecheng-158	13	5	a	a	DET
fumecheng-158	13	6	slewing	slewing	NOUN
fumecheng-158	13	7	bearing	bear	VERB
fumecheng-158	13	8	2.3	2.3	NUM
fumecheng-158	13	9	[	[	X
fumecheng-158	13	10	1	1	NUM
fumecheng-158	13	11	]	]	PUNCT
fumecheng-158	13	12	.	.	PUNCT
fumecheng-158	14	1	the	the	DET
fumecheng-158	14	2	slewing	slewing	NOUN
fumecheng-158	14	3	bearing	bearing	NOUN
fumecheng-158	14	4	consists	consist	VERB
fumecheng-158	14	5	of	of	ADP
fumecheng-158	14	6	received	receive	VERB
fumecheng-158	14	7	march	march	PROPN
fumecheng-158	14	8	04	04	NUM
fumecheng-158	14	9	,	,	PUNCT
fumecheng-158	14	10	2014	2014	NUM
fumecheng-158	14	11	/	/	SYM
fumecheng-158	14	12	accepted	accept	VERB
fumecheng-158	14	13	june	june	PROPN
fumecheng-158	14	14	3	3	NUM
fumecheng-158	14	15	,	,	PUNCT
fumecheng-158	14	16	2014	2014	NUM
fumecheng-158	14	17	corresponding	correspond	VERB
fumecheng-158	14	18	author	author	NOUN
fumecheng-158	14	19	:	:	PUNCT
fumecheng-158	14	20	vesna	vesna	PROPN
fumecheng-158	14	21	jovanović	jovanović	PROPN
fumecheng-158	14	22	university	university	PROPN
fumecheng-158	14	23	of	of	ADP
fumecheng-158	14	24	niš	niš	PROPN
fumecheng-158	14	25	,	,	PUNCT
fumecheng-158	14	26	faculty	faculty	NOUN
fumecheng-158	14	27	of	of	ADP
fumecheng-158	14	28	mechanical	mechanical	ADJ
fumecheng-158	14	29	engineering	engineering	NOUN
fumecheng-158	14	30	,	,	PUNCT
fumecheng-158	14	31	department	department	NOUN
fumecheng-158	14	32	of	of	ADP
fumecheng-158	14	33	transport	transport	NOUN
fumecheng-158	14	34	and	and	CCONJ
fumecheng-158	14	35	logistics	logistic	NOUN
fumecheng-158	14	36	,	,	PUNCT
fumecheng-158	14	37	aleksandra	aleksandra	PROPN
fumecheng-158	14	38	medvedeva	medvedeva	PROPN
fumecheng-158	14	39	14	14	NUM
fumecheng-158	14	40	,	,	PUNCT
fumecheng-158	14	41	18000	18000	NUM
fumecheng-158	14	42	niš	niš	NOUN
fumecheng-158	14	43	,	,	PUNCT
fumecheng-158	14	44	serbia	serbia	PROPN
fumecheng-158	14	45	e	e	NOUN
fumecheng-158	14	46	-	-	NOUN
fumecheng-158	14	47	mail	mail	NOUN
fumecheng-158	14	48	:	:	PUNCT
fumecheng-158	14	49	vesna.nikolic@masfak.ni.ac.rs	vesna.nikolic@masfak.ni.ac.rs	ADJ
fumecheng-158	14	50	original	original	ADJ
fumecheng-158	14	51	scientific	scientific	ADJ
fumecheng-158	14	52	paper	paper	NOUN
fumecheng-158	14	53	158	158	NUM
fumecheng-158	14	54	v.	v.	ADP
fumecheng-158	14	55	jovanović	jovanović	PROPN
fumecheng-158	14	56	,	,	PUNCT
fumecheng-158	14	57	d.	d.	PROPN
fumecheng-158	14	58	janošević	janošević	PROPN
fumecheng-158	14	59	,	,	PUNCT
fumecheng-158	14	60	n.	n.	NOUN
fumecheng-158	14	61	petrović	petrović	NOUN
fumecheng-158	14	62	outer	outer	ADJ
fumecheng-158	14	63	and	and	CCONJ
fumecheng-158	14	64	inner	inner	ADJ
fumecheng-158	14	65	races	race	NOUN
fumecheng-158	14	66	,	,	PUNCT
fumecheng-158	14	67	out	out	ADP
fumecheng-158	14	68	of	of	ADP
fumecheng-158	14	69	which	which	PRON
fumecheng-158	14	70	one	one	PRON
fumecheng-158	14	71	has	have	VERB
fumecheng-158	14	72	a	a	DET
fumecheng-158	14	73	toothed	toothed	ADJ
fumecheng-158	14	74	edge	edge	NOUN
fumecheng-158	14	75	on	on	ADP
fumecheng-158	14	76	the	the	DET
fumecheng-158	14	77	outer	outer	ADJ
fumecheng-158	14	78	or	or	CCONJ
fumecheng-158	14	79	inner	inner	ADJ
fumecheng-158	14	80	side	side	NOUN
fumecheng-158	14	81	.	.	PUNCT
fumecheng-158	15	1	between	between	ADP
fumecheng-158	15	2	the	the	DET
fumecheng-158	15	3	races	race	NOUN
fumecheng-158	15	4	,	,	PUNCT
fumecheng-158	15	5	in	in	ADP
fumecheng-158	15	6	one	one	NUM
fumecheng-158	15	7	or	or	CCONJ
fumecheng-158	15	8	multiple	multiple	ADJ
fumecheng-158	15	9	rows	row	NOUN
fumecheng-158	15	10	,	,	PUNCT
fumecheng-158	15	11	there	there	PRON
fumecheng-158	15	12	are	be	VERB
fumecheng-158	15	13	rolling	roll	VERB
fumecheng-158	15	14	bodies	body	NOUN
fumecheng-158	15	15	(	(	PUNCT
fumecheng-158	15	16	balls	ball	NOUN
fumecheng-158	15	17	,	,	PUNCT
fumecheng-158	15	18	rollers	roller	NOUN
fumecheng-158	15	19	)	)	PUNCT
fumecheng-158	15	20	in	in	ADP
fumecheng-158	15	21	appropriate	appropriate	ADJ
fumecheng-158	15	22	grooves	groove	NOUN
fumecheng-158	15	23	[	[	X
fumecheng-158	15	24	2	2	NUM
fumecheng-158	15	25	]	]	PUNCT
fumecheng-158	15	26	.	.	PUNCT
fumecheng-158	16	1	a	a	DET
fumecheng-158	16	2	bolted	bolt	VERB
fumecheng-158	16	3	joint	joint	NOUN
fumecheng-158	16	4	connects	connect	VERB
fumecheng-158	16	5	the	the	DET
fumecheng-158	16	6	untoothed	untoothed	ADJ
fumecheng-158	16	7	bearing	bearing	NOUN
fumecheng-158	16	8	race	race	NOUN
fumecheng-158	16	9	to	to	ADP
fumecheng-158	16	10	the	the	DET
fumecheng-158	16	11	frame	frame	NOUN
fumecheng-158	16	12	of	of	ADP
fumecheng-158	16	13	the	the	DET
fumecheng-158	16	14	rotating	rotate	VERB
fumecheng-158	16	15	platform	platform	NOUN
fumecheng-158	16	16	,	,	PUNCT
fumecheng-158	16	17	while	while	SCONJ
fumecheng-158	16	18	the	the	DET
fumecheng-158	16	19	toothed	toothed	ADJ
fumecheng-158	16	20	race	race	NOUN
fumecheng-158	16	21	is	be	AUX
fumecheng-158	16	22	connected	connect	VERB
fumecheng-158	16	23	to	to	ADP
fumecheng-158	16	24	the	the	DET
fumecheng-158	16	25	frame	frame	NOUN
fumecheng-158	16	26	of	of	ADP
fumecheng-158	16	27	the	the	DET
fumecheng-158	16	28	support	support	NOUN
fumecheng-158	16	29	and	and	CCONJ
fumecheng-158	16	30	movement	movement	NOUN
fumecheng-158	16	31	mechanism	mechanism	NOUN
fumecheng-158	16	32	.	.	PUNCT
fumecheng-158	17	1	the	the	DET
fumecheng-158	17	2	gear	gear	NOUN
fumecheng-158	17	3	on	on	ADP
fumecheng-158	17	4	the	the	DET
fumecheng-158	17	5	output	output	NOUN
fumecheng-158	17	6	shaft	shaft	NOUN
fumecheng-158	17	7	of	of	ADP
fumecheng-158	17	8	the	the	DET
fumecheng-158	17	9	drive	drive	ADJ
fumecheng-158	17	10	reducer	reducer	NOUN
fumecheng-158	17	11	is	be	AUX
fumecheng-158	17	12	coupled	couple	VERB
fumecheng-158	17	13	with	with	ADP
fumecheng-158	17	14	the	the	DET
fumecheng-158	17	15	toothed	toothed	ADJ
fumecheng-158	17	16	race	race	NOUN
fumecheng-158	17	17	of	of	ADP
fumecheng-158	17	18	the	the	DET
fumecheng-158	17	19	slewing	slewing	NOUN
fumecheng-158	17	20	bearing	bearing	NOUN
fumecheng-158	17	21	,	,	PUNCT
fumecheng-158	17	22	thus	thus	ADV
fumecheng-158	17	23	producing	produce	VERB
fumecheng-158	17	24	the	the	DET
fumecheng-158	17	25	desired	desire	VERB
fumecheng-158	17	26	rotation	rotation	NOUN
fumecheng-158	17	27	of	of	ADP
fumecheng-158	17	28	the	the	DET
fumecheng-158	17	29	platform	platform	NOUN
fumecheng-158	17	30	[	[	X
fumecheng-158	17	31	3	3	NUM
fumecheng-158	17	32	]	]	PUNCT
fumecheng-158	17	33	.	.	PUNCT
fumecheng-158	18	1	the	the	DET
fumecheng-158	18	2	manipulator	manipulator	NOUN
fumecheng-158	18	3	drive	drive	NOUN
fumecheng-158	18	4	mechanism	mechanism	NOUN
fumecheng-158	18	5	actuators	actuator	NOUN
fumecheng-158	18	6	are	be	AUX
fumecheng-158	18	7	double	double	ADJ
fumecheng-158	18	8	acting	act	VERB
fumecheng-158	18	9	hydraulic	hydraulic	ADJ
fumecheng-158	18	10	cylinders	cylinder	NOUN
fumecheng-158	18	11	.	.	PUNCT
fumecheng-158	19	1	former	former	ADJ
fumecheng-158	19	2	research	research	NOUN
fumecheng-158	19	3	studies	study	NOUN
fumecheng-158	19	4	connected	connect	VERB
fumecheng-158	19	5	to	to	ADP
fumecheng-158	19	6	the	the	DET
fumecheng-158	19	7	rotating	rotate	VERB
fumecheng-158	19	8	platform	platform	NOUN
fumecheng-158	19	9	drive	drive	NOUN
fumecheng-158	19	10	of	of	ADP
fumecheng-158	19	11	hydraulic	hydraulic	ADJ
fumecheng-158	19	12	excavator	excavator	NOUN
fumecheng-158	19	13	are	be	AUX
fumecheng-158	19	14	related	relate	VERB
fumecheng-158	19	15	to	to	ADP
fumecheng-158	19	16	the	the	DET
fumecheng-158	19	17	dynamics	dynamic	NOUN
fumecheng-158	19	18	of	of	ADP
fumecheng-158	19	19	hydrostatic	hydrostatic	ADJ
fumecheng-158	19	20	part	part	NOUN
fumecheng-158	19	21	drive	drive	NOUN
fumecheng-158	19	22	[	[	X
fumecheng-158	19	23	4	4	NUM
fumecheng-158	19	24	]	]	PUNCT
fumecheng-158	19	25	and	and	CCONJ
fumecheng-158	19	26	the	the	DET
fumecheng-158	19	27	regulation	regulation	NOUN
fumecheng-158	19	28	of	of	ADP
fumecheng-158	19	29	platform	platform	NOUN
fumecheng-158	19	30	management	management	NOUN
fumecheng-158	19	31	rotation	rotation	NOUN
fumecheng-158	19	32	system	system	NOUN
fumecheng-158	19	33	[	[	X
fumecheng-158	19	34	5	5	NUM
fumecheng-158	19	35	]	]	PUNCT
fumecheng-158	19	36	and	and	CCONJ
fumecheng-158	19	37	optimal	optimal	ADJ
fumecheng-158	19	38	synthesis	synthesis	NOUN
fumecheng-158	19	39	of	of	ADP
fumecheng-158	19	40	a	a	DET
fumecheng-158	19	41	manipulator	manipulator	NOUN
fumecheng-158	19	42	of	of	ADP
fumecheng-158	19	43	mobile	mobile	ADJ
fumecheng-158	19	44	machines[6	machines[6	PROPN
fumecheng-158	19	45	,	,	PUNCT
fumecheng-158	19	46	7	7	NUM
fumecheng-158	19	47	]	]	PUNCT
fumecheng-158	19	48	.	.	PUNCT
fumecheng-158	20	1	work	work	NOUN
fumecheng-158	20	2	cycles	cycle	NOUN
fumecheng-158	20	3	of	of	ADP
fumecheng-158	20	4	hydraulic	hydraulic	ADJ
fumecheng-158	20	5	excavators	excavator	NOUN
fumecheng-158	20	6	,	,	PUNCT
fumecheng-158	20	7	regardless	regardless	ADV
fumecheng-158	20	8	of	of	ADP
fumecheng-158	20	9	the	the	DET
fumecheng-158	20	10	size	size	NOUN
fumecheng-158	20	11	of	of	ADP
fumecheng-158	20	12	an	an	DET
fumecheng-158	20	13	excavator	excavator	NOUN
fumecheng-158	20	14	,	,	PUNCT
fumecheng-158	20	15	characteristically	characteristically	ADV
fumecheng-158	20	16	take	take	VERB
fumecheng-158	20	17	place	place	NOUN
fumecheng-158	20	18	in	in	ADP
fumecheng-158	20	19	a	a	DET
fumecheng-158	20	20	variable	variable	ADJ
fumecheng-158	20	21	working	working	NOUN
fumecheng-158	20	22	area	area	NOUN
fumecheng-158	20	23	by	by	ADP
fumecheng-158	20	24	cyclical	cyclical	ADJ
fumecheng-158	20	25	repetition	repetition	NOUN
fumecheng-158	20	26	of	of	ADP
fumecheng-158	20	27	the	the	DET
fumecheng-158	20	28	following	follow	VERB
fumecheng-158	20	29	operations	operation	NOUN
fumecheng-158	20	30	:	:	PUNCT
fumecheng-158	20	31	excavating	excavate	VERB
fumecheng-158	20	32	the	the	DET
fumecheng-158	20	33	material	material	NOUN
fumecheng-158	20	34	,	,	PUNCT
fumecheng-158	20	35	transporting	transport	VERB
fumecheng-158	20	36	the	the	DET
fumecheng-158	20	37	material	material	NOUN
fumecheng-158	20	38	from	from	ADP
fumecheng-158	20	39	the	the	DET
fumecheng-158	20	40	plane	plane	NOUN
fumecheng-158	20	41	of	of	ADP
fumecheng-158	20	42	excavation	excavation	NOUN
fumecheng-158	20	43	to	to	ADP
fumecheng-158	20	44	the	the	DET
fumecheng-158	20	45	plane	plane	NOUN
fumecheng-158	20	46	of	of	ADP
fumecheng-158	20	47	unloading	unloading	NOUN
fumecheng-158	20	48	,	,	PUNCT
fumecheng-158	20	49	unloading	unload	VERB
fumecheng-158	20	50	the	the	DET
fumecheng-158	20	51	material	material	NOUN
fumecheng-158	20	52	,	,	PUNCT
fumecheng-158	20	53	and	and	CCONJ
fumecheng-158	20	54	returning	return	VERB
fumecheng-158	20	55	to	to	ADP
fumecheng-158	20	56	the	the	DET
fumecheng-158	20	57	plane	plane	NOUN
fumecheng-158	20	58	of	of	ADP
fumecheng-158	20	59	excavation	excavation	NOUN
fumecheng-158	20	60	.	.	PUNCT
fumecheng-158	21	1	the	the	DET
fumecheng-158	21	2	aim	aim	NOUN
fumecheng-158	21	3	of	of	ADP
fumecheng-158	21	4	this	this	DET
fumecheng-158	21	5	paper	paper	NOUN
fumecheng-158	21	6	is	be	AUX
fumecheng-158	21	7	to	to	PART
fumecheng-158	21	8	determine	determine	VERB
fumecheng-158	21	9	the	the	DET
fumecheng-158	21	10	cycle	cycle	NOUN
fumecheng-158	21	11	operation	operation	NOUN
fumecheng-158	21	12	in	in	ADP
fumecheng-158	21	13	which	which	PRON
fumecheng-158	21	14	the	the	DET
fumecheng-158	21	15	slewing	slewing	NOUN
fumecheng-158	21	16	bearing	bearing	NOUN
fumecheng-158	21	17	of	of	ADP
fumecheng-158	21	18	an	an	DET
fumecheng-158	21	19	excavator	excavator	NOUN
fumecheng-158	21	20	rotating	rotate	VERB
fumecheng-158	21	21	drive	drive	NOUN
fumecheng-158	21	22	is	be	AUX
fumecheng-158	21	23	subjected	subject	VERB
fumecheng-158	21	24	to	to	ADP
fumecheng-158	21	25	the	the	DET
fumecheng-158	21	26	highest	high	ADJ
fumecheng-158	21	27	loading	loading	NOUN
fumecheng-158	21	28	,	,	PUNCT
fumecheng-158	21	29	which	which	PRON
fumecheng-158	21	30	can	can	AUX
fumecheng-158	21	31	be	be	AUX
fumecheng-158	21	32	applicable	applicable	ADJ
fumecheng-158	21	33	to	to	ADP
fumecheng-158	21	34	the	the	DET
fumecheng-158	21	35	reliable	reliable	ADJ
fumecheng-158	21	36	selection	selection	NOUN
fumecheng-158	21	37	of	of	ADP
fumecheng-158	21	38	the	the	DET
fumecheng-158	21	39	bearing	bearing	NOUN
fumecheng-158	21	40	.	.	PUNCT
fumecheng-158	22	1	2	2	X
fumecheng-158	22	2	.	.	X
fumecheng-158	22	3	mathematical	mathematical	ADJ
fumecheng-158	22	4	model	model	NOUN
fumecheng-158	22	5	in	in	ADP
fumecheng-158	22	6	this	this	DET
fumecheng-158	22	7	paper	paper	NOUN
fumecheng-158	22	8	,	,	PUNCT
fumecheng-158	22	9	a	a	DET
fumecheng-158	22	10	mathematical	mathematical	ADJ
fumecheng-158	22	11	model	model	NOUN
fumecheng-158	22	12	is	be	AUX
fumecheng-158	22	13	developed	develop	VERB
fumecheng-158	22	14	to	to	PART
fumecheng-158	22	15	determine	determine	VERB
fumecheng-158	22	16	the	the	DET
fumecheng-158	22	17	slewing	slewing	NOUN
fumecheng-158	22	18	bearing	bearing	NOUN
fumecheng-158	22	19	loads	load	NOUN
fumecheng-158	22	20	in	in	ADP
fumecheng-158	22	21	a	a	DET
fumecheng-158	22	22	platform	platform	NOUN
fumecheng-158	22	23	rotating	rotate	VERB
fumecheng-158	22	24	drive	drive	NOUN
fumecheng-158	22	25	of	of	ADP
fumecheng-158	22	26	hydraulic	hydraulic	ADJ
fumecheng-158	22	27	excavators	excavator	NOUN
fumecheng-158	22	28	,	,	PUNCT
fumecheng-158	22	29	on	on	ADP
fumecheng-158	22	30	the	the	DET
fumecheng-158	22	31	basis	basis	NOUN
fumecheng-158	22	32	of	of	ADP
fumecheng-158	22	33	the	the	DET
fumecheng-158	22	34	measured	measure	VERB
fumecheng-158	22	35	quantities	quantity	NOUN
fumecheng-158	22	36	of	of	ADP
fumecheng-158	22	37	the	the	DET
fumecheng-158	22	38	state	state	NOUN
fumecheng-158	22	39	of	of	ADP
fumecheng-158	22	40	the	the	DET
fumecheng-158	22	41	kinematic	kinematic	ADJ
fumecheng-158	22	42	chain	chain	NOUN
fumecheng-158	22	43	and	and	CCONJ
fumecheng-158	22	44	excavator	excavator	NOUN
fumecheng-158	22	45	drive	drive	NOUN
fumecheng-158	22	46	mechanisms	mechanism	NOUN
fumecheng-158	22	47	(	(	PUNCT
fumecheng-158	22	48	table	table	NOUN
fumecheng-158	22	49	1	1	NUM
fumecheng-158	22	50	)	)	PUNCT
fumecheng-158	22	51	(	(	PUNCT
fumecheng-158	22	52	fig	fig	NOUN
fumecheng-158	22	53	.	.	NOUN
fumecheng-158	23	1	1	1	NUM
fumecheng-158	23	2	)	)	PUNCT
fumecheng-158	23	3	when	when	SCONJ
fumecheng-158	23	4	the	the	DET
fumecheng-158	23	5	machine	machine	NOUN
fumecheng-158	23	6	operates	operate	VERB
fumecheng-158	23	7	under	under	ADP
fumecheng-158	23	8	real	real	ADJ
fumecheng-158	23	9	-	-	PUNCT
fumecheng-158	23	10	exploitation	exploitation	NOUN
fumecheng-158	23	11	conditions	condition	NOUN
fumecheng-158	23	12	.	.	PUNCT
fumecheng-158	24	1	the	the	DET
fumecheng-158	24	2	mathematical	mathematical	ADJ
fumecheng-158	24	3	model	model	NOUN
fumecheng-158	24	4	covers	cover	VERB
fumecheng-158	24	5	the	the	DET
fumecheng-158	24	6	general	general	ADJ
fumecheng-158	24	7	five	five	NUM
fumecheng-158	24	8	-	-	PUNCT
fumecheng-158	24	9	member	member	NOUN
fumecheng-158	24	10	configuration	configuration	NOUN
fumecheng-158	24	11	of	of	ADP
fumecheng-158	24	12	an	an	DET
fumecheng-158	24	13	excavator	excavator	NOUN
fumecheng-158	24	14	which	which	PRON
fumecheng-158	24	15	consists	consist	VERB
fumecheng-158	24	16	of	of	ADP
fumecheng-158	24	17	:	:	PUNCT
fumecheng-158	24	18	support	support	NOUN
fumecheng-158	24	19	and	and	CCONJ
fumecheng-158	24	20	movement	movement	NOUN
fumecheng-158	24	21	mechanism	mechanism	NOUN
fumecheng-158	24	22	l1	l1	PROPN
fumecheng-158	24	23	(	(	PUNCT
fumecheng-158	24	24	fig	fig	NOUN
fumecheng-158	24	25	.	.	PUNCT
fumecheng-158	24	26	1	1	NUM
fumecheng-158	24	27	)	)	PUNCT
fumecheng-158	24	28	,	,	PUNCT
fumecheng-158	24	29	rotating	rotate	VERB
fumecheng-158	24	30	platform	platform	NOUN
fumecheng-158	24	31	l2	l2	NOUN
fumecheng-158	24	32	,	,	PUNCT
fumecheng-158	24	33	and	and	CCONJ
fumecheng-158	24	34	the	the	DET
fumecheng-158	24	35	three	three	NUM
fumecheng-158	24	36	-	-	PUNCT
fumecheng-158	24	37	member	member	NOUN
fumecheng-158	24	38	planar	planar	ADJ
fumecheng-158	24	39	manipulator	manipulator	NOUN
fumecheng-158	24	40	with	with	ADP
fumecheng-158	24	41	:	:	PUNCT
fumecheng-158	24	42	boom	boom	NOUN
fumecheng-158	24	43	l3	l3	PROPN
fumecheng-158	24	44	,	,	PUNCT
fumecheng-158	24	45	stick	stick	PROPN
fumecheng-158	24	46	l4	l4	PROPN
fumecheng-158	24	47	and	and	CCONJ
fumecheng-158	24	48	excavating	excavate	VERB
fumecheng-158	24	49	bucket	bucket	NOUN
fumecheng-158	24	50	l5	l5	NOUN
fumecheng-158	24	51	.	.	PUNCT
fumecheng-158	25	1	members	member	NOUN
fumecheng-158	25	2	of	of	ADP
fumecheng-158	25	3	the	the	DET
fumecheng-158	25	4	kinematic	kinematic	ADJ
fumecheng-158	25	5	chain	chain	NOUN
fumecheng-158	25	6	of	of	ADP
fumecheng-158	25	7	an	an	DET
fumecheng-158	25	8	excavator	excavator	NOUN
fumecheng-158	25	9	create	create	VERB
fumecheng-158	25	10	fifth	fifth	ADJ
fumecheng-158	25	11	-	-	PUNCT
fumecheng-158	25	12	class	class	NOUN
fumecheng-158	25	13	kinematic	kinematic	ADJ
fumecheng-158	25	14	pairs	pair	NOUN
fumecheng-158	25	15	–	–	PUNCT
fumecheng-158	25	16	rotary	rotary	ADJ
fumecheng-158	25	17	joints	joint	NOUN
fumecheng-158	25	18	with	with	ADP
fumecheng-158	25	19	a	a	DET
fumecheng-158	25	20	single	single	ADJ
fumecheng-158	25	21	degree	degree	NOUN
fumecheng-158	25	22	of	of	ADP
fumecheng-158	25	23	freedom	freedom	NOUN
fumecheng-158	25	24	.	.	PUNCT
fumecheng-158	26	1	joints	joint	NOUN
fumecheng-158	26	2	axes	axis	NOUN
fumecheng-158	26	3	are	be	AUX
fumecheng-158	26	4	the	the	DET
fumecheng-158	26	5	axes	axis	NOUN
fumecheng-158	26	6	of	of	ADP
fumecheng-158	26	7	relative	relative	ADJ
fumecheng-158	26	8	turning	turning	NOUN
fumecheng-158	26	9	(	(	PUNCT
fumecheng-158	26	10	rotation	rotation	NOUN
fumecheng-158	26	11	)	)	PUNCT
fumecheng-158	26	12	of	of	ADP
fumecheng-158	26	13	the	the	DET
fumecheng-158	26	14	members	member	NOUN
fumecheng-158	26	15	which	which	PRON
fumecheng-158	26	16	constitute	constitute	VERB
fumecheng-158	26	17	the	the	DET
fumecheng-158	26	18	kinematic	kinematic	ADJ
fumecheng-158	26	19	pairs	pair	NOUN
fumecheng-158	26	20	of	of	ADP
fumecheng-158	26	21	the	the	DET
fumecheng-158	26	22	chain	chain	NOUN
fumecheng-158	26	23	.	.	PUNCT
fumecheng-158	27	1	the	the	DET
fumecheng-158	27	2	support	support	NOUN
fumecheng-158	27	3	and	and	CCONJ
fumecheng-158	27	4	movement	movement	NOUN
fumecheng-158	27	5	member	member	NOUN
fumecheng-158	27	6	of	of	ADP
fumecheng-158	27	7	the	the	DET
fumecheng-158	27	8	excavator	excavator	NOUN
fumecheng-158	27	9	and	and	CCONJ
fumecheng-158	27	10	the	the	DET
fumecheng-158	27	11	support	support	NOUN
fumecheng-158	27	12	surface	surface	NOUN
fumecheng-158	27	13	create	create	VERB
fumecheng-158	27	14	a	a	DET
fumecheng-158	27	15	third	third	ADJ
fumecheng-158	27	16	-	-	PUNCT
fumecheng-158	27	17	class	class	NOUN
fumecheng-158	27	18	zero	zero	NUM
fumecheng-158	27	19	joint	joint	NOUN
fumecheng-158	27	20	with	with	ADP
fumecheng-158	27	21	potential	potential	ADJ
fumecheng-158	27	22	movements	movement	NOUN
fumecheng-158	27	23	in	in	ADP
fumecheng-158	27	24	the	the	DET
fumecheng-158	27	25	plane	plane	NOUN
fumecheng-158	27	26	of	of	ADP
fumecheng-158	27	27	the	the	DET
fumecheng-158	27	28	surface	surface	NOUN
fumecheng-158	27	29	.	.	PUNCT
fumecheng-158	28	1	the	the	DET
fumecheng-158	28	2	center	center	NOUN
fumecheng-158	28	3	of	of	ADP
fumecheng-158	28	4	joint	joint	ADJ
fumecheng-158	28	5	o2	o2	NOUN
fumecheng-158	28	6	of	of	ADP
fumecheng-158	28	7	the	the	DET
fumecheng-158	28	8	support	support	NOUN
fumecheng-158	28	9	member	member	NOUN
fumecheng-158	28	10	-	-	PUNCT
fumecheng-158	28	11	rotation	rotation	NOUN
fumecheng-158	28	12	member	member	NOUN
fumecheng-158	28	13	kinematic	kinematic	ADJ
fumecheng-158	28	14	pair	pair	NOUN
fumecheng-158	28	15	is	be	AUX
fumecheng-158	28	16	the	the	DET
fumecheng-158	28	17	point	point	NOUN
fumecheng-158	28	18	of	of	ADP
fumecheng-158	28	19	perpendicular	perpendicular	ADJ
fumecheng-158	28	20	intersection	intersection	NOUN
fumecheng-158	28	21	of	of	ADP
fumecheng-158	28	22	the	the	DET
fumecheng-158	28	23	vertical	vertical	ADJ
fumecheng-158	28	24	axis	axis	NOUN
fumecheng-158	28	25	of	of	ADP
fumecheng-158	28	26	the	the	DET
fumecheng-158	28	27	joint	joint	NOUN
fumecheng-158	28	28	through	through	ADP
fumecheng-158	28	29	the	the	DET
fumecheng-158	28	30	horizontal	horizontal	ADJ
fumecheng-158	28	31	plane	plane	NOUN
fumecheng-158	28	32	which	which	PRON
fumecheng-158	28	33	contains	contain	VERB
fumecheng-158	28	34	the	the	DET
fumecheng-158	28	35	centers	center	NOUN
fumecheng-158	28	36	of	of	ADP
fumecheng-158	28	37	rolling	rolling	ADJ
fumecheng-158	28	38	elements	element	NOUN
fumecheng-158	28	39	of	of	ADP
fumecheng-158	28	40	the	the	DET
fumecheng-158	28	41	slewing	slewing	NOUN
fumecheng-158	28	42	bearing	bearing	NOUN
fumecheng-158	28	43	that	that	PRON
fumecheng-158	28	44	connects	connect	VERB
fumecheng-158	28	45	the	the	DET
fumecheng-158	28	46	support	support	NOUN
fumecheng-158	28	47	and	and	CCONJ
fumecheng-158	28	48	movement	movement	NOUN
fumecheng-158	28	49	member	member	NOUN
fumecheng-158	28	50	to	to	ADP
fumecheng-158	28	51	the	the	DET
fumecheng-158	28	52	rotation	rotation	NOUN
fumecheng-158	28	53	member	member	NOUN
fumecheng-158	28	54	of	of	ADP
fumecheng-158	28	55	the	the	DET
fumecheng-158	28	56	chain	chain	NOUN
fumecheng-158	28	57	.	.	PUNCT
fumecheng-158	29	1	centers	center	NOUN
fumecheng-158	29	2	of	of	ADP
fumecheng-158	29	3	the	the	DET
fumecheng-158	29	4	manipulator	manipulator	NOUN
fumecheng-158	29	5	joints	joint	NOUN
fumecheng-158	29	6	(	(	PUNCT
fumecheng-158	29	7	oi	oi	INTJ
fumecheng-158	29	8	,	,	PUNCT
fumecheng-158	29	9	i	i	NOUN
fumecheng-158	29	10	=	=	NOUN
fumecheng-158	29	11	3,4,5	3,4,5	X
fumecheng-158	29	12	)	)	PUNCT
fumecheng-158	29	13	are	be	AUX
fumecheng-158	29	14	points	point	NOUN
fumecheng-158	29	15	of	of	ADP
fumecheng-158	29	16	intersection	intersection	NOUN
fumecheng-158	29	17	of	of	ADP
fumecheng-158	29	18	the	the	DET
fumecheng-158	29	19	axis	axis	NOUN
fumecheng-158	29	20	of	of	ADP
fumecheng-158	29	21	joints	joint	NOUN
fumecheng-158	29	22	through	through	ADP
fumecheng-158	29	23	the	the	DET
fumecheng-158	29	24	plane	plane	NOUN
fumecheng-158	29	25	of	of	ADP
fumecheng-158	29	26	symmetry	symmetry	NOUN
fumecheng-158	29	27	of	of	ADP
fumecheng-158	29	28	the	the	DET
fumecheng-158	29	29	manipulator	manipulator	NOUN
fumecheng-158	29	30	chain	chain	NOUN
fumecheng-158	29	31	members	member	NOUN
fumecheng-158	29	32	.	.	PUNCT
fumecheng-158	30	1	the	the	DET
fumecheng-158	30	2	manipulator	manipulator	NOUN
fumecheng-158	30	3	chain	chain	NOUN
fumecheng-158	30	4	contained	contain	VERB
fumecheng-158	30	5	in	in	ADP
fumecheng-158	30	6	the	the	DET
fumecheng-158	30	7	model	model	NOUN
fumecheng-158	30	8	of	of	ADP
fumecheng-158	30	9	the	the	DET
fumecheng-158	30	10	excavator	excavator	NOUN
fumecheng-158	30	11	is	be	AUX
fumecheng-158	30	12	of	of	ADP
fumecheng-158	30	13	planar	planar	ADJ
fumecheng-158	30	14	configuration	configuration	NOUN
fumecheng-158	30	15	.	.	PUNCT
fumecheng-158	31	1	the	the	DET
fumecheng-158	31	2	axes	axis	NOUN
fumecheng-158	31	3	of	of	ADP
fumecheng-158	31	4	joints	joint	NOUN
fumecheng-158	31	5	are	be	AUX
fumecheng-158	31	6	parallel	parallel	ADJ
fumecheng-158	31	7	,	,	PUNCT
fumecheng-158	31	8	while	while	SCONJ
fumecheng-158	31	9	the	the	DET
fumecheng-158	31	10	centers	center	NOUN
fumecheng-158	31	11	of	of	ADP
fumecheng-158	31	12	joints	joint	NOUN
fumecheng-158	31	13	lie	lie	VERB
fumecheng-158	31	14	in	in	ADP
fumecheng-158	31	15	the	the	DET
fumecheng-158	31	16	same	same	ADJ
fumecheng-158	31	17	plane	plane	NOUN
fumecheng-158	31	18	–	–	PUNCT
fumecheng-158	31	19	the	the	DET
fumecheng-158	31	20	plane	plane	NOUN
fumecheng-158	31	21	of	of	ADP
fumecheng-158	31	22	the	the	DET
fumecheng-158	31	23	manipulator	manipulator	NOUN
fumecheng-158	31	24	.	.	PUNCT
fumecheng-158	32	1	the	the	DET
fumecheng-158	32	2	intersection	intersection	NOUN
fumecheng-158	32	3	of	of	ADP
fumecheng-158	32	4	the	the	DET
fumecheng-158	32	5	bucket	bucket	NOUN
fumecheng-158	32	6	cutting	cutting	NOUN
fumecheng-158	32	7	edge	edge	NOUN
fumecheng-158	32	8	through	through	ADP
fumecheng-158	32	9	the	the	DET
fumecheng-158	32	10	plane	plane	NOUN
fumecheng-158	32	11	of	of	ADP
fumecheng-158	32	12	the	the	DET
fumecheng-158	32	13	manipulator	manipulator	NOUN
fumecheng-158	32	14	represents	represent	VERB
fumecheng-158	32	15	the	the	DET
fumecheng-158	32	16	center	center	NOUN
fumecheng-158	32	17	of	of	ADP
fumecheng-158	32	18	bucket	bucket	NOUN
fumecheng-158	32	19	cutting	cutting	NOUN
fumecheng-158	32	20	edge	edge	NOUN
fumecheng-158	32	21	ow	ow	INTJ
fumecheng-158	32	22	.	.	PUNCT
fumecheng-158	32	23	experimental	experimental	ADJ
fumecheng-158	32	24	determination	determination	NOUN
fumecheng-158	32	25	of	of	ADP
fumecheng-158	32	26	bearing	bear	VERB
fumecheng-158	32	27	loads	load	NOUN
fumecheng-158	32	28	in	in	ADP
fumecheng-158	32	29	rotating	rotate	VERB
fumecheng-158	32	30	platform	platform	NOUN
fumecheng-158	32	31	drive	drive	NOUN
fumecheng-158	32	32	mechanisms	mechanism	NOUN
fumecheng-158	32	33	of	of	ADP
fumecheng-158	32	34	hyd	hyd	NOUN
fumecheng-158	32	35	.	.	PUNCT
fumecheng-158	33	1	excavators	excavator	NOUN
fumecheng-158	33	2	159	159	NUM
fumecheng-158	33	3	table	table	NOUN
fumecheng-158	33	4	1	1	NUM
fumecheng-158	33	5	measured	measure	VERB
fumecheng-158	33	6	quantities	quantity	NOUN
fumecheng-158	33	7	of	of	ADP
fumecheng-158	33	8	the	the	DET
fumecheng-158	33	9	state	state	NOUN
fumecheng-158	33	10	of	of	ADP
fumecheng-158	33	11	the	the	DET
fumecheng-158	33	12	kinematic	kinematic	ADJ
fumecheng-158	33	13	chain	chain	NOUN
fumecheng-158	33	14	and	and	CCONJ
fumecheng-158	33	15	excavator	excavator	NOUN
fumecheng-158	33	16	drive	drive	NOUN
fumecheng-158	33	17	mechanisms	mechanism	NOUN
fumecheng-158	33	18	measuring	measure	VERB
fumecheng-158	33	19	spot	spot	NOUN
fumecheng-158	33	20	name	name	NOUN
fumecheng-158	33	21	of	of	ADP
fumecheng-158	33	22	the	the	DET
fumecheng-158	33	23	measured	measured	ADJ
fumecheng-158	33	24	quantity	quantity	NOUN
fumecheng-158	33	25	symbol	symbol	NOUN
fumecheng-158	33	26	dimension	dimension	NOUN
fumecheng-158	33	27	м1	м1	ADV
fumecheng-158	33	28	lifting	lifting	NOUN
fumecheng-158	33	29	of	of	ADP
fumecheng-158	33	30	the	the	DET
fumecheng-158	33	31	support	support	NOUN
fumecheng-158	33	32	and	and	CCONJ
fumecheng-158	33	33	movement	movement	NOUN
fumecheng-158	33	34	mechanism	mechanism	NOUN
fumecheng-158	33	35	c1	c1	PROPN
fumecheng-158	33	36	m	m	PROPN
fumecheng-158	33	37	м2	м2	PROPN
fumecheng-158	33	38	platform	platform	PROPN
fumecheng-158	33	39	rotation	rotation	PROPN
fumecheng-158	33	40	angle	angle	NOUN
fumecheng-158	33	41	c2	c2	PROPN
fumecheng-158	33	42	о	о	PROPN
fumecheng-158	33	43	м3	м3	VERB
fumecheng-158	33	44	boom	boom	VERB
fumecheng-158	33	45	hydraulic	hydraulic	ADJ
fumecheng-158	33	46	cylinder	cylinder	NOUN
fumecheng-158	33	47	motion	motion	NOUN
fumecheng-158	33	48	c3	c3	PROPN
fumecheng-158	33	49	m	m	PROPN
fumecheng-158	33	50	м4	м4	PROPN
fumecheng-158	33	51	stick	stick	NOUN
fumecheng-158	33	52	hydraulic	hydraulic	ADJ
fumecheng-158	33	53	cylinder	cylinder	NOUN
fumecheng-158	33	54	motion	motion	NOUN
fumecheng-158	33	55	c4	c4	PROPN
fumecheng-158	33	56	m	m	PROPN
fumecheng-158	33	57	м5	м5	PROPN
fumecheng-158	33	58	bucket	bucket	NOUN
fumecheng-158	33	59	hydraulic	hydraulic	ADJ
fumecheng-158	33	60	cylinder	cylinder	NOUN
fumecheng-158	33	61	motion	motion	NOUN
fumecheng-158	33	62	c5	c5	PROPN
fumecheng-158	33	63	m	m	PROPN
fumecheng-158	33	64	м6	м6	NOUN
fumecheng-158	33	65	pressure	pressure	NOUN
fumecheng-158	33	66	in	in	ADP
fumecheng-158	33	67	one	one	NUM
fumecheng-158	33	68	duct	duct	NOUN
fumecheng-158	33	69	of	of	ADP
fumecheng-158	33	70	the	the	DET
fumecheng-158	33	71	hyd	hyd	NOUN
fumecheng-158	33	72	.	.	PUNCT
fumecheng-158	34	1	motor	motor	PROPN
fumecheng-158	34	2	for	for	ADP
fumecheng-158	34	3	platform	platform	NOUN
fumecheng-158	34	4	rotation	rotation	NOUN
fumecheng-158	34	5	drive	drive	VERB
fumecheng-158	34	6	p21	p21	PROPN
fumecheng-158	34	7	mpa	mpa	PROPN
fumecheng-158	34	8	м7	м7	PROPN
fumecheng-158	34	9	pressure	pressure	NOUN
fumecheng-158	34	10	in	in	ADP
fumecheng-158	34	11	other	other	ADJ
fumecheng-158	34	12	duct	duct	NOUN
fumecheng-158	34	13	of	of	ADP
fumecheng-158	34	14	the	the	DET
fumecheng-158	34	15	hyd	hyd	NOUN
fumecheng-158	34	16	.	.	PUNCT
fumecheng-158	35	1	motor	motor	PROPN
fumecheng-158	35	2	for	for	ADP
fumecheng-158	35	3	platform	platform	NOUN
fumecheng-158	35	4	rotation	rotation	NOUN
fumecheng-158	35	5	drive	drive	NOUN
fumecheng-158	35	6	p22	p22	NOUN
fumecheng-158	35	7	mpa	mpa	PROPN
fumecheng-158	35	8	м8	м8	PROPN
fumecheng-158	35	9	pressure	pressure	NOUN
fumecheng-158	35	10	in	in	ADP
fumecheng-158	35	11	the	the	DET
fumecheng-158	35	12	boom	boom	NOUN
fumecheng-158	35	13	hydraulic	hydraulic	ADJ
fumecheng-158	35	14	cylinder	cylinder	NOUN
fumecheng-158	35	15	on	on	ADP
fumecheng-158	35	16	the	the	DET
fumecheng-158	35	17	piston	piston	NOUN
fumecheng-158	35	18	side	side	NOUN
fumecheng-158	35	19	p31	p31	NOUN
fumecheng-158	35	20	mpa	mpa	PROPN
fumecheng-158	35	21	м9	м9	PROPN
fumecheng-158	35	22	pressure	pressure	NOUN
fumecheng-158	35	23	in	in	ADP
fumecheng-158	35	24	the	the	DET
fumecheng-158	35	25	boom	boom	NOUN
fumecheng-158	35	26	hydraulic	hydraulic	ADJ
fumecheng-158	35	27	cylinder	cylinder	NOUN
fumecheng-158	35	28	on	on	ADP
fumecheng-158	35	29	the	the	DET
fumecheng-158	35	30	connecting	connect	VERB
fumecheng-158	35	31	rod	rod	NOUN
fumecheng-158	35	32	side	side	NOUN
fumecheng-158	35	33	p32	p32	NOUN
fumecheng-158	35	34	mpa	mpa	PROPN
fumecheng-158	35	35	м10	м10	ADJ
fumecheng-158	35	36	pressure	pressure	NOUN
fumecheng-158	35	37	in	in	ADP
fumecheng-158	35	38	the	the	DET
fumecheng-158	35	39	stick	stick	NOUN
fumecheng-158	35	40	hydraulic	hydraulic	ADJ
fumecheng-158	35	41	cylinder	cylinder	NOUN
fumecheng-158	35	42	on	on	ADP
fumecheng-158	35	43	the	the	DET
fumecheng-158	35	44	piston	piston	NOUN
fumecheng-158	35	45	side	side	NOUN
fumecheng-158	35	46	p41	p41	PROPN
fumecheng-158	35	47	mpa	mpa	PROPN
fumecheng-158	35	48	м11	м11	NOUN
fumecheng-158	35	49	pressure	pressure	NOUN
fumecheng-158	35	50	in	in	ADP
fumecheng-158	35	51	the	the	DET
fumecheng-158	35	52	stick	stick	NOUN
fumecheng-158	35	53	hydraulic	hydraulic	ADJ
fumecheng-158	35	54	cylinder	cylinder	NOUN
fumecheng-158	35	55	on	on	ADP
fumecheng-158	35	56	the	the	DET
fumecheng-158	35	57	connecting	connect	VERB
fumecheng-158	35	58	rod	rod	NOUN
fumecheng-158	35	59	side	side	NOUN
fumecheng-158	35	60	p42	p42	NOUN
fumecheng-158	35	61	mpa	mpa	PROPN
fumecheng-158	35	62	м12	м12	NOUN
fumecheng-158	35	63	pressure	pressure	NOUN
fumecheng-158	35	64	in	in	ADP
fumecheng-158	35	65	the	the	DET
fumecheng-158	35	66	bucket	bucket	NOUN
fumecheng-158	35	67	hydraulic	hydraulic	ADJ
fumecheng-158	35	68	cylinder	cylinder	NOUN
fumecheng-158	35	69	on	on	ADP
fumecheng-158	35	70	the	the	DET
fumecheng-158	35	71	piston	piston	NOUN
fumecheng-158	35	72	side	side	NOUN
fumecheng-158	35	73	p51	p51	PROPN
fumecheng-158	35	74	mpa	mpa	PROPN
fumecheng-158	35	75	м13	м13	PROPN
fumecheng-158	35	76	pressure	pressure	NOUN
fumecheng-158	35	77	in	in	ADP
fumecheng-158	35	78	the	the	DET
fumecheng-158	35	79	bucket	bucket	NOUN
fumecheng-158	35	80	hyd	hyd	NOUN
fumecheng-158	35	81	.	.	PUNCT
fumecheng-158	36	1	cylinder	cylinder	NOUN
fumecheng-158	36	2	on	on	ADP
fumecheng-158	36	3	the	the	DET
fumecheng-158	36	4	connecting	connect	VERB
fumecheng-158	36	5	rod	rod	NOUN
fumecheng-158	36	6	side	side	NOUN
fumecheng-158	36	7	p52	p52	NOUN
fumecheng-158	36	8	mpa	mpa	NOUN
fumecheng-158	36	9	the	the	DET
fumecheng-158	36	10	assumptions	assumption	NOUN
fumecheng-158	36	11	of	of	ADP
fumecheng-158	36	12	the	the	DET
fumecheng-158	36	13	mathematical	mathematical	ADJ
fumecheng-158	36	14	model	model	NOUN
fumecheng-158	36	15	of	of	ADP
fumecheng-158	36	16	the	the	DET
fumecheng-158	36	17	excavator	excavator	NOUN
fumecheng-158	36	18	kinematic	kinematic	ADJ
fumecheng-158	36	19	chain	chain	NOUN
fumecheng-158	36	20	are	be	AUX
fumecheng-158	36	21	:	:	PUNCT
fumecheng-158	36	22	the	the	DET
fumecheng-158	36	23	support	support	NOUN
fumecheng-158	36	24	surface	surface	NOUN
fumecheng-158	36	25	and	and	CCONJ
fumecheng-158	36	26	kinematic	kinematic	ADJ
fumecheng-158	36	27	chain	chain	NOUN
fumecheng-158	36	28	members	member	NOUN
fumecheng-158	36	29	are	be	AUX
fumecheng-158	36	30	modeled	model	VERB
fumecheng-158	36	31	using	use	VERB
fumecheng-158	36	32	rigid	rigid	ADJ
fumecheng-158	36	33	bodies	body	NOUN
fumecheng-158	36	34	,	,	PUNCT
fumecheng-158	36	35	the	the	DET
fumecheng-158	36	36	contact	contact	NOUN
fumecheng-158	36	37	between	between	ADP
fumecheng-158	36	38	the	the	DET
fumecheng-158	36	39	support	support	NOUN
fumecheng-158	36	40	and	and	CCONJ
fumecheng-158	36	41	movement	movement	NOUN
fumecheng-158	36	42	member	member	NOUN
fumecheng-158	36	43	and	and	CCONJ
fumecheng-158	36	44	the	the	DET
fumecheng-158	36	45	excavator	excavator	NOUN
fumecheng-158	36	46	support	support	NOUN
fumecheng-158	36	47	surface	surface	NOUN
fumecheng-158	36	48	is	be	AUX
fumecheng-158	36	49	taken	take	VERB
fumecheng-158	36	50	as	as	ADP
fumecheng-158	36	51	the	the	DET
fumecheng-158	36	52	first	first	ADJ
fumecheng-158	36	53	joint	joint	NOUN
fumecheng-158	36	54	which	which	PRON
fumecheng-158	36	55	has	have	VERB
fumecheng-158	36	56	a	a	DET
fumecheng-158	36	57	variable	variable	ADJ
fumecheng-158	36	58	position	position	NOUN
fumecheng-158	36	59	and	and	CCONJ
fumecheng-158	36	60	form	form	NOUN
fumecheng-158	36	61	,	,	PUNCT
fumecheng-158	36	62	thus	thus	ADV
fumecheng-158	36	63	having	have	VERB
fumecheng-158	36	64	the	the	DET
fumecheng-158	36	65	form	form	NOUN
fumecheng-158	36	66	of	of	ADP
fumecheng-158	36	67	a	a	DET
fumecheng-158	36	68	translatory	translatory	NOUN
fumecheng-158	36	69	-	-	PUNCT
fumecheng-158	36	70	sliding	slide	VERB
fumecheng-158	36	71	joint	joint	NOUN
fumecheng-158	36	72	along	along	ADP
fumecheng-158	36	73	the	the	DET
fumecheng-158	36	74	contact	contact	NOUN
fumecheng-158	36	75	between	between	ADP
fumecheng-158	36	76	the	the	DET
fumecheng-158	36	77	support	support	NOUN
fumecheng-158	36	78	and	and	CCONJ
fumecheng-158	36	79	movement	movement	NOUN
fumecheng-158	36	80	member	member	NOUN
fumecheng-158	36	81	and	and	CCONJ
fumecheng-158	36	82	the	the	DET
fumecheng-158	36	83	surface	surface	NOUN
fumecheng-158	36	84	,	,	PUNCT
fumecheng-158	36	85	while	while	SCONJ
fumecheng-158	36	86	having	have	VERB
fumecheng-158	36	87	the	the	DET
fumecheng-158	36	88	form	form	NOUN
fumecheng-158	36	89	of	of	ADP
fumecheng-158	36	90	rotary	rotary	ADJ
fumecheng-158	36	91	joints	joint	NOUN
fumecheng-158	36	92	o11,o12	o11,o12	VERB
fumecheng-158	36	93	,	,	PUNCT
fumecheng-158	36	94	whose	whose	DET
fumecheng-158	36	95	axes	axis	NOUN
fumecheng-158	36	96	represent	represent	VERB
fumecheng-158	36	97	potential	potential	ADJ
fumecheng-158	36	98	excavator	excavator	NOUN
fumecheng-158	36	99	rollover	rollover	NOUN
fumecheng-158	36	100	lines	line	NOUN
fumecheng-158	36	101	,	,	PUNCT
fumecheng-158	36	102	on	on	ADP
fumecheng-158	36	103	the	the	DET
fumecheng-158	36	104	edges	edge	NOUN
fumecheng-158	36	105	of	of	ADP
fumecheng-158	36	106	the	the	DET
fumecheng-158	36	107	contact	contact	NOUN
fumecheng-158	36	108	,	,	PUNCT
fumecheng-158	36	109	the	the	DET
fumecheng-158	36	110	kinematic	kinematic	ADJ
fumecheng-158	36	111	chain	chain	NOUN
fumecheng-158	36	112	of	of	ADP
fumecheng-158	36	113	the	the	DET
fumecheng-158	36	114	excavator	excavator	NOUN
fumecheng-158	36	115	has	have	VERB
fumecheng-158	36	116	an	an	DET
fumecheng-158	36	117	open	open	ADJ
fumecheng-158	36	118	configuration	configuration	NOUN
fumecheng-158	36	119	,	,	PUNCT
fumecheng-158	36	120	bearing	bear	VERB
fumecheng-158	36	121	in	in	ADP
fumecheng-158	36	122	mind	mind	NOUN
fumecheng-158	36	123	that	that	SCONJ
fumecheng-158	36	124	even	even	ADV
fumecheng-158	36	125	though	though	SCONJ
fumecheng-158	36	126	it	it	PRON
fumecheng-158	36	127	has	have	VERB
fumecheng-158	36	128	a	a	DET
fumecheng-158	36	129	closed	closed	ADJ
fumecheng-158	36	130	configuration	configuration	NOUN
fumecheng-158	36	131	during	during	ADP
fumecheng-158	36	132	the	the	DET
fumecheng-158	36	133	digging	digging	NOUN
fumecheng-158	36	134	operation	operation	NOUN
fumecheng-158	36	135	,	,	PUNCT
fumecheng-158	36	136	it	it	PRON
fumecheng-158	36	137	is	be	AUX
fumecheng-158	36	138	still	still	ADV
fumecheng-158	36	139	observed	observe	VERB
fumecheng-158	36	140	as	as	ADP
fumecheng-158	36	141	an	an	DET
fumecheng-158	36	142	open	open	ADJ
fumecheng-158	36	143	configuration	configuration	NOUN
fumecheng-158	36	144	chain	chain	NOUN
fumecheng-158	36	145	,	,	PUNCT
fumecheng-158	36	146	whose	whose	DET
fumecheng-158	36	147	final	final	ADJ
fumecheng-158	36	148	member	member	NOUN
fumecheng-158	36	149	–	–	PUNCT
fumecheng-158	36	150	the	the	DET
fumecheng-158	36	151	bucket	bucket	NOUN
fumecheng-158	36	152	,	,	PUNCT
fumecheng-158	36	153	is	be	AUX
fumecheng-158	36	154	subjected	subject	VERB
fumecheng-158	36	155	to	to	ADP
fumecheng-158	36	156	technological	technological	ADJ
fumecheng-158	36	157	digging	digging	NOUN
fumecheng-158	36	158	resistances	resistance	NOUN
fumecheng-158	36	159	w	w	ADP
fumecheng-158	36	160	,	,	PUNCT
fumecheng-158	36	161	during	during	ADP
fumecheng-158	36	162	the	the	DET
fumecheng-158	36	163	manipulation	manipulation	NOUN
fumecheng-158	36	164	task	task	NOUN
fumecheng-158	36	165	,	,	PUNCT
fumecheng-158	36	166	the	the	DET
fumecheng-158	36	167	kinematic	kinematic	ADJ
fumecheng-158	36	168	chain	chain	NOUN
fumecheng-158	36	169	of	of	ADP
fumecheng-158	36	170	the	the	DET
fumecheng-158	36	171	excavator	excavator	NOUN
fumecheng-158	36	172	is	be	AUX
fumecheng-158	36	173	subjected	subject	VERB
fumecheng-158	36	174	to	to	ADP
fumecheng-158	36	175	gravitational	gravitational	ADJ
fumecheng-158	36	176	,	,	PUNCT
fumecheng-158	36	177	innate	innate	ADJ
fumecheng-158	36	178	and	and	CCONJ
fumecheng-158	36	179	external	external	ADJ
fumecheng-158	36	180	(	(	PUNCT
fumecheng-158	36	181	technological	technological	ADJ
fumecheng-158	36	182	)	)	PUNCT
fumecheng-158	36	183	forces	force	NOUN
fumecheng-158	36	184	–	–	PUNCT
fumecheng-158	36	185	digging	dig	VERB
fumecheng-158	36	186	resistances	resistance	NOUN
fumecheng-158	36	187	,	,	PUNCT
fumecheng-158	36	188	the	the	DET
fumecheng-158	36	189	position	position	NOUN
fumecheng-158	36	190	of	of	ADP
fumecheng-158	36	191	the	the	DET
fumecheng-158	36	192	mass	mass	ADJ
fumecheng-158	36	193	center	center	NOUN
fumecheng-158	36	194	of	of	ADP
fumecheng-158	36	195	a	a	DET
fumecheng-158	36	196	hydraulic	hydraulic	ADJ
fumecheng-158	36	197	cylinder	cylinder	NOUN
fumecheng-158	36	198	is	be	AUX
fumecheng-158	36	199	in	in	ADP
fumecheng-158	36	200	the	the	DET
fumecheng-158	36	201	middle	middle	NOUN
fumecheng-158	36	202	of	of	ADP
fumecheng-158	36	203	the	the	DET
fumecheng-158	36	204	current	current	ADJ
fumecheng-158	36	205	length	length	NOUN
fumecheng-158	36	206	of	of	ADP
fumecheng-158	36	207	that	that	DET
fumecheng-158	36	208	hydraulic	hydraulic	ADJ
fumecheng-158	36	209	cylinder	cylinder	NOUN
fumecheng-158	36	210	,	,	PUNCT
fumecheng-158	36	211	the	the	DET
fumecheng-158	36	212	influence	influence	NOUN
fumecheng-158	36	213	of	of	ADP
fumecheng-158	36	214	friction	friction	NOUN
fumecheng-158	36	215	resistances	resistance	NOUN
fumecheng-158	36	216	is	be	AUX
fumecheng-158	36	217	neglected	neglect	VERB
fumecheng-158	36	218	in	in	ADP
fumecheng-158	36	219	the	the	DET
fumecheng-158	36	220	kinematic	kinematic	ADJ
fumecheng-158	36	221	chain	chain	NOUN
fumecheng-158	36	222	and	and	CCONJ
fumecheng-158	36	223	excavator	excavator	NOUN
fumecheng-158	36	224	drive	drive	NOUN
fumecheng-158	36	225	mechanism	mechanism	NOUN
fumecheng-158	36	226	joints	joint	NOUN
fumecheng-158	36	227	.	.	PUNCT
fumecheng-158	37	1	the	the	DET
fumecheng-158	37	2	area	area	NOUN
fumecheng-158	37	3	of	of	ADP
fumecheng-158	37	4	the	the	DET
fumecheng-158	37	5	excavator	excavator	NOUN
fumecheng-158	37	6	model	model	NOUN
fumecheng-158	37	7	is	be	AUX
fumecheng-158	37	8	determined	determine	VERB
fumecheng-158	37	9	by	by	ADP
fumecheng-158	37	10	an	an	DET
fumecheng-158	37	11	absolute	absolute	ADJ
fumecheng-158	37	12	coordinate	coordinate	NOUN
fumecheng-158	37	13	system	system	NOUN
fumecheng-158	37	14	oxyz	oxyz	NOUN
fumecheng-158	37	15	(	(	PUNCT
fumecheng-158	37	16	fig	fig	NOUN
fumecheng-158	37	17	.	.	NOUN
fumecheng-158	38	1	1	1	NUM
fumecheng-158	38	2	)	)	PUNCT
fumecheng-158	38	3	with	with	ADP
fumecheng-158	38	4	unit	unit	NOUN
fumecheng-158	38	5	vectors	vector	NOUN
fumecheng-158	38	6	k	k	PROPN
fumecheng-158	38	7	,	,	PUNCT
fumecheng-158	38	8	j	j	PROPN
fumecheng-158	38	9	,	,	PUNCT
fumecheng-158	38	10	i	i	PRON
fumecheng-158	38	11	rrr	rrr	VERB
fumecheng-158	38	12	along	along	ADP
fumecheng-158	38	13	the	the	DET
fumecheng-158	38	14	coordinate	coordinate	NOUN
fumecheng-158	38	15	axes	axis	NOUN
fumecheng-158	38	16	.	.	PUNCT
fumecheng-158	39	1	the	the	DET
fumecheng-158	39	2	excavator	excavator	NOUN
fumecheng-158	39	3	support	support	NOUN
fumecheng-158	39	4	surface	surface	NOUN
fumecheng-158	39	5	lies	lie	VERB
fumecheng-158	39	6	in	in	ADP
fumecheng-158	39	7	the	the	DET
fumecheng-158	39	8	horizontal	horizontal	ADJ
fumecheng-158	39	9	axis	axis	NOUN
fumecheng-158	39	10	of	of	ADP
fumecheng-158	39	11	oxz	oxz	NOUN
fumecheng-158	39	12	absolute	absolute	ADJ
fumecheng-158	39	13	coordinate	coordinate	NOUN
fumecheng-158	39	14	system	system	NOUN
fumecheng-158	39	15	,	,	PUNCT
fumecheng-158	39	16	while	while	SCONJ
fumecheng-158	39	17	vertical	vertical	ADJ
fumecheng-158	39	18	axis	axis	NOUN
fumecheng-158	39	19	oy	oy	NOUN
fumecheng-158	39	20	of	of	ADP
fumecheng-158	39	21	the	the	DET
fumecheng-158	39	22	same	same	ADJ
fumecheng-158	39	23	system	system	NOUN
fumecheng-158	39	24	falls	fall	VERB
fumecheng-158	39	25	on	on	ADP
fumecheng-158	39	26	the	the	DET
fumecheng-158	39	27	axis	axis	NOUN
fumecheng-158	39	28	of	of	ADP
fumecheng-158	39	29	the	the	DET
fumecheng-158	39	30	support	support	NOUN
fumecheng-158	39	31	member	member	NOUN
fumecheng-158	39	32	-	-	PUNCT
fumecheng-158	39	33	rotating	rotate	VERB
fumecheng-158	39	34	member	member	NOUN
fumecheng-158	39	35	kinematic	kinematic	ADJ
fumecheng-158	39	36	pair	pair	NOUN
fumecheng-158	39	37	when	when	SCONJ
fumecheng-158	39	38	the	the	DET
fumecheng-158	39	39	excavator	excavator	NOUN
fumecheng-158	39	40	is	be	AUX
fumecheng-158	39	41	positioned	position	VERB
fumecheng-158	39	42	on	on	ADP
fumecheng-158	39	43	the	the	DET
fumecheng-158	39	44	horizontal	horizontal	ADJ
fumecheng-158	39	45	surface	surface	NOUN
fumecheng-158	39	46	.	.	PUNCT
fumecheng-158	40	1	a	a	DET
fumecheng-158	40	2	member	member	NOUN
fumecheng-158	40	3	of	of	ADP
fumecheng-158	40	4	kinematic	kinematic	ADJ
fumecheng-158	40	5	chain	chain	NOUN
fumecheng-158	40	6	li	li	PROPN
fumecheng-158	40	7	,	,	PUNCT
fumecheng-158	40	8	in	in	ADP
fumecheng-158	40	9	its	its	PRON
fumecheng-158	40	10	local	local	ADJ
fumecheng-158	40	11	coordinate	coordinate	NOUN
fumecheng-158	40	12	system	system	NOUN
fumecheng-158	40	13	oi	oi	INTJ
fumecheng-158	40	14	xi	xi	PROPN
fumecheng-158	40	15	yi	yi	PROPN
fumecheng-158	40	16	zi	zi	PROPN
fumecheng-158	40	17	,	,	PUNCT
fumecheng-158	40	18	with	with	ADP
fumecheng-158	40	19	unit	unit	NOUN
fumecheng-158	40	20	vectors	vector	NOUN
fumecheng-158	40	21	iii	iii	PROPN
fumecheng-158	40	22	k	k	PROPN
fumecheng-158	40	23	,	,	PUNCT
fumecheng-158	40	24	j	j	PROPN
fumecheng-158	40	25	,	,	PUNCT
fumecheng-158	40	26	i	i	PRON
fumecheng-158	40	27	)	)	PUNCT
fumecheng-158	40	28	r)r)r	r)r)r	VERB
fumecheng-158	40	29	along	along	ADP
fumecheng-158	40	30	the	the	DET
fumecheng-158	40	31	coordinate	coordinate	NOUN
fumecheng-158	40	32	axes	axis	NOUN
fumecheng-158	40	33	,	,	PUNCT
fumecheng-158	40	34	is	be	AUX
fumecheng-158	40	35	defined	define	VERB
fumecheng-158	40	36	by	by	ADP
fumecheng-158	40	37	a	a	DET
fumecheng-158	40	38	set	set	NOUN
fumecheng-158	40	39	of	of	ADP
fumecheng-158	40	40	geometric	geometric	ADJ
fumecheng-158	40	41	,	,	PUNCT
fumecheng-158	40	42	kinematic	kinematic	ADJ
fumecheng-158	40	43	and	and	CCONJ
fumecheng-158	40	44	dynamic	dynamic	ADJ
fumecheng-158	40	45	parameters	parameter	NOUN
fumecheng-158	40	46	[	[	X
fumecheng-158	40	47	8	8	NUM
fumecheng-158	40	48	]	]	SYM
fumecheng-158	40	49	:	:	PUNCT
fumecheng-158	40	50	160	160	NUM
fumecheng-158	40	51	v.	v.	ADP
fumecheng-158	40	52	jovanović	jovanović	PROPN
fumecheng-158	40	53	,	,	PUNCT
fumecheng-158	40	54	d.	d.	PROPN
fumecheng-158	40	55	janošević	janošević	PROPN
fumecheng-158	40	56	,	,	PUNCT
fumecheng-158	40	57	n.	n.	NOUN
fumecheng-158	40	58	petrović	petrović	PROPN
fumecheng-158	40	59	{	{	PUNCT
fumecheng-158	40	60	,	,	PUNCT
fumecheng-158	40	61	,	,	PUNCT
fumecheng-158	40	62	,	,	PUNCT
fumecheng-158	40	63	,	,	PUNCT
fumecheng-158	40	64	}	}	PUNCT
fumecheng-158	40	65	i	i	PRON
fumecheng-158	41	1	i	i	PRON
fumecheng-158	42	1	i	i	PRON
fumecheng-158	43	1	i	i	INTJ
fumecheng-158	43	2	il	il	PROPN
fumecheng-158	44	1	e	e	PROPN
fumecheng-158	44	2	s	s	PROPN
fumecheng-158	44	3	t	t	PROPN
fumecheng-158	44	4	m	m	VERB
fumecheng-158	44	5	j=	j=	NOUN
fumecheng-158	44	6	i	i	PRON
fumecheng-158	44	7	)	)	PUNCT
fumecheng-158	44	8	)	)	PUNCT
fumecheng-158	44	9	)	)	PUNCT
fumecheng-158	44	10	)	)	PUNCT
fumecheng-158	45	1	rr	rr	X
fumecheng-158	45	2	r	r	NOUN
fumecheng-158	45	3	(	(	PUNCT
fumecheng-158	45	4	1	1	NUM
fumecheng-158	45	5	)	)	PUNCT
fumecheng-158	45	6	where	where	SCONJ
fumecheng-158	45	7	ie	ie	ADV
fumecheng-158	45	8	)	)	PUNCT
fumecheng-158	45	9	r	r	NOUN
fumecheng-158	45	10	is	be	AUX
fumecheng-158	45	11	the	the	DET
fumecheng-158	45	12	unit	unit	NOUN
fumecheng-158	45	13	vector	vector	NOUN
fumecheng-158	45	14	of	of	ADP
fumecheng-158	45	15	joint	joint	ADJ
fumecheng-158	45	16	oi	oi	ADJ
fumecheng-158	45	17	axis	axis	NOUN
fumecheng-158	45	18	which	which	PRON
fumecheng-158	45	19	connects	connect	VERB
fumecheng-158	45	20	member	member	NOUN
fumecheng-158	45	21	li	li	PROPN
fumecheng-158	45	22	to	to	ADP
fumecheng-158	45	23	the	the	DET
fumecheng-158	45	24	previous	previous	ADJ
fumecheng-158	45	25	member	member	NOUN
fumecheng-158	45	26	li-1	li-1	ADV
fumecheng-158	45	27	(	(	PUNCT
fumecheng-158	45	28	fig	fig	NOUN
fumecheng-158	45	29	.	.	NOUN
fumecheng-158	45	30	1	1	NUM
fumecheng-158	45	31	)	)	PUNCT
fumecheng-158	45	32	,	,	PUNCT
fumecheng-158	45	33	is	be	AUX
fumecheng-158	45	34	)	)	PUNCT
fumecheng-158	45	35	r	r	NOUN
fumecheng-158	45	36	is	be	AUX
fumecheng-158	45	37	the	the	DET
fumecheng-158	45	38	vector	vector	NOUN
fumecheng-158	45	39	of	of	ADP
fumecheng-158	45	40	the	the	DET
fumecheng-158	45	41	position	position	NOUN
fumecheng-158	45	42	of	of	ADP
fumecheng-158	45	43	joint	joint	ADJ
fumecheng-158	45	44	oi+1	oi+1	ADJ
fumecheng-158	45	45	center	center	NOUN
fumecheng-158	45	46	which	which	PRON
fumecheng-158	45	47	is	be	AUX
fumecheng-158	45	48	used	use	VERB
fumecheng-158	45	49	to	to	PART
fumecheng-158	45	50	connect	connect	VERB
fumecheng-158	45	51	chain	chain	NOUN
fumecheng-158	45	52	member	member	NOUN
fumecheng-158	45	53	li	li	PROPN
fumecheng-158	45	54	to	to	ADP
fumecheng-158	45	55	next	next	PROPN
fumecheng-158	45	56	member	member	PROPN
fumecheng-158	45	57	li+1	li+1	PROPN
fumecheng-158	45	58	(	(	PUNCT
fumecheng-158	45	59	vector	vector	NOUN
fumecheng-158	45	60	si	si	PROPN
fumecheng-158	45	61	magnitude	magnitude	NOUN
fumecheng-158	45	62	represents	represent	VERB
fumecheng-158	45	63	the	the	DET
fumecheng-158	45	64	kinematic	kinematic	ADJ
fumecheng-158	45	65	length	length	NOUN
fumecheng-158	45	66	of	of	ADP
fumecheng-158	45	67	the	the	DET
fumecheng-158	45	68	member	member	NOUN
fumecheng-158	45	69	)	)	PUNCT
fumecheng-158	45	70	,	,	PUNCT
fumecheng-158	46	1	it	it	PRON
fumecheng-158	46	2	)	)	PUNCT
fumecheng-158	46	3	r	r	NOUN
fumecheng-158	46	4	is	be	AUX
fumecheng-158	46	5	the	the	DET
fumecheng-158	46	6	vector	vector	NOUN
fumecheng-158	46	7	of	of	ADP
fumecheng-158	46	8	the	the	DET
fumecheng-158	46	9	position	position	NOUN
fumecheng-158	46	10	of	of	ADP
fumecheng-158	46	11	member	member	NOUN
fumecheng-158	46	12	li	li	PROPN
fumecheng-158	46	13	mass	mass	PROPN
fumecheng-158	46	14	center	center	PROPN
fumecheng-158	46	15	,	,	PUNCT
fumecheng-158	46	16	mi	mi	PROPN
fumecheng-158	46	17	is	be	AUX
fumecheng-158	46	18	member	member	NOUN
fumecheng-158	46	19	mass	mass	PROPN
fumecheng-158	46	20	,	,	PUNCT
fumecheng-158	46	21	ij	ij	INTJ
fumecheng-158	46	22	)	)	PUNCT
fumecheng-158	46	23	is	be	AUX
fumecheng-158	46	24	the	the	DET
fumecheng-158	46	25	tensor	tensor	NOUN
fumecheng-158	46	26	of	of	ADP
fumecheng-158	46	27	the	the	DET
fumecheng-158	46	28	member	member	NOUN
fumecheng-158	46	29	moment	moment	NOUN
fumecheng-158	46	30	of	of	ADP
fumecheng-158	46	31	inertia	inertia	NOUN
fumecheng-158	46	32	.	.	PUNCT
fumecheng-158	47	1	fig	fig	NOUN
fumecheng-158	47	2	.	.	PUNCT
fumecheng-158	48	1	1	1	NUM
fumecheng-158	48	2	mathematical	mathematical	ADJ
fumecheng-158	48	3	model	model	NOUN
fumecheng-158	48	4	of	of	ADP
fumecheng-158	48	5	an	an	DET
fumecheng-158	48	6	excavator	excavator	NOUN
fumecheng-158	48	7	:	:	PUNCT
fumecheng-158	48	8	a	a	X
fumecheng-158	48	9	)	)	PUNCT
fumecheng-158	48	10	excavator	excavator	NOUN
fumecheng-158	48	11	kinematic	kinematic	ADJ
fumecheng-158	48	12	chain	chain	NOUN
fumecheng-158	48	13	,	,	PUNCT
fumecheng-158	48	14	b	b	NOUN
fumecheng-158	48	15	)	)	PUNCT
fumecheng-158	48	16	excavator	excavator	NOUN
fumecheng-158	48	17	platform	platform	NOUN
fumecheng-158	48	18	rotation	rotation	NOUN
fumecheng-158	48	19	drive	drive	VERB
fumecheng-158	48	20	experimental	experimental	ADJ
fumecheng-158	48	21	determination	determination	NOUN
fumecheng-158	48	22	of	of	ADP
fumecheng-158	48	23	bearing	bear	VERB
fumecheng-158	48	24	loads	load	NOUN
fumecheng-158	48	25	in	in	ADP
fumecheng-158	48	26	rotating	rotate	VERB
fumecheng-158	48	27	platform	platform	NOUN
fumecheng-158	48	28	drive	drive	NOUN
fumecheng-158	48	29	mechanisms	mechanism	NOUN
fumecheng-158	48	30	of	of	ADP
fumecheng-158	48	31	hyd	hyd	NOUN
fumecheng-158	48	32	.	.	PUNCT
fumecheng-158	49	1	excavators	excavator	NOUN
fumecheng-158	49	2	161	161	NUM
fumecheng-158	49	3	vector	vector	NOUN
fumecheng-158	49	4	quantities	quantity	NOUN
fumecheng-158	49	5	marked	mark	VERB
fumecheng-158	49	6	with	with	ADP
fumecheng-158	49	7	a	a	DET
fumecheng-158	49	8	‘	'	PUNCT
fumecheng-158	49	9	cap	cap	NOUN
fumecheng-158	49	10	’	'	PUNCT
fumecheng-158	49	11	relate	relate	VERB
fumecheng-158	49	12	to	to	ADP
fumecheng-158	49	13	the	the	DET
fumecheng-158	49	14	local	local	ADJ
fumecheng-158	49	15	coordinate	coordinate	NOUN
fumecheng-158	49	16	system	system	NOUN
fumecheng-158	49	17	,	,	PUNCT
fumecheng-158	49	18	while	while	SCONJ
fumecheng-158	49	19	those	those	PRON
fumecheng-158	49	20	without	without	ADP
fumecheng-158	49	21	a	a	DET
fumecheng-158	49	22	‘	'	PUNCT
fumecheng-158	49	23	cap	cap	NOUN
fumecheng-158	49	24	’	'	PUNCT
fumecheng-158	49	25	relate	relate	VERB
fumecheng-158	49	26	to	to	ADP
fumecheng-158	49	27	the	the	DET
fumecheng-158	49	28	absolute	absolute	ADJ
fumecheng-158	49	29	coordinate	coordinate	NOUN
fumecheng-158	49	30	system	system	NOUN
fumecheng-158	49	31	.	.	PUNCT
fumecheng-158	50	1	the	the	DET
fumecheng-158	50	2	inner	inner	ADJ
fumecheng-158	50	3	(	(	PUNCT
fumecheng-158	50	4	generalized	generalized	ADJ
fumecheng-158	50	5	)	)	PUNCT
fumecheng-158	50	6	coordinates	coordinate	NOUN
fumecheng-158	50	7	of	of	ADP
fumecheng-158	50	8	the	the	DET
fumecheng-158	50	9	mathematical	mathematical	ADJ
fumecheng-158	50	10	model	model	NOUN
fumecheng-158	50	11	of	of	ADP
fumecheng-158	50	12	the	the	DET
fumecheng-158	50	13	excavator	excavator	NOUN
fumecheng-158	50	14	kinematic	kinematic	ADJ
fumecheng-158	50	15	chain	chain	NOUN
fumecheng-158	50	16	are	be	AUX
fumecheng-158	50	17	represented	represent	VERB
fumecheng-158	50	18	by	by	ADP
fumecheng-158	50	19	angles	angle	NOUN
fumecheng-158	50	20	θi	θi	ADP
fumecheng-158	50	21	of	of	ADP
fumecheng-158	50	22	the	the	DET
fumecheng-158	50	23	relative	relative	ADJ
fumecheng-158	50	24	position	position	NOUN
fumecheng-158	50	25	of	of	ADP
fumecheng-158	50	26	member	member	NOUN
fumecheng-158	50	27	li	li	PROPN
fumecheng-158	50	28	in	in	ADP
fumecheng-158	50	29	relation	relation	NOUN
fumecheng-158	50	30	to	to	ADP
fumecheng-158	50	31	previous	previous	ADJ
fumecheng-158	50	32	member	member	NOUN
fumecheng-158	50	33	li-1	li-1	VERB
fumecheng-158	50	34	upon	upon	SCONJ
fumecheng-158	50	35	rotation	rotation	NOUN
fumecheng-158	50	36	around	around	ADP
fumecheng-158	50	37	joint	joint	ADJ
fumecheng-158	50	38	oi	oi	ADJ
fumecheng-158	50	39	axis	axis	NOUN
fumecheng-158	50	40	.	.	PUNCT
fumecheng-158	51	1	the	the	DET
fumecheng-158	51	2	lifting	lift	VERB
fumecheng-158	51	3	angle	angle	NOUN
fumecheng-158	51	4	of	of	ADP
fumecheng-158	51	5	movement	movement	NOUN
fumecheng-158	51	6	mechanism	mechanism	NOUN
fumecheng-158	51	7	θ1	θ1	NOUN
fumecheng-158	51	8	is	be	AUX
fumecheng-158	51	9	determined	determine	VERB
fumecheng-158	51	10	on	on	ADP
fumecheng-158	51	11	the	the	DET
fumecheng-158	51	12	basis	basis	NOUN
fumecheng-158	51	13	of	of	ADP
fumecheng-158	51	14	the	the	DET
fumecheng-158	51	15	measured	measured	ADJ
fumecheng-158	51	16	relative	relative	ADJ
fumecheng-158	51	17	vertical	vertical	ADJ
fumecheng-158	51	18	movement	movement	PROPN
fumecheng-158	51	19	c1	c1	PROPN
fumecheng-158	51	20	of	of	ADP
fumecheng-158	51	21	the	the	DET
fumecheng-158	51	22	support	support	NOUN
fumecheng-158	51	23	and	and	CCONJ
fumecheng-158	51	24	movement	movement	NOUN
fumecheng-158	51	25	member	member	NOUN
fumecheng-158	51	26	l1	l1	PROPN
fumecheng-158	51	27	in	in	ADP
fumecheng-158	51	28	relation	relation	NOUN
fumecheng-158	51	29	to	to	ADP
fumecheng-158	51	30	the	the	DET
fumecheng-158	51	31	support	support	NOUN
fumecheng-158	51	32	surface	surface	NOUN
fumecheng-158	51	33	.	.	PUNCT
fumecheng-158	52	1	angles	angle	NOUN
fumecheng-158	52	2	θi	θi	ADP
fumecheng-158	52	3	(	(	PUNCT
fumecheng-158	52	4	i=3,4,5	i=3,4,5	NOUN
fumecheng-158	52	5	)	)	PUNCT
fumecheng-158	52	6	of	of	ADP
fumecheng-158	52	7	the	the	DET
fumecheng-158	52	8	relative	relative	ADJ
fumecheng-158	52	9	position	position	NOUN
fumecheng-158	52	10	of	of	ADP
fumecheng-158	52	11	manipulator	manipulator	NOUN
fumecheng-158	52	12	member	member	NOUN
fumecheng-158	52	13	li	li	PROPN
fumecheng-158	52	14	in	in	ADP
fumecheng-158	52	15	relation	relation	NOUN
fumecheng-158	52	16	to	to	ADP
fumecheng-158	52	17	previous	previous	ADJ
fumecheng-158	52	18	member	member	NOUN
fumecheng-158	52	19	li-1	li-1	VERB
fumecheng-158	52	20	are	be	AUX
fumecheng-158	52	21	determined	determine	VERB
fumecheng-158	52	22	depending	depend	VERB
fumecheng-158	52	23	on	on	ADP
fumecheng-158	52	24	measured	measure	VERB
fumecheng-158	52	25	length	length	NOUN
fumecheng-158	52	26	ci	ci	NOUN
fumecheng-158	52	27	of	of	ADP
fumecheng-158	52	28	the	the	DET
fumecheng-158	52	29	hydraulic	hydraulic	ADJ
fumecheng-158	52	30	cylinders	cylinder	NOUN
fumecheng-158	52	31	of	of	ADP
fumecheng-158	52	32	the	the	DET
fumecheng-158	52	33	manipulator	manipulator	NOUN
fumecheng-158	52	34	boom	boom	NOUN
fumecheng-158	52	35	,	,	PUNCT
fumecheng-158	52	36	stick	stick	NOUN
fumecheng-158	52	37	and	and	CCONJ
fumecheng-158	52	38	bucket	bucket	NOUN
fumecheng-158	52	39	drive	drive	NOUN
fumecheng-158	52	40	mechanisms	mechanism	NOUN
fumecheng-158	52	41	[	[	X
fumecheng-158	52	42	8	8	NUM
fumecheng-158	52	43	]	]	PUNCT
fumecheng-158	52	44	.	.	PUNCT
fumecheng-158	53	1	unit	unit	NOUN
fumecheng-158	53	2	vector	vector	NOUN
fumecheng-158	53	3	ie	ie	X
fumecheng-158	53	4	r	r	NOUN
fumecheng-158	53	5	of	of	ADP
fumecheng-158	53	6	joint	joint	ADJ
fumecheng-158	53	7	oi	oi	ADJ
fumecheng-158	53	8	axis	axis	NOUN
fumecheng-158	53	9	of	of	ADP
fumecheng-158	53	10	the	the	DET
fumecheng-158	53	11	excavator	excavator	NOUN
fumecheng-158	53	12	kinematic	kinematic	ADJ
fumecheng-158	53	13	pair	pair	NOUN
fumecheng-158	53	14	in	in	ADP
fumecheng-158	53	15	the	the	DET
fumecheng-158	53	16	absolute	absolute	ADJ
fumecheng-158	53	17	coordinate	coordinate	NOUN
fumecheng-158	53	18	system	system	NOUN
fumecheng-158	53	19	is	be	AUX
fumecheng-158	53	20	determined	determine	VERB
fumecheng-158	53	21	by	by	ADP
fumecheng-158	53	22	using	use	VERB
fumecheng-158	53	23	the	the	DET
fumecheng-158	53	24	equation	equation	NOUN
fumecheng-158	53	25	:	:	PUNCT
fumecheng-158	53	26	i	i	PRON
fumecheng-158	53	27	ioe	ioe	VERB
fumecheng-158	53	28	a	a	DET
fumecheng-158	53	29	e=	e=	NOUN
fumecheng-158	53	30	i	i	NOUN
fumecheng-158	53	31	)	)	PUNCT
fumecheng-158	53	32	r	r	NOUN
fumecheng-158	53	33	r	r	NOUN
fumecheng-158	53	34	(	(	PUNCT
fumecheng-158	53	35	2	2	NUM
fumecheng-158	53	36	)	)	PUNCT
fumecheng-158	53	37	unit	unit	NOUN
fumecheng-158	53	38	vector	vector	NOUN
fumecheng-158	53	39	1e	1e	NOUN
fumecheng-158	53	40	r	r	NOUN
fumecheng-158	53	41	of	of	ADP
fumecheng-158	53	42	the	the	DET
fumecheng-158	53	43	first	first	ADJ
fumecheng-158	53	44	joint	joint	ADJ
fumecheng-158	53	45	axis	axis	NOUN
fumecheng-158	53	46	is	be	AUX
fumecheng-158	53	47	directed	direct	VERB
fumecheng-158	53	48	along	along	ADP
fumecheng-158	53	49	potential	potential	ADJ
fumecheng-158	53	50	longitudinal	longitudinal	ADJ
fumecheng-158	53	51	x	x	NOUN
fumecheng-158	53	52	-	-	PUNCT
fumecheng-158	53	53	x	x	NOUN
fumecheng-158	53	54	or	or	CCONJ
fumecheng-158	53	55	transverse	transverse	NOUN
fumecheng-158	53	56	z	z	NOUN
fumecheng-158	53	57	-	-	PUNCT
fumecheng-158	53	58	z	z	PROPN
fumecheng-158	53	59	(	(	PUNCT
fumecheng-158	53	60	fig	fig	NOUN
fumecheng-158	53	61	.	.	NOUN
fumecheng-158	54	1	1	1	X
fumecheng-158	54	2	)	)	PUNCT
fumecheng-158	54	3	excavator	excavator	NOUN
fumecheng-158	54	4	rollover	rollover	NOUN
fumecheng-158	54	5	lines	line	NOUN
fumecheng-158	54	6	.	.	PUNCT
fumecheng-158	55	1	vector	vector	NOUN
fumecheng-158	55	2	ir	ir	PROPN
fumecheng-158	55	3	r	r	NOUN
fumecheng-158	55	4	of	of	ADP
fumecheng-158	55	5	joint	joint	ADJ
fumecheng-158	55	6	oi	oi	ADJ
fumecheng-158	55	7	center	center	NOUN
fumecheng-158	55	8	of	of	ADP
fumecheng-158	55	9	the	the	DET
fumecheng-158	55	10	excavator	excavator	NOUN
fumecheng-158	55	11	kinematic	kinematic	ADJ
fumecheng-158	55	12	pair	pair	NOUN
fumecheng-158	55	13	in	in	ADP
fumecheng-158	55	14	the	the	DET
fumecheng-158	55	15	absolute	absolute	ADJ
fumecheng-158	55	16	coordinate	coordinate	NOUN
fumecheng-158	55	17	system	system	NOUN
fumecheng-158	55	18	is	be	AUX
fumecheng-158	55	19	determined	determine	VERB
fumecheng-158	55	20	by	by	ADP
fumecheng-158	55	21	using	use	VERB
fumecheng-158	55	22	the	the	DET
fumecheng-158	55	23	equation	equation	NOUN
fumecheng-158	55	24	:	:	PUNCT
fumecheng-158	56	1	1	1	NUM
fumecheng-158	56	2	1	1	NUM
fumecheng-158	56	3	2,3,4,5	2,3,4,5	NUM
fumecheng-158	56	4	i	i	PRON
fumecheng-158	56	5	i	i	PRON
fumecheng-158	56	6	jo	jo	VERB
fumecheng-158	57	1	j	j	PROPN
fumecheng-158	57	2	j	j	PROPN
fumecheng-158	57	3	r	r	PROPN
fumecheng-158	57	4	a	a	PRON
fumecheng-158	57	5	s	s	X
fumecheng-158	57	6	i	i	NOUN
fumecheng-158	57	7	−	−	NOUN
fumecheng-158	57	8	=	=	SYM
fumecheng-158	58	1	=	=	NOUN
fumecheng-158	58	2	∀	∀	X
fumecheng-158	58	3	=	=	NOUN
fumecheng-158	58	4	∑	∑	NOUN
fumecheng-158	58	5	)	)	PUNCT
fumecheng-158	58	6	r	r	NOUN
fumecheng-158	58	7	r	r	NOUN
fumecheng-158	58	8	(	(	PUNCT
fumecheng-158	58	9	3	3	NUM
fumecheng-158	58	10	)	)	PUNCT
fumecheng-158	58	11	vector	vector	NOUN
fumecheng-158	58	12	wr	wr	NOUN
fumecheng-158	58	13	r	r	NOUN
fumecheng-158	58	14	of	of	ADP
fumecheng-158	58	15	the	the	DET
fumecheng-158	58	16	center	center	NOUN
fumecheng-158	58	17	of	of	ADP
fumecheng-158	58	18	the	the	DET
fumecheng-158	58	19	bucket	bucket	NOUN
fumecheng-158	58	20	cutting	cut	VERB
fumecheng-158	58	21	edge	edge	NOUN
fumecheng-158	58	22	in	in	ADP
fumecheng-158	58	23	the	the	DET
fumecheng-158	58	24	absolute	absolute	ADJ
fumecheng-158	58	25	coordinate	coordinate	NOUN
fumecheng-158	58	26	system	system	NOUN
fumecheng-158	58	27	is	be	AUX
fumecheng-158	58	28	determined	determine	VERB
fumecheng-158	58	29	by	by	ADP
fumecheng-158	58	30	using	use	VERB
fumecheng-158	58	31	the	the	DET
fumecheng-158	58	32	equation	equation	NOUN
fumecheng-158	58	33	:	:	PUNCT
fumecheng-158	58	34	∑	∑	PUNCT
fumecheng-158	58	35	=	=	SYM
fumecheng-158	58	36	=	=	SYM
fumecheng-158	58	37	5	5	NUM
fumecheng-158	58	38	1i	1i	NOUN
fumecheng-158	58	39	iiow	iiow	VERB
fumecheng-158	58	40	sar	sar	PROPN
fumecheng-158	58	41	)	)	PUNCT
fumecheng-158	58	42	rr	rr	PROPN
fumecheng-158	58	43	(	(	PUNCT
fumecheng-158	58	44	4	4	X
fumecheng-158	58	45	)	)	PUNCT
fumecheng-158	58	46	vectors	vector	NOUN
fumecheng-158	58	47	tir	tir	VERB
fumecheng-158	58	48	r	r	NOUN
fumecheng-158	58	49	of	of	ADP
fumecheng-158	58	50	the	the	DET
fumecheng-158	58	51	center	center	NOUN
fumecheng-158	58	52	of	of	ADP
fumecheng-158	58	53	excavator	excavator	NOUN
fumecheng-158	58	54	kinematic	kinematic	ADJ
fumecheng-158	58	55	chain	chain	NOUN
fumecheng-158	58	56	member	member	NOUN
fumecheng-158	58	57	li	li	PROPN
fumecheng-158	58	58	mass	mass	PROPN
fumecheng-158	58	59	in	in	ADP
fumecheng-158	58	60	the	the	DET
fumecheng-158	58	61	absolute	absolute	ADJ
fumecheng-158	58	62	coordinate	coordinate	NOUN
fumecheng-158	58	63	system	system	NOUN
fumecheng-158	58	64	are	be	AUX
fumecheng-158	58	65	determined	determine	VERB
fumecheng-158	58	66	by	by	ADP
fumecheng-158	58	67	using	use	VERB
fumecheng-158	58	68	the	the	DET
fumecheng-158	58	69	equation	equation	NOUN
fumecheng-158	58	70	:	:	PUNCT
fumecheng-158	58	71	iioiti	iioiti	NOUN
fumecheng-158	58	72	tarr	tarr	PROPN
fumecheng-158	58	73	)	)	PUNCT
fumecheng-158	59	1	rrr	rrr	VERB
fumecheng-158	60	1	+	+	NOUN
fumecheng-158	60	2	=	=	X
fumecheng-158	60	3	(	(	PUNCT
fumecheng-158	60	4	5	5	NUM
fumecheng-158	60	5	)	)	PUNCT
fumecheng-158	60	6	where	where	SCONJ
fumecheng-158	60	7	aio	aio	NOUN
fumecheng-158	60	8	is	be	AUX
fumecheng-158	60	9	the	the	DET
fumecheng-158	60	10	transfer	transfer	NOUN
fumecheng-158	60	11	matrix	matrix	NOUN
fumecheng-158	60	12	used	use	VERB
fumecheng-158	60	13	to	to	PART
fumecheng-158	60	14	transfer	transfer	VERB
fumecheng-158	60	15	the	the	DET
fumecheng-158	60	16	vector	vector	NOUN
fumecheng-158	60	17	quantities	quantity	NOUN
fumecheng-158	60	18	from	from	ADP
fumecheng-158	60	19	local	local	ADJ
fumecheng-158	60	20	coordinate	coordinate	NOUN
fumecheng-158	60	21	system	system	NOUN
fumecheng-158	60	22	oi	oi	INTJ
fumecheng-158	60	23	xi	xi	PROPN
fumecheng-158	60	24	yi	yi	PROPN
fumecheng-158	60	25	zi	zi	PROPN
fumecheng-158	60	26	of	of	ADP
fumecheng-158	60	27	member	member	PROPN
fumecheng-158	60	28	li	li	PROPN
fumecheng-158	60	29	to	to	ADP
fumecheng-158	60	30	absolute	absolute	ADJ
fumecheng-158	60	31	coordinate	coordinate	NOUN
fumecheng-158	60	32	system	system	NOUN
fumecheng-158	60	33	oxyz	oxyz	VERB
fumecheng-158	60	34	[	[	X
fumecheng-158	60	35	8	8	NUM
fumecheng-158	60	36	]	]	PUNCT
fumecheng-158	60	37	.	.	PUNCT
fumecheng-158	61	1	kinematic	kinematic	ADJ
fumecheng-158	61	2	quantities	quantity	NOUN
fumecheng-158	61	3	for	for	ADP
fumecheng-158	61	4	the	the	DET
fumecheng-158	61	5	center	center	NOUN
fumecheng-158	61	6	of	of	ADP
fumecheng-158	61	7	chain	chain	NOUN
fumecheng-158	61	8	member	member	PROPN
fumecheng-158	61	9	li	li	PROPN
fumecheng-158	61	10	mass	mass	PROPN
fumecheng-158	61	11	are	be	AUX
fumecheng-158	61	12	:	:	PUNCT
fumecheng-158	61	13	linear	linear	PROPN
fumecheng-158	61	14	vi	vi	PROPN
fumecheng-158	61	15	and	and	CCONJ
fumecheng-158	61	16	angular	angular	ADJ
fumecheng-158	61	17	ωi	ωi	NOUN
fumecheng-158	61	18	velocity	velocity	NOUN
fumecheng-158	61	19	and	and	CCONJ
fumecheng-158	61	20	linear	linear	PROPN
fumecheng-158	61	21	wi	wi	PROPN
fumecheng-158	61	22	and	and	CCONJ
fumecheng-158	61	23	angular	angular	ADJ
fumecheng-158	61	24	εi	εi	NOUN
fumecheng-158	61	25	acceleration	acceleration	NOUN
fumecheng-158	61	26	,	,	PUNCT
fumecheng-158	61	27	where	where	SCONJ
fumecheng-158	61	28	the	the	DET
fumecheng-158	61	29	movement	movement	NOUN
fumecheng-158	61	30	of	of	ADP
fumecheng-158	61	31	previous	previous	ADJ
fumecheng-158	61	32	member	member	NOUN
fumecheng-158	61	33	li-1	li-1	PUNCT
fumecheng-158	61	34	is	be	AUX
fumecheng-158	61	35	taken	take	VERB
fumecheng-158	61	36	as	as	ADP
fumecheng-158	61	37	transferable	transferable	ADJ
fumecheng-158	61	38	,	,	PUNCT
fumecheng-158	61	39	while	while	SCONJ
fumecheng-158	61	40	the	the	DET
fumecheng-158	61	41	movement	movement	NOUN
fumecheng-158	61	42	of	of	ADP
fumecheng-158	61	43	observed	observe	VERB
fumecheng-158	61	44	member	member	NOUN
fumecheng-158	61	45	li	li	PROPN
fumecheng-158	61	46	in	in	ADP
fumecheng-158	61	47	joint	joint	ADJ
fumecheng-158	61	48	oi	oi	NOUN
fumecheng-158	61	49	is	be	AUX
fumecheng-158	61	50	taken	take	VERB
fumecheng-158	61	51	as	as	ADP
fumecheng-158	61	52	relative	relative	ADJ
fumecheng-158	61	53	.	.	PUNCT
fumecheng-158	62	1	to	to	PART
fumecheng-158	62	2	determine	determine	VERB
fumecheng-158	62	3	the	the	DET
fumecheng-158	62	4	kinematic	kinematic	ADJ
fumecheng-158	62	5	quantities	quantity	NOUN
fumecheng-158	62	6	of	of	ADP
fumecheng-158	62	7	chain	chain	NOUN
fumecheng-158	62	8	member	member	NOUN
fumecheng-158	62	9	li	li	PROPN
fumecheng-158	62	10	in	in	ADP
fumecheng-158	62	11	relation	relation	NOUN
fumecheng-158	62	12	to	to	ADP
fumecheng-158	62	13	the	the	DET
fumecheng-158	62	14	absolute	absolute	ADJ
fumecheng-158	62	15	coordinate	coordinate	NOUN
fumecheng-158	62	16	system	system	NOUN
fumecheng-158	62	17	,	,	PUNCT
fumecheng-158	62	18	recursive	recursive	ADJ
fumecheng-158	62	19	equations	equation	NOUN
fumecheng-158	62	20	are	be	AUX
fumecheng-158	62	21	used	use	VERB
fumecheng-158	62	22	[	[	PUNCT
fumecheng-158	62	23	8	8	NUM
fumecheng-158	62	24	]	]	SYM
fumecheng-158	62	25	:	:	PUNCT
fumecheng-158	62	26	iiii	iiii	PROPN
fumecheng-158	62	27	e	e	X
fumecheng-158	62	28	r&rr	r&rr	PROPN
fumecheng-158	62	29	1	1	NUM
fumecheng-158	62	30	θ+ω	θ+ω	PROPN
fumecheng-158	62	31	=	=	SYM
fumecheng-158	62	32	ω	ω	NUM
fumecheng-158	62	33	−	−	PROPN
fumecheng-158	62	34	(	(	PUNCT
fumecheng-158	62	35	6	6	NUM
fumecheng-158	62	36	)	)	PUNCT
fumecheng-158	62	37	1	1	NUM
fumecheng-158	63	1	1(i	1(i	NUM
fumecheng-158	63	2	i	i	PRON
fumecheng-158	63	3	i	i	PRON
fumecheng-158	64	1	i	i	PRON
fumecheng-158	64	2	i	i	PRON
fumecheng-158	65	1	i	i	PRON
fumecheng-158	65	2	ieε	ieε	VERB
fumecheng-158	65	3	ε	ε	PROPN
fumecheng-158	65	4	θ	θ	PROPN
fumecheng-158	65	5	ω	ω	NUM
fumecheng-158	65	6	θ−	θ−	PROPN
fumecheng-158	65	7	−=	−=	NOUN
fumecheng-158	65	8	+	+	PROPN
fumecheng-158	66	1	+	+	CCONJ
fumecheng-158	66	2	×	×	NOUN
fumecheng-158	66	3	r	r	NOUN
fumecheng-158	66	4	r	r	NOUN
fumecheng-158	66	5	r	r	NOUN
fumecheng-158	66	6	)	)	PUNCT
fumecheng-158	66	7	er	er	INTJ
fumecheng-158	66	8	r	r	NOUN
fumecheng-158	66	9	&	&	CCONJ
fumecheng-158	66	10	&	&	CCONJ
fumecheng-158	66	11	&	&	CCONJ
fumecheng-158	66	12	(	(	PUNCT
fumecheng-158	66	13	7	7	NUM
fumecheng-158	66	14	)	)	SYM
fumecheng-158	66	15	1	1	NUM
fumecheng-158	66	16	1	1	NUM
fumecheng-158	66	17	1	1	NUM
fumecheng-158	66	18	1	1	NUM
fumecheng-158	66	19	(	(	PUNCT
fumecheng-158	66	20	(	(	PUNCT
fumecheng-158	66	21	)	)	PUNCT
fumecheng-158	66	22	)	)	PUNCT
fumecheng-158	67	1	(	(	PUNCT
fumecheng-158	67	2	i	i	PRON
fumecheng-158	67	3	i	i	PRON
fumecheng-158	68	1	i	i	PRON
fumecheng-158	69	1	i	i	PRON
fumecheng-158	70	1	i	i	PRON
fumecheng-158	70	2	iv	iv	VERB
fumecheng-158	70	3	v	v	ADP
fumecheng-158	70	4	s	s	X
fumecheng-158	70	5	t	t	NOUN
fumecheng-158	70	6	tω−	tω−	PUNCT
fumecheng-158	70	7	−	−	PROPN
fumecheng-158	70	8	−	−	NUM
fumecheng-158	70	9	−=	−=	NOUN
fumecheng-158	71	1	+	+	CCONJ
fumecheng-158	71	2	×	×	NOUN
fumecheng-158	71	3	−	−	NOUN
fumecheng-158	72	1	+	+	CCONJ
fumecheng-158	72	2	×	×	NOUN
fumecheng-158	72	3	)	)	PUNCT
fumecheng-158	72	4	ω	ω	PROPN
fumecheng-158	72	5	r	r	NOUN
fumecheng-158	72	6	rr	rr	NOUN
fumecheng-158	72	7	rr	rr	NOUN
fumecheng-158	72	8	r	r	NOUN
fumecheng-158	72	9	r	r	NOUN
fumecheng-158	72	10	(	(	PUNCT
fumecheng-158	72	11	8)	8)	NUM
fumecheng-158	72	12	(	(	PUNCT
fumecheng-158	72	13	9	9	NUM
fumecheng-158	72	14	)	)	SYM
fumecheng-158	72	15	1	1	NUM
fumecheng-158	72	16	1	1	NUM
fumecheng-158	72	17	1	1	NUM
fumecheng-158	72	18	1	1	NUM
fumecheng-158	72	19	1	1	NUM
fumecheng-158	72	20	1	1	NUM
fumecheng-158	72	21	1	1	NUM
fumecheng-158	72	22	1	1	NUM
fumecheng-158	72	23	(	(	PUNCT
fumecheng-158	72	24	(	(	PUNCT
fumecheng-158	72	25	)	)	PUNCT
fumecheng-158	72	26	)	)	PUNCT
fumecheng-158	72	27	(	(	PUNCT
fumecheng-158	72	28	(	(	PUNCT
fumecheng-158	72	29	)	)	PUNCT
fumecheng-158	72	30	)	)	PUNCT
fumecheng-158	72	31	(	(	PUNCT
fumecheng-158	72	32	)	)	PUNCT
fumecheng-158	72	33	(	(	PUNCT
fumecheng-158	72	34	i	i	PRON
fumecheng-158	72	35	i	i	PRON
fumecheng-158	73	1	i	i	PRON
fumecheng-158	73	2	i	i	PRON
fumecheng-158	74	1	i	i	PRON
fumecheng-158	74	2	i	i	PRON
fumecheng-158	75	1	i	i	PRON
fumecheng-158	75	2	i	i	PRON
fumecheng-158	76	1	i	i	PRON
fumecheng-158	76	2	i	i	PRON
fumecheng-158	77	1	i	i	PRON
fumecheng-158	77	2	i	i	PRON
fumecheng-158	78	1	iw	iw	VERB
fumecheng-158	78	2	w	w	PROPN
fumecheng-158	78	3	s	s	PROPN
fumecheng-158	78	4	t	t	PROPN
fumecheng-158	78	5	s	s	PROPN
fumecheng-158	78	6	t	t	PROPN
fumecheng-158	78	7	t	t	PROPN
fumecheng-158	78	8	tε	tε	PROPN
fumecheng-158	78	9	ω	ω	PROPN
fumecheng-158	78	10	ω	ω	PROPN
fumecheng-158	78	11	ε	ε	PROPN
fumecheng-158	78	12	ω−	ω−	ADP
fumecheng-158	78	13	−	−	PROPN
fumecheng-158	78	14	−	−	PROPN
fumecheng-158	79	1	−	−	PROPN
fumecheng-158	80	1	−	−	PROPN
fumecheng-158	81	1	−	−	PROPN
fumecheng-158	81	2	−	−	PROPN
fumecheng-158	81	3	−=	−=	NOUN
fumecheng-158	82	1	+	+	CCONJ
fumecheng-158	82	2	×	×	NOUN
fumecheng-158	82	3	−	−	NOUN
fumecheng-158	83	1	+	+	CCONJ
fumecheng-158	83	2	×	×	PROPN
fumecheng-158	83	3	×	×	NOUN
fumecheng-158	83	4	−	−	NOUN
fumecheng-158	84	1	+	+	CCONJ
fumecheng-158	84	2	×	×	NOUN
fumecheng-158	84	3	+	+	CCONJ
fumecheng-158	84	4	×	×	NOUN
fumecheng-158	84	5	×	×	NOUN
fumecheng-158	84	6	r	r	NOUN
fumecheng-158	84	7	r	r	NOUN
fumecheng-158	84	8	rr	rr	NOUN
fumecheng-158	84	9	r	r	NOUN
fumecheng-158	84	10	r	r	NOUN
fumecheng-158	84	11	r	r	NOUN
fumecheng-158	84	12	rr	rr	NOUN
fumecheng-158	84	13	r	r	NOUN
fumecheng-158	84	14	r	r	NOUN
fumecheng-158	84	15	r	r	NOUN
fumecheng-158	84	16	)	)	PUNCT
fumecheng-158	85	1	iω	iω	NOUN
fumecheng-158	85	2	rr	rr	VERB
fumecheng-158	85	3	where	where	SCONJ
fumecheng-158	85	4	i	i	PRON
fumecheng-158	85	5	are	be	AUX
fumecheng-158	85	6	angular	angular	ADJ
fumecheng-158	85	7	velocities	velocity	NOUN
fumecheng-158	85	8	and	and	CCONJ
fumecheng-158	85	9	angular	angular	ADJ
fumecheng-158	85	10	accelerations	acceleration	NOUN
fumecheng-158	85	11	of	of	ADP
fumecheng-158	85	12	member	member	NOUN
fumecheng-158	85	13	li	li	PROPN
fumecheng-158	85	14	,	,	PUNCT
fumecheng-158	85	15	θθ	θθ	PROPN
fumecheng-158	85	16	&	&	CCONJ
fumecheng-158	85	17	&	&	PROPN
fumecheng-158	85	18	&	&	CCONJ
fumecheng-158	85	19	i	i	PRON
fumecheng-158	85	20	in	in	ADP
fumecheng-158	85	21	joint	joint	ADJ
fumecheng-158	85	22	oi	oi	NOUN
fumecheng-158	85	23	.	.	PROPN
fumecheng-158	85	24	162	162	NUM
fumecheng-158	85	25	v.	v.	ADP
fumecheng-158	85	26	jovanović	jovanović	PROPN
fumecheng-158	85	27	,	,	PUNCT
fumecheng-158	85	28	d.	d.	PROPN
fumecheng-158	85	29	janošević	janošević	PROPN
fumecheng-158	85	30	,	,	PUNCT
fumecheng-158	85	31	n.	n.	NOUN
fumecheng-158	85	32	petrović	petrović	NOUN
fumecheng-158	85	33	dynamic	dynamic	ADJ
fumecheng-158	85	34	quantities	quantity	NOUN
fumecheng-158	85	35	of	of	ADP
fumecheng-158	85	36	member	member	NOUN
fumecheng-158	85	37	li	li	PROPN
fumecheng-158	85	38	are	be	AUX
fumecheng-158	85	39	:	:	PUNCT
fumecheng-158	85	40	innate	innate	ADJ
fumecheng-158	85	41	force	force	NOUN
fumecheng-158	85	42	fi	fi	NOUN
fumecheng-158	85	43	,	,	PUNCT
fumecheng-158	85	44	which	which	PRON
fumecheng-158	85	45	is	be	AUX
fumecheng-158	85	46	determined	determine	VERB
fumecheng-158	85	47	by	by	ADP
fumecheng-158	85	48	newton	newton	PROPN
fumecheng-158	85	49	’s	’s	PART
fumecheng-158	85	50	second	second	ADJ
fumecheng-158	85	51	law	law	NOUN
fumecheng-158	85	52	:	:	PUNCT
fumecheng-158	85	53	iii	iii	X
fumecheng-158	85	54	wmf	wmf	PROPN
fumecheng-158	85	55	rr	rr	PROPN
fumecheng-158	85	56	−=	−=	X
fumecheng-158	85	57	(	(	PUNCT
fumecheng-158	85	58	10	10	NUM
fumecheng-158	85	59	)	)	PUNCT
fumecheng-158	85	60	and	and	CCONJ
fumecheng-158	85	61	the	the	DET
fumecheng-158	85	62	moment	moment	NOUN
fumecheng-158	85	63	of	of	ADP
fumecheng-158	85	64	innate	innate	ADJ
fumecheng-158	85	65	forces	force	NOUN
fumecheng-158	85	66	mi	mi	PROPN
fumecheng-158	85	67	,	,	PUNCT
fumecheng-158	85	68	which	which	PRON
fumecheng-158	85	69	is	be	AUX
fumecheng-158	85	70	determined	determine	VERB
fumecheng-158	85	71	by	by	ADP
fumecheng-158	85	72	euler	euler	PROPN
fumecheng-158	85	73	’s	’s	PART
fumecheng-158	85	74	dynamic	dynamic	ADJ
fumecheng-158	85	75	equations	equation	NOUN
fumecheng-158	85	76	:	:	PUNCT
fumecheng-158	85	77	(	(	PUNCT
fumecheng-158	85	78	)	)	PUNCT
fumecheng-158	85	79	;	;	PUNCT
fumecheng-158	86	1	ui	ui	PROPN
fumecheng-158	86	2	i	i	PRON
fumecheng-158	87	1	i	i	PRON
fumecheng-158	87	2	i	i	PRON
fumecheng-158	88	1	i	i	PRON
fumecheng-158	89	1	i	i	PRON
fumecheng-158	89	2	ui	ui	PROPN
fumecheng-158	89	3	io	io	PROPN
fumecheng-158	89	4	uim	uim	PROPN
fumecheng-158	90	1	j	j	PROPN
fumecheng-158	90	2	j	j	PROPN
fumecheng-158	90	3	m	m	PROPN
fumecheng-158	90	4	aε	aε	PROPN
fumecheng-158	90	5	ω	ω	X
fumecheng-158	90	6	ω=	ω=	X
fumecheng-158	91	1	−	−	PROPN
fumecheng-158	92	1	+	+	CCONJ
fumecheng-158	92	2	×	×	NOUN
fumecheng-158	92	3	=	=	SYM
fumecheng-158	92	4	m	m	NOUN
fumecheng-158	92	5	)	)	PUNCT
fumecheng-158	92	6	)	)	PUNCT
fumecheng-158	92	7	r	r	NOUN
fumecheng-158	92	8	)	)	PUNCT
fumecheng-158	92	9	)	)	PUNCT
fumecheng-158	92	10	)	)	PUNCT
fumecheng-158	93	1	r	r	NOUN
fumecheng-158	93	2	r	r	NOUN
fumecheng-158	93	3	)	)	PUNCT
fumecheng-158	93	4	)	)	PUNCT
fumecheng-158	94	1	r	r	NOUN
fumecheng-158	94	2	r	r	NOUN
fumecheng-158	94	3	r	r	NOUN
fumecheng-158	94	4	(	(	PUNCT
fumecheng-158	94	5	11	11	NUM
fumecheng-158	94	6	)	)	PUNCT
fumecheng-158	94	7	the	the	DET
fumecheng-158	94	8	total	total	ADJ
fumecheng-158	94	9	force	force	NOUN
fumecheng-158	94	10	related	relate	VERB
fumecheng-158	94	11	to	to	ADP
fumecheng-158	94	12	the	the	DET
fumecheng-158	94	13	center	center	NOUN
fumecheng-158	94	14	of	of	ADP
fumecheng-158	94	15	member	member	PROPN
fumecheng-158	94	16	li	li	PROPN
fumecheng-158	94	17	mass	mass	PROPN
fumecheng-158	94	18	,	,	PUNCT
fumecheng-158	94	19	also	also	ADV
fumecheng-158	94	20	taking	take	VERB
fumecheng-158	94	21	into	into	ADP
fumecheng-158	94	22	account	account	NOUN
fumecheng-158	94	23	the	the	DET
fumecheng-158	94	24	influence	influence	NOUN
fumecheng-158	94	25	of	of	ADP
fumecheng-158	94	26	gravity	gravity	NOUN
fumecheng-158	94	27	,	,	PUNCT
fumecheng-158	94	28	is	be	AUX
fumecheng-158	94	29	equal	equal	ADJ
fumecheng-158	94	30	to	to	ADP
fumecheng-158	94	31	:	:	PUNCT
fumecheng-158	94	32	jgmff	jgmff	PROPN
fumecheng-158	94	33	iiui	iiui	PROPN
fumecheng-158	94	34	rrr	rrr	PROPN
fumecheng-158	94	35	−=	−=	X
fumecheng-158	94	36	(	(	PUNCT
fumecheng-158	94	37	12	12	NUM
fumecheng-158	94	38	)	)	PUNCT
fumecheng-158	94	39	bearing	bear	VERB
fumecheng-158	94	40	in	in	ADP
fumecheng-158	94	41	mind	mind	NOUN
fumecheng-158	94	42	the	the	DET
fumecheng-158	94	43	assumption	assumption	NOUN
fumecheng-158	94	44	that	that	SCONJ
fumecheng-158	94	45	the	the	DET
fumecheng-158	94	46	vector	vector	NOUN
fumecheng-158	94	47	of	of	ADP
fumecheng-158	94	48	digging	dig	VERB
fumecheng-158	94	49	resistance	resistance	NOUN
fumecheng-158	94	50	w	w	NOUN
fumecheng-158	94	51	acts	act	NOUN
fumecheng-158	94	52	in	in	ADP
fumecheng-158	94	53	the	the	DET
fumecheng-158	94	54	center	center	NOUN
fumecheng-158	94	55	of	of	ADP
fumecheng-158	94	56	the	the	DET
fumecheng-158	94	57	bucket	bucket	NOUN
fumecheng-158	94	58	cutting	cutting	NOUN
fumecheng-158	94	59	edge	edge	NOUN
fumecheng-158	94	60	,	,	PUNCT
fumecheng-158	94	61	the	the	DET
fumecheng-158	94	62	fictive	fictive	ADJ
fumecheng-158	94	63	interruption	interruption	NOUN
fumecheng-158	94	64	of	of	ADP
fumecheng-158	94	65	the	the	DET
fumecheng-158	94	66	manipulator	manipulator	NOUN
fumecheng-158	94	67	kinematic	kinematic	NOUN
fumecheng-158	94	68	chain	chain	NOUN
fumecheng-158	94	69	in	in	ADP
fumecheng-158	94	70	two	two	NUM
fumecheng-158	94	71	different	different	ADJ
fumecheng-158	94	72	joints	joint	NOUN
fumecheng-158	94	73	oi	oi	INTJ
fumecheng-158	94	74	and	and	CCONJ
fumecheng-158	94	75	oj	oj	PROPN
fumecheng-158	94	76	(	(	PUNCT
fumecheng-158	94	77	i	i	PROPN
fumecheng-158	94	78	≠	≠	PROPN
fumecheng-158	94	79	j	j	PROPN
fumecheng-158	94	80	,	,	PUNCT
fumecheng-158	94	81	i	i	PRON
fumecheng-158	94	82	,	,	PUNCT
fumecheng-158	94	83	j=3,4,5	j=3,4,5	X
fumecheng-158	94	84	)	)	PUNCT
fumecheng-158	94	85	can	can	AUX
fumecheng-158	94	86	set	set	VERB
fumecheng-158	94	87	the	the	DET
fumecheng-158	94	88	equilibrium	equilibrium	NOUN
fumecheng-158	94	89	conditions	condition	NOUN
fumecheng-158	94	90	,	,	PUNCT
fumecheng-158	94	91	for	for	ADP
fumecheng-158	94	92	the	the	DET
fumecheng-158	94	93	removed	remove	VERB
fumecheng-158	94	94	chain	chain	NOUN
fumecheng-158	94	95	parts	part	NOUN
fumecheng-158	94	96	,	,	PUNCT
fumecheng-158	94	97	by	by	ADP
fumecheng-158	94	98	using	use	VERB
fumecheng-158	94	99	the	the	DET
fumecheng-158	94	100	equation	equation	NOUN
fumecheng-158	94	101	(	(	PUNCT
fumecheng-158	94	102	fig	fig	NOUN
fumecheng-158	94	103	.	.	NOUN
fumecheng-158	95	1	1	1	NUM
fumecheng-158	95	2	)	)	PUNCT
fumecheng-158	96	1	[	[	X
fumecheng-158	96	2	9	9	NUM
fumecheng-158	96	3	]	]	SYM
fumecheng-158	96	4	:	:	PUNCT
fumecheng-158	96	5	(	(	PUNCT
fumecheng-158	96	6	(	(	PUNCT
fumecheng-158	96	7	)	)	PUNCT
fumecheng-158	96	8	)	)	PUNCT
fumecheng-158	97	1	i	i	PRON
fumecheng-158	97	2	w	w	VERB
fumecheng-158	98	1	i	i	PRON
fumecheng-158	98	2	i	i	PRON
fumecheng-158	98	3	rie	rie	VERB
fumecheng-158	98	4	w	w	PROPN
fumecheng-158	98	5	r	r	NOUN
fumecheng-158	98	6	r	r	NOUN
fumecheng-158	98	7	e	e	NOUN
fumecheng-158	98	8	m	m	NOUN
fumecheng-158	98	9	0⋅	0⋅	NUM
fumecheng-158	98	10	×	×	NOUN
fumecheng-158	98	11	−	−	NOUN
fumecheng-158	99	1	+	+	CCONJ
fumecheng-158	100	1	⋅	⋅	PROPN
fumecheng-158	100	2	=	=	SYM
fumecheng-158	100	3	r	r	NOUN
fumecheng-158	100	4	rr	rr	NOUN
fumecheng-158	100	5	r	r	NOUN
fumecheng-158	100	6	r	r	NOUN
fumecheng-158	100	7	r	r	NOUN
fumecheng-158	100	8	(	(	PUNCT
fumecheng-158	100	9	13	13	NUM
fumecheng-158	100	10	)	)	PUNCT
fumecheng-158	100	11	(	(	PUNCT
fumecheng-158	100	12	(	(	PUNCT
fumecheng-158	100	13	)	)	PUNCT
fumecheng-158	100	14	)	)	PUNCT
fumecheng-158	101	1	j	j	PROPN
fumecheng-158	101	2	w	w	PROPN
fumecheng-158	101	3	j	j	PROPN
fumecheng-158	102	1	j	j	PROPN
fumecheng-158	102	2	rje	rje	PROPN
fumecheng-158	102	3	w	w	PROPN
fumecheng-158	102	4	r	r	NOUN
fumecheng-158	102	5	r	r	NOUN
fumecheng-158	102	6	e	e	NOUN
fumecheng-158	102	7	m	m	NOUN
fumecheng-158	102	8	0⋅	0⋅	NUM
fumecheng-158	102	9	×	×	NOUN
fumecheng-158	102	10	−	−	NOUN
fumecheng-158	102	11	+	+	CCONJ
fumecheng-158	102	12	⋅	⋅	PROPN
fumecheng-158	102	13	=	=	SYM
fumecheng-158	102	14	r	r	NOUN
fumecheng-158	102	15	rr	rr	NOUN
fumecheng-158	102	16	r	r	NOUN
fumecheng-158	102	17	r	r	NOUN
fumecheng-158	102	18	r	r	NOUN
fumecheng-158	102	19	(	(	PUNCT
fumecheng-158	102	20	14	14	NUM
fumecheng-158	102	21	)	)	PUNCT
fumecheng-158	102	22	where	where	SCONJ
fumecheng-158	102	23	rjri	rjri	ADJ
fumecheng-158	102	24	are	be	AUX
fumecheng-158	102	25	the	the	DET
fumecheng-158	102	26	resulting	result	VERB
fumecheng-158	102	27	moments	moment	NOUN
fumecheng-158	102	28	in	in	ADP
fumecheng-158	102	29	the	the	DET
fumecheng-158	102	30	center	center	NOUN
fumecheng-158	102	31	of	of	ADP
fumecheng-158	102	32	joints	joint	NOUN
fumecheng-158	102	33	om	om	PROPN
fumecheng-158	102	34	,	,	PUNCT
fumecheng-158	102	35	m	m	VERB
fumecheng-158	102	36	rr	rr	VERB
fumecheng-158	103	1	i	i	PRON
fumecheng-158	103	2	and	and	CCONJ
fumecheng-158	103	3	oj	oj	VERB
fumecheng-158	103	4	,	,	PUNCT
fumecheng-158	103	5	jiw	jiw	ADJ
fumecheng-158	103	6	r	r	NOUN
fumecheng-158	103	7	,	,	PUNCT
fumecheng-158	103	8	r	r	NOUN
fumecheng-158	103	9	,	,	PUNCT
fumecheng-158	103	10	r	r	NOUN
fumecheng-158	103	11	rrr	rrr	NOUN
fumecheng-158	103	12	the	the	DET
fumecheng-158	103	13	vectors	vector	NOUN
fumecheng-158	103	14	of	of	ADP
fumecheng-158	103	15	the	the	DET
fumecheng-158	103	16	position	position	NOUN
fumecheng-158	103	17	of	of	ADP
fumecheng-158	103	18	bucket	bucket	NOUN
fumecheng-158	103	19	cutting	cutting	NOUN
fumecheng-158	103	20	edge	edge	NOUN
fumecheng-158	103	21	center	center	NOUN
fumecheng-158	103	22	ow	ow	INTJ
fumecheng-158	103	23	and	and	CCONJ
fumecheng-158	103	24	joints	joint	NOUN
fumecheng-158	103	25	oi	oi	INTJ
fumecheng-158	103	26	and	and	CCONJ
fumecheng-158	103	27	oj	oj	X
fumecheng-158	103	28	.	.	PUNCT
fumecheng-158	104	1	supposing	suppose	VERB
fumecheng-158	104	2	that	that	PRON
fumecheng-158	104	3	,	,	PUNCT
fumecheng-158	104	4	during	during	ADP
fumecheng-158	104	5	the	the	DET
fumecheng-158	104	6	digging	digging	NOUN
fumecheng-158	104	7	process	process	NOUN
fumecheng-158	104	8	,	,	PUNCT
fumecheng-158	104	9	the	the	DET
fumecheng-158	104	10	excavator	excavator	NOUN
fumecheng-158	104	11	manipulator	manipulator	NOUN
fumecheng-158	104	12	is	be	AUX
fumecheng-158	104	13	positioned	position	VERB
fumecheng-158	104	14	within	within	ADP
fumecheng-158	104	15	oxy	oxy	ADJ
fumecheng-158	104	16	plane	plane	NOUN
fumecheng-158	104	17	,	,	PUNCT
fumecheng-158	104	18	the	the	DET
fumecheng-158	104	19	use	use	NOUN
fumecheng-158	104	20	of	of	ADP
fumecheng-158	104	21	the	the	DET
fumecheng-158	104	22	previous	previous	ADJ
fumecheng-158	104	23	two	two	NUM
fumecheng-158	104	24	equations	equation	NOUN
fumecheng-158	104	25	can	can	AUX
fumecheng-158	104	26	determine	determine	VERB
fumecheng-158	104	27	the	the	DET
fumecheng-158	104	28	quantities	quantity	NOUN
fumecheng-158	104	29	of	of	ADP
fumecheng-158	104	30	digging	dig	VERB
fumecheng-158	104	31	resistances	resistance	NOUN
fumecheng-158	104	32	wx	wx	PROPN
fumecheng-158	104	33	and	and	CCONJ
fumecheng-158	104	34	wy	wy	PROPN
fumecheng-158	104	35	components	component	NOUN
fumecheng-158	104	36	according	accord	VERB
fumecheng-158	104	37	to	to	ADP
fumecheng-158	104	38	the	the	DET
fumecheng-158	104	39	equations	equation	NOUN
fumecheng-158	104	40	:	:	PUNCT
fumecheng-158	104	41	(	(	PUNCT
fumecheng-158	104	42	)	)	PUNCT
fumecheng-158	104	43	(	(	PUNCT
fumecheng-158	104	44	)	)	PUNCT
fumecheng-158	104	45	(	(	PUNCT
fumecheng-158	104	46	)	)	PUNCT
fumecheng-158	104	47	(	(	PUNCT
fumecheng-158	104	48	)	)	PUNCT
fumecheng-158	104	49	(	(	PUNCT
fumecheng-158	104	50	)	)	PUNCT
fumecheng-158	104	51	(	(	PUNCT
fumecheng-158	104	52	)	)	PUNCT
fumecheng-158	104	53	rzi	rzi	PROPN
fumecheng-158	104	54	w	w	PROPN
fumecheng-158	104	55	j	j	PROPN
fumecheng-158	104	56	rzj	rzj	PROPN
fumecheng-158	105	1	w	w	NOUN
fumecheng-158	105	2	i	i	NOUN
fumecheng-158	105	3	x	x	PROPN
fumecheng-158	106	1	w	w	PROPN
fumecheng-158	106	2	j	j	PROPN
fumecheng-158	106	3	w	w	NOUN
fumecheng-158	106	4	i	i	INTJ
fumecheng-158	106	5	w	w	PROPN
fumecheng-158	106	6	i	i	PROPN
fumecheng-158	106	7	w	w	PROPN
fumecheng-158	106	8	j	j	PROPN
fumecheng-158	106	9	m	m	VERB
fumecheng-158	106	10	x	x	X
fumecheng-158	106	11	x	x	X
fumecheng-158	106	12	m	m	VERB
fumecheng-158	106	13	x	x	X
fumecheng-158	106	14	x	x	PUNCT
fumecheng-158	106	15	w	w	NOUN
fumecheng-158	106	16	x	x	X
fumecheng-158	106	17	x	x	VERB
fumecheng-158	106	18	y	y	NOUN
fumecheng-158	106	19	y	y	NOUN
fumecheng-158	106	20	x	x	PUNCT
fumecheng-158	106	21	x	x	VERB
fumecheng-158	106	22	y	y	PROPN
fumecheng-158	106	23	y	y	PROPN
fumecheng-158	106	24	−	−	PROPN
fumecheng-158	107	1	−	−	PROPN
fumecheng-158	107	2	−	−	PROPN
fumecheng-158	107	3	=	=	SYM
fumecheng-158	108	1	−	−	PROPN
fumecheng-158	108	2	−	−	NUM
fumecheng-158	108	3	−	−	PROPN
fumecheng-158	109	1	−	−	PROPN
fumecheng-158	110	1	−	−	PROPN
fumecheng-158	111	1	(	(	PUNCT
fumecheng-158	111	2	15	15	NUM
fumecheng-158	111	3	)	)	PUNCT
fumecheng-158	111	4	(	(	PUNCT
fumecheng-158	111	5	)	)	PUNCT
fumecheng-158	111	6	(	(	PUNCT
fumecheng-158	111	7	)	)	PUNCT
fumecheng-158	111	8	(	(	PUNCT
fumecheng-158	111	9	)	)	PUNCT
fumecheng-158	111	10	(	(	PUNCT
fumecheng-158	111	11	)	)	PUNCT
fumecheng-158	111	12	(	(	PUNCT
fumecheng-158	111	13	)	)	PUNCT
fumecheng-158	111	14	(	(	PUNCT
fumecheng-158	111	15	)	)	PUNCT
fumecheng-158	111	16	rzi	rzi	PROPN
fumecheng-158	111	17	w	w	PROPN
fumecheng-158	111	18	j	j	PROPN
fumecheng-158	111	19	rzj	rzj	PROPN
fumecheng-158	112	1	w	w	PROPN
fumecheng-158	112	2	i	i	INTJ
fumecheng-158	112	3	y	y	PROPN
fumecheng-158	112	4	w	w	PROPN
fumecheng-158	112	5	j	j	PROPN
fumecheng-158	113	1	w	w	PROPN
fumecheng-158	113	2	i	i	INTJ
fumecheng-158	113	3	w	w	PROPN
fumecheng-158	113	4	i	i	PROPN
fumecheng-158	113	5	w	w	PROPN
fumecheng-158	113	6	j	j	PROPN
fumecheng-158	113	7	m	m	VERB
fumecheng-158	113	8	y	y	PROPN
fumecheng-158	113	9	y	y	PROPN
fumecheng-158	113	10	m	m	VERB
fumecheng-158	113	11	y	y	PROPN
fumecheng-158	113	12	y	y	PROPN
fumecheng-158	113	13	w	w	NOUN
fumecheng-158	113	14	x	x	PUNCT
fumecheng-158	113	15	x	x	VERB
fumecheng-158	113	16	y	y	NOUN
fumecheng-158	113	17	y	y	NOUN
fumecheng-158	113	18	x	x	PUNCT
fumecheng-158	113	19	x	x	VERB
fumecheng-158	113	20	y	y	PROPN
fumecheng-158	113	21	y	y	PROPN
fumecheng-158	114	1	−	−	PROPN
fumecheng-158	114	2	−	−	PROPN
fumecheng-158	115	1	−	−	PROPN
fumecheng-158	115	2	=	=	SYM
fumecheng-158	116	1	−	−	PROPN
fumecheng-158	116	2	−	−	NUM
fumecheng-158	116	3	−	−	PROPN
fumecheng-158	117	1	−	−	PROPN
fumecheng-158	118	1	−	−	PROPN
fumecheng-158	119	1	(	(	PUNCT
fumecheng-158	119	2	16	16	NUM
fumecheng-158	119	3	)	)	PUNCT
fumecheng-158	119	4	where	where	SCONJ
fumecheng-158	119	5	mrzi	mrzi	NOUN
fumecheng-158	119	6	,	,	PUNCT
fumecheng-158	119	7	mrzj	mrzj	NOUN
fumecheng-158	119	8	are	be	AUX
fumecheng-158	119	9	the	the	DET
fumecheng-158	119	10	rotary	rotary	ADJ
fumecheng-158	119	11	moments	moment	NOUN
fumecheng-158	119	12	around	around	ADP
fumecheng-158	119	13	the	the	DET
fumecheng-158	119	14	axes	axis	NOUN
fumecheng-158	119	15	of	of	ADP
fumecheng-158	119	16	joints	joint	NOUN
fumecheng-158	119	17	oi	oi	INTJ
fumecheng-158	119	18	and	and	CCONJ
fumecheng-158	119	19	oj	oj	VERB
fumecheng-158	119	20	.	.	PUNCT
fumecheng-158	120	1	the	the	DET
fumecheng-158	120	2	quantities	quantity	NOUN
fumecheng-158	120	3	of	of	ADP
fumecheng-158	120	4	rotary	rotary	ADJ
fumecheng-158	120	5	moments	moment	NOUN
fumecheng-158	120	6	around	around	ADP
fumecheng-158	120	7	the	the	DET
fumecheng-158	120	8	axes	axis	NOUN
fumecheng-158	120	9	of	of	ADP
fumecheng-158	120	10	joints	joint	NOUN
fumecheng-158	120	11	oi	oi	INTJ
fumecheng-158	120	12	and	and	CCONJ
fumecheng-158	120	13	oj	oj	PROPN
fumecheng-158	120	14	are	be	AUX
fumecheng-158	120	15	determined	determine	VERB
fumecheng-158	120	16	by	by	ADP
fumecheng-158	120	17	using	use	VERB
fumecheng-158	120	18	the	the	DET
fumecheng-158	120	19	equations	equation	NOUN
fumecheng-158	120	20	:	:	PUNCT
fumecheng-158	120	21	5	5	NUM
fumecheng-158	120	22	5	5	NUM
fumecheng-158	120	23	(	(	PUNCT
fumecheng-158	120	24	(	(	PUNCT
fumecheng-158	120	25	)	)	PUNCT
fumecheng-158	120	26	)	)	PUNCT
fumecheng-158	120	27	rzi	rzi	NOUN
fumecheng-158	121	1	i	i	PRON
fumecheng-158	121	2	ri	ri	PROPN
fumecheng-158	122	1	ci	ci	PROPN
fumecheng-158	123	1	i	i	PRON
fumecheng-158	123	2	uk	uk	PROPN
fumecheng-158	123	3	tk	tk	INTJ
fumecheng-158	124	1	i	i	PRON
fumecheng-158	124	2	i	i	PRON
fumecheng-158	124	3	uk	uk	PROPN
fumecheng-158	125	1	k	k	PROPN
fumecheng-158	126	1	i	i	PRON
fumecheng-158	126	2	k	k	VERB
fumecheng-158	127	1	i	i	PRON
fumecheng-158	127	2	m	m	VERB
fumecheng-158	127	3	e	e	NOUN
fumecheng-158	127	4	m	m	NOUN
fumecheng-158	127	5	m	m	VERB
fumecheng-158	127	6	e	e	X
fumecheng-158	127	7	f	f	NOUN
fumecheng-158	127	8	r	r	NOUN
fumecheng-158	127	9	r	r	NOUN
fumecheng-158	127	10	e	e	NOUN
fumecheng-158	127	11	m	m	NOUN
fumecheng-158	127	12	=	=	SYM
fumecheng-158	128	1	=	=	PUNCT
fumecheng-158	128	2	=	=	SYM
fumecheng-158	128	3	⋅	⋅	PROPN
fumecheng-158	128	4	=	=	PUNCT
fumecheng-158	129	1	+	+	CCONJ
fumecheng-158	129	2	⋅	⋅	PROPN
fumecheng-158	129	3	×	×	NOUN
fumecheng-158	129	4	−	−	NOUN
fumecheng-158	130	1	+	+	CCONJ
fumecheng-158	130	2	⋅∑	⋅∑	PROPN
fumecheng-158	130	3	∑	∑	PROPN
fumecheng-158	131	1	r	r	NOUN
fumecheng-158	131	2	rr	rr	NOUN
fumecheng-158	131	3	r	r	NOUN
fumecheng-158	131	4	r	r	NOUN
fumecheng-158	131	5	r	r	NOUN
fumecheng-158	131	6	rr	rr	NOUN
fumecheng-158	131	7	(	(	PUNCT
fumecheng-158	131	8	17	17	NUM
fumecheng-158	131	9	)	)	PUNCT
fumecheng-158	131	10	5	5	NUM
fumecheng-158	131	11	5	5	NUM
fumecheng-158	131	12	(	(	PUNCT
fumecheng-158	131	13	(	(	PUNCT
fumecheng-158	131	14	)	)	PUNCT
fumecheng-158	131	15	)	)	PUNCT
fumecheng-158	131	16	rzj	rzj	PROPN
fumecheng-158	132	1	j	j	PROPN
fumecheng-158	132	2	rj	rj	PROPN
fumecheng-158	132	3	cj	cj	PROPN
fumecheng-158	132	4	j	j	PROPN
fumecheng-158	132	5	uk	uk	PROPN
fumecheng-158	132	6	tk	tk	PROPN
fumecheng-158	133	1	j	j	PROPN
fumecheng-158	133	2	j	j	PROPN
fumecheng-158	133	3	uk	uk	PROPN
fumecheng-158	133	4	k	k	PROPN
fumecheng-158	133	5	j	j	PROPN
fumecheng-158	134	1	k	k	PROPN
fumecheng-158	134	2	j	j	PROPN
fumecheng-158	134	3	m	m	VERB
fumecheng-158	134	4	e	e	NOUN
fumecheng-158	134	5	m	m	NOUN
fumecheng-158	134	6	m	m	VERB
fumecheng-158	134	7	e	e	X
fumecheng-158	134	8	f	f	NOUN
fumecheng-158	134	9	r	r	NOUN
fumecheng-158	134	10	r	r	NOUN
fumecheng-158	134	11	e	e	NOUN
fumecheng-158	134	12	m	m	NOUN
fumecheng-158	134	13	=	=	SYM
fumecheng-158	135	1	=	=	PUNCT
fumecheng-158	135	2	=	=	SYM
fumecheng-158	135	3	⋅	⋅	PROPN
fumecheng-158	135	4	=	=	PUNCT
fumecheng-158	136	1	+	+	CCONJ
fumecheng-158	136	2	⋅	⋅	PROPN
fumecheng-158	136	3	×	×	NOUN
fumecheng-158	136	4	−	−	NOUN
fumecheng-158	137	1	+	+	CCONJ
fumecheng-158	137	2	⋅∑	⋅∑	PROPN
fumecheng-158	137	3	∑	∑	PROPN
fumecheng-158	138	1	r	r	NOUN
fumecheng-158	138	2	rr	rr	NOUN
fumecheng-158	138	3	r	r	NOUN
fumecheng-158	138	4	r	r	NOUN
fumecheng-158	138	5	r	r	NOUN
fumecheng-158	138	6	rr	rr	NOUN
fumecheng-158	138	7	(	(	PUNCT
fumecheng-158	138	8	18	18	NUM
fumecheng-158	138	9	)	)	PUNCT
fumecheng-158	138	10	where	where	SCONJ
fumecheng-158	138	11	mci	mci	NOUN
fumecheng-158	138	12	,	,	PUNCT
fumecheng-158	138	13	mcj	mcj	NOUN
fumecheng-158	138	14	are	be	AUX
fumecheng-158	138	15	the	the	DET
fumecheng-158	138	16	moments	moment	NOUN
fumecheng-158	138	17	of	of	ADP
fumecheng-158	138	18	drive	drive	ADJ
fumecheng-158	138	19	mechanisms	mechanism	NOUN
fumecheng-158	138	20	of	of	ADP
fumecheng-158	138	21	the	the	DET
fumecheng-158	138	22	excavator	excavator	NOUN
fumecheng-158	138	23	manipulator	manipulator	NOUN
fumecheng-158	138	24	in	in	ADP
fumecheng-158	138	25	joints	joint	NOUN
fumecheng-158	138	26	oi	oi	ADJ
fumecheng-158	138	27	and	and	CCONJ
fumecheng-158	138	28	oj	oj	VERB
fumecheng-158	138	29	.	.	PUNCT
fumecheng-158	139	1	the	the	DET
fumecheng-158	139	2	quantities	quantity	NOUN
fumecheng-158	139	3	of	of	ADP
fumecheng-158	139	4	the	the	DET
fumecheng-158	139	5	moments	moment	NOUN
fumecheng-158	139	6	of	of	ADP
fumecheng-158	139	7	drive	drive	ADJ
fumecheng-158	139	8	mechanisms	mechanism	NOUN
fumecheng-158	139	9	of	of	ADP
fumecheng-158	139	10	the	the	DET
fumecheng-158	139	11	excavator	excavator	NOUN
fumecheng-158	139	12	manipulator	manipulator	NOUN
fumecheng-158	139	13	are	be	AUX
fumecheng-158	139	14	determined	determine	VERB
fumecheng-158	139	15	by	by	ADP
fumecheng-158	139	16	using	use	VERB
fumecheng-158	139	17	the	the	DET
fumecheng-158	139	18	equations	equation	NOUN
fumecheng-158	139	19	:	:	PUNCT
fumecheng-158	139	20	experimental	experimental	ADJ
fumecheng-158	139	21	determination	determination	NOUN
fumecheng-158	139	22	of	of	ADP
fumecheng-158	139	23	bearing	bear	VERB
fumecheng-158	139	24	loads	load	NOUN
fumecheng-158	139	25	in	in	ADP
fumecheng-158	139	26	rotating	rotate	VERB
fumecheng-158	139	27	platform	platform	NOUN
fumecheng-158	139	28	drive	drive	NOUN
fumecheng-158	139	29	mechanisms	mechanism	NOUN
fumecheng-158	139	30	of	of	ADP
fumecheng-158	139	31	hyd	hyd	NOUN
fumecheng-158	139	32	.	.	PUNCT
fumecheng-158	140	1	excavators	excavator	NOUN
fumecheng-158	140	2	163	163	NUM
fumecheng-158	140	3	2	2	NUM
fumecheng-158	140	4	2	2	NUM
fumecheng-158	140	5	2	2	NUM
fumecheng-158	140	6	1	1	NUM
fumecheng-158	140	7	1	1	NUM
fumecheng-158	140	8	2	2	NUM
fumecheng-158	140	9	1	1	NUM
fumecheng-158	140	10	2	2	NUM
fumecheng-158	140	11	3	3	NUM
fumecheng-158	140	12	4	4	NUM
fumecheng-158	140	13	(	(	PUNCT
fumecheng-158	140	14	)	)	PUNCT
fumecheng-158	140	15	(	(	PUNCT
fumecheng-158	140	16	)	)	PUNCT
fumecheng-158	140	17	i	i	PRON
fumecheng-158	140	18	3,4,5	3,4,5	NUM
fumecheng-158	140	19	,	,	PUNCT
fumecheng-158	140	20	k	k	PROPN
fumecheng-158	140	21	1	1	NUM
fumecheng-158	140	22	,	,	PUNCT
fumecheng-158	140	23	1	1	NUM
fumecheng-158	140	24	4	4	NUM
fumecheng-158	140	25	4	4	NUM
fumecheng-158	141	1	i	i	PRON
fumecheng-158	141	2	i	i	PRON
fumecheng-158	142	1	i	i	PRON
fumecheng-158	142	2	ci	ci	VERB
fumecheng-158	143	1	i	i	PRON
fumecheng-158	143	2	ci	ci	PROPN
fumecheng-158	144	1	ci	ci	PROPN
fumecheng-158	145	1	i	i	PRON
fumecheng-158	145	2	i	i	PRON
fumecheng-158	145	3	cmi	cmi	VERB
fumecheng-158	146	1	d	d	PROPN
fumecheng-158	146	2	d	d	PROPN
fumecheng-158	146	3	d	d	PROPN
fumecheng-158	146	4	m	m	VERB
fumecheng-158	146	5	sign	sign	NOUN
fumecheng-158	146	6	k	k	PROPN
fumecheng-158	146	7	r	r	NOUN
fumecheng-158	146	8	n	n	PROPN
fumecheng-158	146	9	p	p	NOUN
fumecheng-158	146	10	p	p	X
fumecheng-158	146	11	k	k	PROPN
fumecheng-158	146	12	k	k	PROPN
fumecheng-158	146	13	π	π	PROPN
fumecheng-158	146	14	π	π	PROPN
fumecheng-158	146	15	η	η	PROPN
fumecheng-158	146	16	⎡	⎡	VERB
fumecheng-158	146	17	⎤−	⎤−	PROPN
fumecheng-158	146	18	=	=	SYM
fumecheng-158	146	19	⋅	⋅	PROPN
fumecheng-158	146	20	⋅	⋅	PROPN
fumecheng-158	146	21	⋅	⋅	PROPN
fumecheng-158	146	22	−	−	PROPN
fumecheng-158	146	23	⋅	⋅	X
fumecheng-158	146	24	∀	∀	X
fumecheng-158	146	25	=	=	PUNCT
fumecheng-158	147	1	=	=	PUNCT
fumecheng-158	147	2	=	=	PUNCT
fumecheng-158	148	1	=	=	ADJ
fumecheng-158	148	2	⎢	⎢	NOUN
fumecheng-158	148	3	⎥	⎥	PROPN
fumecheng-158	148	4	⎣	⎣	PROPN
fumecheng-158	148	5	⎦	⎦	NOUN
fumecheng-158	148	6	5	5	NUM
fumecheng-158	148	7	−	−	PROPN
fumecheng-158	148	8	(	(	PUNCT
fumecheng-158	148	9	19	19	NUM
fumecheng-158	148	10	)	)	PUNCT
fumecheng-158	148	11	where	where	SCONJ
fumecheng-158	148	12	rci	rci	PROPN
fumecheng-158	148	13	is	be	AUX
fumecheng-158	148	14	the	the	DET
fumecheng-158	148	15	transfer	transfer	NOUN
fumecheng-158	148	16	function	function	NOUN
fumecheng-158	148	17	of	of	ADP
fumecheng-158	148	18	the	the	DET
fumecheng-158	148	19	drive	drive	ADJ
fumecheng-158	148	20	mechanism	mechanism	NOUN
fumecheng-158	148	21	of	of	ADP
fumecheng-158	148	22	the	the	DET
fumecheng-158	148	23	excavator	excavator	NOUN
fumecheng-158	148	24	manipulator	manipulator	NOUN
fumecheng-158	148	25	[	[	X
fumecheng-158	148	26	9	9	NUM
fumecheng-158	148	27	]	]	PUNCT
fumecheng-158	148	28	,	,	PUNCT
fumecheng-158	148	29	di1,di2	di1,di2	PROPN
fumecheng-158	148	30	are	be	AUX
fumecheng-158	148	31	the	the	DET
fumecheng-158	148	32	diameters	diameter	NOUN
fumecheng-158	148	33	of	of	ADP
fumecheng-158	148	34	the	the	DET
fumecheng-158	148	35	piston	piston	NOUN
fumecheng-158	148	36	and	and	CCONJ
fumecheng-158	148	37	connecting	connect	VERB
fumecheng-158	148	38	rod	rod	NOUN
fumecheng-158	148	39	of	of	ADP
fumecheng-158	148	40	the	the	DET
fumecheng-158	148	41	hydraulic	hydraulic	ADJ
fumecheng-158	148	42	cylinder	cylinder	NOUN
fumecheng-158	148	43	,	,	PUNCT
fumecheng-158	148	44	nci	nci	PROPN
fumecheng-158	148	45	is	be	AUX
fumecheng-158	148	46	the	the	DET
fumecheng-158	148	47	number	number	NOUN
fumecheng-158	148	48	of	of	ADP
fumecheng-158	148	49	hydraulic	hydraulic	ADJ
fumecheng-158	148	50	cylinders	cylinder	NOUN
fumecheng-158	148	51	in	in	ADP
fumecheng-158	148	52	the	the	DET
fumecheng-158	148	53	mechanism	mechanism	NOUN
fumecheng-158	148	54	,	,	PUNCT
fumecheng-158	148	55	pi1,pi2	pi1,pi2	VERB
fumecheng-158	148	56	are	be	AUX
fumecheng-158	148	57	the	the	DET
fumecheng-158	148	58	measured	measure	VERB
fumecheng-158	148	59	pressures	pressure	NOUN
fumecheng-158	148	60	in	in	ADP
fumecheng-158	148	61	the	the	DET
fumecheng-158	148	62	hydraulic	hydraulic	ADJ
fumecheng-158	148	63	cylinder	cylinder	NOUN
fumecheng-158	148	64	on	on	ADP
fumecheng-158	148	65	the	the	DET
fumecheng-158	148	66	piston	piston	NOUN
fumecheng-158	148	67	side	side	NOUN
fumecheng-158	148	68	and	and	CCONJ
fumecheng-158	148	69	on	on	ADP
fumecheng-158	148	70	the	the	DET
fumecheng-158	148	71	connecting	connect	VERB
fumecheng-158	148	72	rod	rod	NOUN
fumecheng-158	148	73	side	side	NOUN
fumecheng-158	148	74	of	of	ADP
fumecheng-158	148	75	drive	drive	ADJ
fumecheng-158	148	76	mechanism	mechanism	NOUN
fumecheng-158	148	77	,	,	PUNCT
fumecheng-158	148	78	ηcmi	ηcmi	NOUN
fumecheng-158	148	79	is	be	AUX
fumecheng-158	148	80	the	the	DET
fumecheng-158	148	81	mechanical	mechanical	ADJ
fumecheng-158	148	82	degree	degree	NOUN
fumecheng-158	148	83	of	of	ADP
fumecheng-158	148	84	the	the	DET
fumecheng-158	148	85	hydraulic	hydraulic	ADJ
fumecheng-158	148	86	cylinder	cylinder	NOUN
fumecheng-158	148	87	efficiency	efficiency	NOUN
fumecheng-158	148	88	.	.	PUNCT
fumecheng-158	149	1	the	the	DET
fumecheng-158	149	2	quantity	quantity	NOUN
fumecheng-158	149	3	of	of	ADP
fumecheng-158	149	4	the	the	DET
fumecheng-158	149	5	lateral	lateral	ADJ
fumecheng-158	149	6	component	component	NOUN
fumecheng-158	149	7	of	of	ADP
fumecheng-158	149	8	digging	dig	VERB
fumecheng-158	149	9	resistance	resistance	NOUN
fumecheng-158	149	10	wz	wz	PROPN
fumecheng-158	149	11	is	be	AUX
fumecheng-158	149	12	determined	determine	VERB
fumecheng-158	149	13	by	by	ADP
fumecheng-158	149	14	using	use	VERB
fumecheng-158	149	15	the	the	DET
fumecheng-158	149	16	equation	equation	NOUN
fumecheng-158	149	17	:	:	PUNCT
fumecheng-158	149	18	5	5	NUM
fumecheng-158	149	19	5	5	NUM
fumecheng-158	149	20	2	2	NUM
fumecheng-158	149	21	21	21	NUM
fumecheng-158	149	22	22	22	NUM
fumecheng-158	149	23	c2	c2	PROPN
fumecheng-158	149	24	2	2	NUM
fumecheng-158	149	25	c2	c2	PROPN
fumecheng-158	149	26	2	2	NUM
fumecheng-158	149	27	2	2	NUM
fumecheng-158	149	28	2	2	NUM
fumecheng-158	149	29	2	2	NUM
fumecheng-158	149	30	2	2	NUM
fumecheng-158	149	31	(	(	PUNCT
fumecheng-158	149	32	)	)	PUNCT
fumecheng-158	149	33	1r	1r	NUM
fumecheng-158	149	34	(	(	PUNCT
fumecheng-158	149	35	(	(	PUNCT
fumecheng-158	149	36	)	)	PUNCT
fumecheng-158	149	37	)	)	PUNCT
fumecheng-158	150	1	2	2	NUM
fumecheng-158	150	2	c	c	NOUN
fumecheng-158	150	3	z	z	PROPN
fumecheng-158	150	4	c	c	PROPN
fumecheng-158	150	5	uk	uk	PROPN
fumecheng-158	150	6	tk	tk	PROPN
fumecheng-158	150	7	uk	uk	PROPN
fumecheng-158	150	8	k	k	PROPN
fumecheng-158	150	9	k	k	PROPN
fumecheng-158	150	10	w	w	PROPN
fumecheng-158	151	1	d	d	PROPN
fumecheng-158	151	2	p	p	X
fumecheng-158	151	3	p	p	X
fumecheng-158	151	4	w	w	NOUN
fumecheng-158	151	5	n	n	ADP
fumecheng-158	151	6	e	e	NOUN
fumecheng-158	151	7	f	f	NOUN
fumecheng-158	151	8	r	r	NOUN
fumecheng-158	151	9	r	r	NOUN
fumecheng-158	151	10	e	e	NOUN
fumecheng-158	151	11	m	m	NOUN
fumecheng-158	151	12	x	x	X
fumecheng-158	151	13	η	η	PROPN
fumecheng-158	151	14	π	π	PROPN
fumecheng-158	151	15	=	=	SYM
fumecheng-158	151	16	=	=	SYM
fumecheng-158	151	17	⋅	⋅	X
fumecheng-158	151	18	−⎡	−⎡	X
fumecheng-158	151	19	⎤=	⎤=	PUNCT
fumecheng-158	151	20	⋅	⋅	PROPN
fumecheng-158	151	21	⋅	⋅	PROPN
fumecheng-158	151	22	⋅	⋅	PROPN
fumecheng-158	151	23	+	+	CCONJ
fumecheng-158	151	24	⋅	⋅	PROPN
fumecheng-158	151	25	×	×	NOUN
fumecheng-158	151	26	−	−	NOUN
fumecheng-158	151	27	+	+	CCONJ
fumecheng-158	151	28	⋅	⋅	PROPN
fumecheng-158	151	29	⋅⎢	⋅⎢	PROPN
fumecheng-158	151	30	⎥	⎥	PROPN
fumecheng-158	151	31	⎣	⎣	PROPN
fumecheng-158	151	32	⎦	⎦	NOUN
fumecheng-158	151	33	∑	∑	PUNCT
fumecheng-158	151	34	∑	∑	PUNCT
fumecheng-158	151	35	r	r	NOUN
fumecheng-158	151	36	rr	rr	NOUN
fumecheng-158	151	37	r	r	NOUN
fumecheng-158	151	38	r	r	NOUN
fumecheng-158	151	39	(	(	PUNCT
fumecheng-158	151	40	20	20	NUM
fumecheng-158	151	41	)	)	PUNCT
fumecheng-158	151	42	where	where	SCONJ
fumecheng-158	151	43	rc2	rc2	PROPN
fumecheng-158	151	44	is	be	AUX
fumecheng-158	151	45	the	the	DET
fumecheng-158	151	46	transfer	transfer	NOUN
fumecheng-158	151	47	function	function	NOUN
fumecheng-158	151	48	of	of	ADP
fumecheng-158	151	49	the	the	DET
fumecheng-158	151	50	drive	drive	ADJ
fumecheng-158	151	51	mechanism	mechanism	NOUN
fumecheng-158	151	52	of	of	ADP
fumecheng-158	151	53	the	the	DET
fumecheng-158	151	54	excavator	excavator	NOUN
fumecheng-158	151	55	platform	platform	NOUN
fumecheng-158	151	56	rotation	rotation	NOUN
fumecheng-158	151	57	,	,	PUNCT
fumecheng-158	151	58	dc2	dc2	PROPN
fumecheng-158	151	59	is	be	AUX
fumecheng-158	151	60	the	the	DET
fumecheng-158	151	61	specific	specific	ADJ
fumecheng-158	151	62	flow	flow	NOUN
fumecheng-158	151	63	of	of	ADP
fumecheng-158	151	64	the	the	DET
fumecheng-158	151	65	hydraulic	hydraulic	ADJ
fumecheng-158	151	66	motor	motor	NOUN
fumecheng-158	151	67	of	of	ADP
fumecheng-158	151	68	the	the	DET
fumecheng-158	151	69	platform	platform	NOUN
fumecheng-158	151	70	rotation	rotation	NOUN
fumecheng-158	151	71	drive	drive	NOUN
fumecheng-158	151	72	,	,	PUNCT
fumecheng-158	151	73	nc2	nc2	X
fumecheng-158	151	74	–	–	PUNCT
fumecheng-158	151	75	the	the	DET
fumecheng-158	151	76	number	number	NOUN
fumecheng-158	151	77	of	of	ADP
fumecheng-158	151	78	rotating	rotate	VERB
fumecheng-158	151	79	platform	platform	NOUN
fumecheng-158	151	80	drives	drive	NOUN
fumecheng-158	151	81	,	,	PUNCT
fumecheng-158	151	82	p21,p22	p21,p22	NOUN
fumecheng-158	151	83	are	be	AUX
fumecheng-158	151	84	measured	measure	VERB
fumecheng-158	151	85	pressures	pressure	NOUN
fumecheng-158	151	86	in	in	ADP
fumecheng-158	151	87	the	the	DET
fumecheng-158	151	88	working	work	VERB
fumecheng-158	151	89	ducts	duct	NOUN
fumecheng-158	151	90	of	of	ADP
fumecheng-158	151	91	the	the	DET
fumecheng-158	151	92	hydraulic	hydraulic	ADJ
fumecheng-158	151	93	motor	motor	NOUN
fumecheng-158	151	94	,	,	PUNCT
fumecheng-158	151	95	ηc2	ηc2	PROPN
fumecheng-158	151	96	is	be	AUX
fumecheng-158	151	97	the	the	DET
fumecheng-158	151	98	degree	degree	NOUN
fumecheng-158	151	99	of	of	ADP
fumecheng-158	151	100	efficacy	efficacy	NOUN
fumecheng-158	151	101	of	of	ADP
fumecheng-158	151	102	the	the	DET
fumecheng-158	151	103	excavator	excavator	NOUN
fumecheng-158	151	104	platform	platform	NOUN
fumecheng-158	151	105	rotation	rotation	NOUN
fumecheng-158	151	106	drive	drive	NOUN
fumecheng-158	151	107	.	.	PUNCT
fumecheng-158	152	1	the	the	DET
fumecheng-158	152	2	fictive	fictive	ADJ
fumecheng-158	152	3	interruption	interruption	NOUN
fumecheng-158	152	4	of	of	ADP
fumecheng-158	152	5	the	the	DET
fumecheng-158	152	6	kinematic	kinematic	ADJ
fumecheng-158	152	7	chain	chain	NOUN
fumecheng-158	152	8	of	of	ADP
fumecheng-158	152	9	the	the	DET
fumecheng-158	152	10	excavator	excavator	NOUN
fumecheng-158	152	11	in	in	ADP
fumecheng-158	152	12	joint	joint	ADJ
fumecheng-158	152	13	о2	о2	NOUN
fumecheng-158	152	14	of	of	ADP
fumecheng-158	152	15	rotating	rotate	VERB
fumecheng-158	152	16	platform	platform	NOUN
fumecheng-158	152	17	l2	l2	NOUN
fumecheng-158	152	18	and	and	CCONJ
fumecheng-158	152	19	the	the	DET
fumecheng-158	152	20	reduction	reduction	NOUN
fumecheng-158	152	21	of	of	ADP
fumecheng-158	152	22	all	all	DET
fumecheng-158	152	23	loads	load	NOUN
fumecheng-158	152	24	,	,	PUNCT
fumecheng-158	152	25	of	of	ADP
fumecheng-158	152	26	the	the	DET
fumecheng-158	152	27	removed	removed	ADJ
fumecheng-158	152	28	part	part	NOUN
fumecheng-158	152	29	,	,	PUNCT
fumecheng-158	152	30	into	into	ADP
fumecheng-158	152	31	its	its	PRON
fumecheng-158	152	32	centre	centre	NOUN
fumecheng-158	152	33	,	,	PUNCT
fumecheng-158	152	34	yield	yield	NOUN
fumecheng-158	152	35	:	:	PUNCT
fumecheng-158	152	36	the	the	DET
fumecheng-158	152	37	resulting	result	VERB
fumecheng-158	152	38	force	force	NOUN
fumecheng-158	152	39	which	which	PRON
fumecheng-158	152	40	subjects	subject	VERB
fumecheng-158	152	41	the	the	DET
fumecheng-158	152	42	slewing	slewing	NOUN
fumecheng-158	152	43	bearing	bearing	NOUN
fumecheng-158	152	44	to	to	ADP
fumecheng-158	152	45	loading	loading	NOUN
fumecheng-158	152	46	:	:	PUNCT
fumecheng-158	152	47	∑	∑	PUNCT
fumecheng-158	152	48	=	=	PUNCT
fumecheng-158	152	49	+	+	NOUN
fumecheng-158	152	50	=	=	SYM
fumecheng-158	152	51	5	5	NUM
fumecheng-158	152	52	2	2	NUM
fumecheng-158	152	53	2	2	NUM
fumecheng-158	152	54	i	i	PRON
fumecheng-158	152	55	uifwf	uifwf	ADJ
fumecheng-158	152	56	rrr	rrr	NOUN
fumecheng-158	152	57	(	(	PUNCT
fumecheng-158	152	58	21	21	NUM
fumecheng-158	152	59	)	)	PUNCT
fumecheng-158	152	60	and	and	CCONJ
fumecheng-158	152	61	the	the	DET
fumecheng-158	152	62	resulting	result	VERB
fumecheng-158	152	63	moment	moment	NOUN
fumecheng-158	152	64	which	which	PRON
fumecheng-158	152	65	subjects	subject	VERB
fumecheng-158	152	66	the	the	DET
fumecheng-158	152	67	slewing	slewing	NOUN
fumecheng-158	152	68	bearing	bearing	NOUN
fumecheng-158	152	69	to	to	ADP
fumecheng-158	152	70	loading	loading	NOUN
fumecheng-158	152	71	:	:	PUNCT
fumecheng-158	152	72	5	5	NUM
fumecheng-158	152	73	5	5	NUM
fumecheng-158	152	74	2	2	NUM
fumecheng-158	152	75	2	2	NUM
fumecheng-158	152	76	2	2	NUM
fumecheng-158	152	77	2	2	NUM
fumecheng-158	152	78	2	2	NUM
fumecheng-158	152	79	(	(	PUNCT
fumecheng-158	152	80	(	(	PUNCT
fumecheng-158	152	81	)	)	PUNCT
fumecheng-158	152	82	)	)	PUNCT
fumecheng-158	152	83	(	(	PUNCT
fumecheng-158	152	84	(	(	PUNCT
fumecheng-158	152	85	)	)	PUNCT
fumecheng-158	152	86	)	)	PUNCT
fumecheng-158	153	1	w	w	PROPN
fumecheng-158	153	2	w	w	PROPN
fumecheng-158	153	3	ui	ui	PROPN
fumecheng-158	154	1	ui	ui	PROPN
fumecheng-158	155	1	i	i	PRON
fumecheng-158	156	1	i	i	PRON
fumecheng-158	156	2	m	m	VERB
fumecheng-158	157	1	r	r	NOUN
fumecheng-158	157	2	r	r	NOUN
fumecheng-158	157	3	w	w	NOUN
fumecheng-158	157	4	r	r	NOUN
fumecheng-158	157	5	r	r	NOUN
fumecheng-158	157	6	f	f	NOUN
fumecheng-158	157	7	m	m	NOUN
fumecheng-158	157	8	=	=	PUNCT
fumecheng-158	158	1	=	=	PUNCT
fumecheng-158	158	2	=	=	PUNCT
fumecheng-158	158	3	−	−	PROPN
fumecheng-158	158	4	×	×	NOUN
fumecheng-158	158	5	+	+	CCONJ
fumecheng-158	158	6	−	−	PROPN
fumecheng-158	158	7	×	×	NOUN
fumecheng-158	159	1	+	+	NOUN
fumecheng-158	159	2	∑	∑	PROPN
fumecheng-158	159	3	∑	∑	PART
fumecheng-158	159	4	r	r	NOUN
fumecheng-158	159	5	r	r	NOUN
fumecheng-158	159	6	rr	rr	NOUN
fumecheng-158	159	7	r	r	NOUN
fumecheng-158	159	8	r	r	NOUN
fumecheng-158	159	9	r	r	NOUN
fumecheng-158	159	10	r	r	NOUN
fumecheng-158	159	11	(	(	PUNCT
fumecheng-158	159	12	22	22	NUM
fumecheng-158	159	13	)	)	PUNCT
fumecheng-158	159	14	where	where	SCONJ
fumecheng-158	159	15	is	be	AUX
fumecheng-158	159	16	the	the	DET
fumecheng-158	159	17	vector	vector	NOUN
fumecheng-158	159	18	of	of	ADP
fumecheng-158	159	19	the	the	DET
fumecheng-158	159	20	position	position	NOUN
fumecheng-158	159	21	of	of	ADP
fumecheng-158	159	22	the	the	DET
fumecheng-158	159	23	joint	joint	ADJ
fumecheng-158	159	24	centre	centre	NOUN
fumecheng-158	159	25	(	(	PUNCT
fumecheng-158	159	26	slewing	slewing	NOUN
fumecheng-158	159	27	bearing	bearing	NOUN
fumecheng-158	159	28	)	)	PUNCT
fumecheng-158	159	29	o2r	o2r	NOUN
fumecheng-158	159	30	r	r	NOUN
fumecheng-158	159	31	2	2	NUM
fumecheng-158	159	32	.	.	PUNCT
fumecheng-158	159	33	components	component	NOUN
fumecheng-158	159	34	of	of	ADP
fumecheng-158	159	35	force	force	NOUN
fumecheng-158	159	36	f2	f2	PROPN
fumecheng-158	159	37	of	of	ADP
fumecheng-158	159	38	joint	joint	ADJ
fumecheng-158	159	39	o2	o2	PROPN
fumecheng-158	159	40	along	along	ADP
fumecheng-158	159	41	the	the	DET
fumecheng-158	159	42	coordinate	coordinate	NOUN
fumecheng-158	159	43	axes	axis	NOUN
fumecheng-158	159	44	:	:	PUNCT
fumecheng-158	159	45	222222222222	222222222222	NUM
fumecheng-158	159	46	,	,	PUNCT
fumecheng-158	159	47	,	,	PUNCT
fumecheng-158	159	48	kfafjfafifaf	kfafjfafifaf	NOUN
fumecheng-158	159	49	ozoyox	ozoyox	ADJ
fumecheng-158	159	50	)	)	PUNCT
fumecheng-158	159	51	rr))rr))rr	rr))rr))rr	NOUN
fumecheng-158	159	52	)	)	PUNCT
fumecheng-158	159	53	⋅=⋅=⋅=	⋅=⋅=⋅=	PRON
fumecheng-158	159	54	(	(	PUNCT
fumecheng-158	159	55	23	23	NUM
fumecheng-158	159	56	)	)	PUNCT
fumecheng-158	159	57	components	component	NOUN
fumecheng-158	159	58	of	of	ADP
fumecheng-158	159	59	moment	moment	NOUN
fumecheng-158	159	60	m2	m2	PROPN
fumecheng-158	159	61	of	of	ADP
fumecheng-158	159	62	joint	joint	PROPN
fumecheng-158	159	63	o2	o2	PROPN
fumecheng-158	159	64	along	along	ADP
fumecheng-158	159	65	the	the	DET
fumecheng-158	159	66	coordinate	coordinate	NOUN
fumecheng-158	159	67	axes	axis	NOUN
fumecheng-158	159	68	:	:	PUNCT
fumecheng-158	159	69	2	2	NUM
fumecheng-158	159	70	2	2	NUM
fumecheng-158	159	71	2	2	NUM
fumecheng-158	159	72	2	2	NUM
fumecheng-158	159	73	2	2	NUM
fumecheng-158	159	74	2	2	NUM
fumecheng-158	159	75	2	2	NUM
fumecheng-158	159	76	2	2	NUM
fumecheng-158	159	77	2	2	NUM
fumecheng-158	159	78	2	2	NUM
fumecheng-158	159	79	2,x	2,x	NUM
fumecheng-158	159	80	o	o	NOUN
fumecheng-158	159	81	y	y	NOUN
fumecheng-158	159	82	o	o	NOUN
fumecheng-158	159	83	z	z	NOUN
fumecheng-158	159	84	o	o	NOUN
fumecheng-158	160	1	2	2	NUM
fumecheng-158	160	2	m	m	NOUN
fumecheng-158	160	3	a	a	DET
fumecheng-158	160	4	m	m	NOUN
fumecheng-158	161	1	i	i	PRON
fumecheng-158	161	2	m	m	VERB
fumecheng-158	161	3	a	a	DET
fumecheng-158	161	4	m	m	NOUN
fumecheng-158	161	5	j	j	NOUN
fumecheng-158	161	6	m	m	PROPN
fumecheng-158	161	7	a	a	DET
fumecheng-158	161	8	m	m	NOUN
fumecheng-158	161	9	k=	k=	ADJ
fumecheng-158	161	10	⋅	⋅	PROPN
fumecheng-158	161	11	=	=	SYM
fumecheng-158	161	12	⋅	⋅	PROPN
fumecheng-158	161	13	=	=	SYM
fumecheng-158	161	14	⋅	⋅	PROPN
fumecheng-158	161	15	)	)	PUNCT
fumecheng-158	161	16	)	)	PUNCT
fumecheng-158	161	17	)	)	PUNCT
fumecheng-158	162	1	rr	rr	VERB
fumecheng-158	162	2	r	r	NOUN
fumecheng-158	162	3	r	r	NOUN
fumecheng-158	162	4	)	)	PUNCT
fumecheng-158	162	5	s	s	PART
fumecheng-158	162	6	)	)	PUNCT
fumecheng-158	162	7	r	r	NOUN
fumecheng-158	162	8	)	)	PUNCT
fumecheng-158	162	9	(	(	PUNCT
fumecheng-158	162	10	24	24	NUM
fumecheng-158	162	11	)	)	PUNCT
fumecheng-158	162	12	where	where	SCONJ
fumecheng-158	162	13	ao2=	ao2=	PROPN
fumecheng-158	162	14	a2o	a2o	PROPN
fumecheng-158	162	15	t	t	PROPN
fumecheng-158	162	16	is	be	AUX
fumecheng-158	162	17	transfer	transfer	NOUN
fumecheng-158	162	18	matrix	matrix	NOUN
fumecheng-158	162	19	from	from	ADP
fumecheng-158	162	20	the	the	DET
fumecheng-158	162	21	absolute	absolute	ADJ
fumecheng-158	162	22	to	to	ADP
fumecheng-158	162	23	local	local	ADJ
fumecheng-158	162	24	coordinate	coordinate	NOUN
fumecheng-158	162	25	system	system	NOUN
fumecheng-158	162	26	o2	o2	PROPN
fumecheng-158	162	27	x2	x2	PROPN
fumecheng-158	162	28	y2	y2	PROPN
fumecheng-158	162	29	z2	z2	NOUN
fumecheng-158	163	1	[	[	X
fumecheng-158	163	2	9	9	NUM
fumecheng-158	163	3	]	]	PUNCT
fumecheng-158	163	4	.	.	PUNCT
fumecheng-158	164	1	components	component	NOUN
fumecheng-158	164	2	of	of	ADP
fumecheng-158	164	3	slewing	slew	VERB
fumecheng-158	164	4	bearing	bear	VERB
fumecheng-158	164	5	loads	load	NOUN
fumecheng-158	164	6	of	of	ADP
fumecheng-158	164	7	the	the	DET
fumecheng-158	164	8	excavator	excavator	NOUN
fumecheng-158	164	9	rotating	rotate	VERB
fumecheng-158	164	10	platform	platform	NOUN
fumecheng-158	164	11	are	be	AUX
fumecheng-158	164	12	axial	axial	ADJ
fumecheng-158	164	13	force	force	NOUN
fumecheng-158	164	14	f2a	f2a	PROPN
fumecheng-158	164	15	,	,	PUNCT
fumecheng-158	164	16	radial	radial	ADJ
fumecheng-158	164	17	force	force	NOUN
fumecheng-158	164	18	f2r	f2r	PROPN
fumecheng-158	164	19	,	,	PUNCT
fumecheng-158	164	20	and	and	CCONJ
fumecheng-158	164	21	moment	moment	NOUN
fumecheng-158	165	1	m2r	m2r	NOUN
fumecheng-158	165	2	:	:	PUNCT
fumecheng-158	165	3	ya	ya	PROPN
fumecheng-158	165	4	ff	ff	PROPN
fumecheng-158	165	5	22	22	NUM
fumecheng-158	165	6	)	)	PUNCT
fumecheng-158	166	1	=	=	SYM
fumecheng-158	166	2	;	;	PUNCT
fumecheng-158	166	3	f	f	PROPN
fumecheng-158	166	4	f2	f2	PROPN
fumecheng-158	166	5	2	2	NUM
fumecheng-158	166	6	0,5	0,5	NUM
fumecheng-158	166	7	2	2	NUM
fumecheng-158	166	8	2	2	NUM
fumecheng-158	166	9	2	2	NUM
fumecheng-158	166	10	(	(	PUNCT
fumecheng-158	166	11	)	)	PUNCT
fumecheng-158	166	12	r	r	NOUN
fumecheng-158	166	13	x	x	PUNCT
fumecheng-158	166	14	zf=	zf=	NOUN
fumecheng-158	166	15	+	+	CCONJ
fumecheng-158	166	16	)	)	PUNCT
fumecheng-158	166	17	)	)	PUNCT
fumecheng-158	166	18	2	2	NUM
fumecheng-158	166	19	2	2	NUM
fumecheng-158	166	20	0,5	0,5	NUM
fumecheng-158	166	21	2	2	NUM
fumecheng-158	166	22	2	2	NUM
fumecheng-158	166	23	2	2	NUM
fumecheng-158	166	24	(	(	PUNCT
fumecheng-158	166	25	)	)	PUNCT
fumecheng-158	166	26	r	r	NOUN
fumecheng-158	166	27	x	x	SYM
fumecheng-158	166	28	zm=	zm=	NOUN
fumecheng-158	166	29	+	+	NOUN
fumecheng-158	166	30	;	;	PUNCT
fumecheng-158	166	31	m	m	VERB
fumecheng-158	166	32	m	m	VERB
fumecheng-158	166	33	)	)	PUNCT
fumecheng-158	166	34	)	)	PUNCT
fumecheng-158	167	1	(	(	PUNCT
fumecheng-158	167	2	25	25	NUM
fumecheng-158	167	3	)	)	PUNCT
fumecheng-158	167	4	the	the	DET
fumecheng-158	167	5	size	size	NOUN
fumecheng-158	167	6	of	of	ADP
fumecheng-158	167	7	the	the	DET
fumecheng-158	167	8	bearing	bearing	NOUN
fumecheng-158	167	9	is	be	AUX
fumecheng-158	167	10	selected	select	VERB
fumecheng-158	167	11	on	on	ADP
fumecheng-158	167	12	the	the	DET
fumecheng-158	167	13	basis	basis	NOUN
fumecheng-158	167	14	of	of	ADP
fumecheng-158	167	15	the	the	DET
fumecheng-158	167	16	determined	determined	ADJ
fumecheng-158	167	17	equivalent	equivalent	ADJ
fumecheng-158	167	18	spectrum	spectrum	NOUN
fumecheng-158	167	19	of	of	ADP
fumecheng-158	167	20	bearing	bear	VERB
fumecheng-158	167	21	loads	load	NOUN
fumecheng-158	167	22	and	and	CCONJ
fumecheng-158	167	23	diagrams	diagram	NOUN
fumecheng-158	167	24	of	of	ADP
fumecheng-158	167	25	bearing	bear	VERB
fumecheng-158	167	26	loading	loading	NOUN
fumecheng-158	167	27	capacity	capacity	NOUN
fumecheng-158	167	28	,	,	PUNCT
fumecheng-158	167	29	which	which	PRON
fumecheng-158	167	30	are	be	AUX
fumecheng-158	167	31	provided	provide	VERB
fumecheng-158	167	32	by	by	ADP
fumecheng-158	167	33	the	the	DET
fumecheng-158	167	34	specialized	specialized	ADJ
fumecheng-158	167	35	bearing	bear	VERB
fumecheng-158	167	36	manufacturers	manufacturer	NOUN
fumecheng-158	167	37	.	.	PUNCT
fumecheng-158	168	1	164	164	NUM
fumecheng-158	168	2	v.	v.	ADP
fumecheng-158	168	3	jovanović	jovanović	PROPN
fumecheng-158	168	4	,	,	PUNCT
fumecheng-158	168	5	d.	d.	PROPN
fumecheng-158	168	6	janošević	janošević	PROPN
fumecheng-158	168	7	,	,	PUNCT
fumecheng-158	168	8	n.	n.	PROPN
fumecheng-158	168	9	petrović	petrović	NOUN
fumecheng-158	168	10	the	the	DET
fumecheng-158	168	11	equivalent	equivalent	ADJ
fumecheng-158	168	12	spectrum	spectrum	NOUN
fumecheng-158	168	13	of	of	ADP
fumecheng-158	168	14	bearing	bear	VERB
fumecheng-158	168	15	loads	load	NOUN
fumecheng-158	168	16	consists	consist	VERB
fumecheng-158	168	17	of	of	ADP
fumecheng-158	168	18	an	an	DET
fumecheng-158	168	19	equivalent	equivalent	ADJ
fumecheng-158	168	20	force	force	NOUN
fumecheng-158	168	21	and	and	CCONJ
fumecheng-158	168	22	an	an	DET
fumecheng-158	168	23	equivalent	equivalent	ADJ
fumecheng-158	168	24	bearing	bearing	NOUN
fumecheng-158	168	25	load	load	NOUN
fumecheng-158	168	26	moment	moment	NOUN
fumecheng-158	168	27	determined	determine	VERB
fumecheng-158	168	28	by	by	ADP
fumecheng-158	168	29	the	the	DET
fumecheng-158	168	30	equations	equation	NOUN
fumecheng-158	168	31	for	for	ADP
fumecheng-158	168	32	equivalent	equivalent	ADJ
fumecheng-158	168	33	force	force	NOUN
fumecheng-158	168	34	fe	fe	NOUN
fumecheng-158	168	35	and	and	CCONJ
fumecheng-158	168	36	equivalent	equivalent	ADJ
fumecheng-158	168	37	moment	moment	NOUN
fumecheng-158	168	38	me	i	PRON
fumecheng-158	169	1	[	[	X
fumecheng-158	169	2	10	10	NUM
fumecheng-158	169	3	]	]	SYM
fumecheng-158	169	4	:	:	PUNCT
fumecheng-158	169	5	2	2	NUM
fumecheng-158	169	6	2	2	NUM
fumecheng-158	169	7	(	(	PUNCT
fumecheng-158	169	8	)	)	PUNCT
fumecheng-158	169	9	e	e	X
fumecheng-158	169	10	a	a	PRON
fumecheng-158	169	11	r	r	NOUN
fumecheng-158	169	12	sf	sf	NOUN
fumecheng-158	169	13	a	a	DET
fumecheng-158	169	14	f	f	PROPN
fumecheng-158	169	15	b	b	PROPN
fumecheng-158	169	16	f	f	PROPN
fumecheng-158	169	17	f=	f=	ADJ
fumecheng-158	169	18	⋅	⋅	PROPN
fumecheng-158	169	19	+	+	CCONJ
fumecheng-158	169	20	⋅	⋅	PROPN
fumecheng-158	169	21	;	;	PUNCT
fumecheng-158	169	22	2e	2e	PROPN
fumecheng-158	169	23	s	s	PROPN
fumecheng-158	169	24	rm	rm	X
fumecheng-158	169	25	f	f	PROPN
fumecheng-158	169	26	m=	m=	X
fumecheng-158	169	27	⋅	⋅	X
fumecheng-158	169	28	(	(	PUNCT
fumecheng-158	169	29	26	26	NUM
fumecheng-158	169	30	)	)	PUNCT
fumecheng-158	169	31	where	where	SCONJ
fumecheng-158	169	32	a	a	PRON
fumecheng-158	169	33	is	be	AUX
fumecheng-158	169	34	the	the	DET
fumecheng-158	169	35	factor	factor	NOUN
fumecheng-158	169	36	of	of	ADP
fumecheng-158	169	37	the	the	DET
fumecheng-158	169	38	axial	axial	ADJ
fumecheng-158	169	39	force	force	NOUN
fumecheng-158	169	40	influence	influence	NOUN
fumecheng-158	169	41	,	,	PUNCT
fumecheng-158	169	42	b	b	NOUN
fumecheng-158	169	43	is	be	AUX
fumecheng-158	169	44	the	the	DET
fumecheng-158	169	45	factor	factor	NOUN
fumecheng-158	169	46	of	of	ADP
fumecheng-158	169	47	the	the	DET
fumecheng-158	169	48	radial	radial	ADJ
fumecheng-158	169	49	force	force	NOUN
fumecheng-158	169	50	influence	influence	NOUN
fumecheng-158	169	51	,	,	PUNCT
fumecheng-158	169	52	fs	fs	X
fumecheng-158	169	53	is	be	AUX
fumecheng-158	169	54	the	the	DET
fumecheng-158	169	55	factor	factor	NOUN
fumecheng-158	169	56	of	of	ADP
fumecheng-158	169	57	the	the	DET
fumecheng-158	169	58	bearing	bear	VERB
fumecheng-158	169	59	working	working	NOUN
fumecheng-158	169	60	conditions	condition	NOUN
fumecheng-158	169	61	.	.	PUNCT
fumecheng-158	170	1	values	value	NOUN
fumecheng-158	170	2	of	of	ADP
fumecheng-158	170	3	factors	factor	NOUN
fumecheng-158	170	4	a	a	DET
fumecheng-158	170	5	,	,	PUNCT
fumecheng-158	170	6	b	b	NOUN
fumecheng-158	170	7	,	,	PUNCT
fumecheng-158	170	8	fs	f	NOUN
fumecheng-158	170	9	are	be	AUX
fumecheng-158	170	10	provided	provide	VERB
fumecheng-158	170	11	by	by	ADP
fumecheng-158	170	12	the	the	DET
fumecheng-158	170	13	bearing	bear	VERB
fumecheng-158	170	14	manufacturers	manufacturer	NOUN
fumecheng-158	170	15	depending	depend	VERB
fumecheng-158	170	16	on	on	ADP
fumecheng-158	170	17	the	the	DET
fumecheng-158	170	18	type	type	NOUN
fumecheng-158	170	19	of	of	ADP
fumecheng-158	170	20	bearing	bearing	NOUN
fumecheng-158	170	21	(	(	PUNCT
fumecheng-158	170	22	single	single	ADJ
fumecheng-158	170	23	-	-	PUNCT
fumecheng-158	170	24	row	row	NOUN
fumecheng-158	170	25	,	,	PUNCT
fumecheng-158	170	26	multi	multi	ADJ
fumecheng-158	170	27	-	-	ADJ
fumecheng-158	170	28	row	row	ADJ
fumecheng-158	170	29	,	,	PUNCT
fumecheng-158	170	30	ball	ball	NOUN
fumecheng-158	170	31	,	,	PUNCT
fumecheng-158	170	32	roller	roller	NOUN
fumecheng-158	170	33	)	)	PUNCT
fumecheng-158	170	34	,	,	PUNCT
fumecheng-158	170	35	type	type	NOUN
fumecheng-158	170	36	and	and	CCONJ
fumecheng-158	170	37	size	size	NOUN
fumecheng-158	170	38	of	of	ADP
fumecheng-158	170	39	machines	machine	NOUN
fumecheng-158	170	40	and	and	CCONJ
fumecheng-158	170	41	their	their	PRON
fumecheng-158	170	42	working	working	NOUN
fumecheng-158	170	43	conditions	condition	NOUN
fumecheng-158	170	44	.	.	PUNCT
fumecheng-158	171	1	3	3	X
fumecheng-158	171	2	.	.	X
fumecheng-158	171	3	program	program	NOUN
fumecheng-158	171	4	according	accord	VERB
fumecheng-158	171	5	to	to	ADP
fumecheng-158	171	6	the	the	DET
fumecheng-158	171	7	previously	previously	ADV
fumecheng-158	171	8	defined	define	VERB
fumecheng-158	171	9	mathematical	mathematical	ADJ
fumecheng-158	171	10	model	model	NOUN
fumecheng-158	171	11	for	for	ADP
fumecheng-158	171	12	determining	determine	VERB
fumecheng-158	171	13	the	the	DET
fumecheng-158	171	14	slewing	slewing	NOUN
fumecheng-158	171	15	bearing	bearing	NOUN
fumecheng-158	171	16	loads	load	NOUN
fumecheng-158	171	17	in	in	ADP
fumecheng-158	171	18	a	a	DET
fumecheng-158	171	19	drive	drive	ADJ
fumecheng-158	171	20	mechanism	mechanism	NOUN
fumecheng-158	171	21	of	of	ADP
fumecheng-158	171	22	an	an	DET
fumecheng-158	171	23	excavator	excavator	NOUN
fumecheng-158	171	24	rotating	rotate	VERB
fumecheng-158	171	25	platform	platform	NOUN
fumecheng-158	171	26	,	,	PUNCT
fumecheng-158	171	27	it	it	PRON
fumecheng-158	171	28	is	be	AUX
fumecheng-158	171	29	necessary	necessary	ADJ
fumecheng-158	171	30	to	to	PART
fumecheng-158	171	31	measure	measure	VERB
fumecheng-158	171	32	the	the	DET
fumecheng-158	171	33	quantities	quantity	NOUN
fumecheng-158	171	34	of	of	ADP
fumecheng-158	171	35	state	state	NOUN
fumecheng-158	171	36	(	(	PUNCT
fumecheng-158	171	37	table	table	NOUN
fumecheng-158	171	38	t1	t1	NOUN
fumecheng-158	171	39	)	)	PUNCT
fumecheng-158	171	40	(	(	PUNCT
fumecheng-158	171	41	fig	fig	NOUN
fumecheng-158	171	42	.	.	NOUN
fumecheng-158	171	43	1	1	NUM
fumecheng-158	171	44	)	)	PUNCT
fumecheng-158	171	45	of	of	ADP
fumecheng-158	171	46	the	the	DET
fumecheng-158	171	47	excavator	excavator	NOUN
fumecheng-158	171	48	kinematic	kinematic	ADJ
fumecheng-158	171	49	chain	chain	NOUN
fumecheng-158	171	50	and	and	CCONJ
fumecheng-158	171	51	drive	drive	ADJ
fumecheng-158	171	52	mechanisms	mechanism	NOUN
fumecheng-158	171	53	in	in	ADP
fumecheng-158	171	54	operation	operation	NOUN
fumecheng-158	171	55	under	under	ADP
fumecheng-158	171	56	real	real	ADJ
fumecheng-158	171	57	-	-	PUNCT
fumecheng-158	171	58	exploitation	exploitation	NOUN
fumecheng-158	171	59	conditions	condition	NOUN
fumecheng-158	171	60	.	.	PUNCT
fumecheng-158	172	1	a	a	DET
fumecheng-158	172	2	program	program	NOUN
fumecheng-158	172	3	(	(	PUNCT
fumecheng-158	172	4	eaol	eaol	PROPN
fumecheng-158	172	5	)	)	PUNCT
fumecheng-158	172	6	is	be	AUX
fumecheng-158	172	7	developed	develop	VERB
fumecheng-158	172	8	for	for	ADP
fumecheng-158	172	9	computer	computer	NOUN
fumecheng-158	172	10	processing	processing	NOUN
fumecheng-158	172	11	and	and	CCONJ
fumecheng-158	172	12	analyzing	analyze	VERB
fumecheng-158	172	13	measured	measure	VERB
fumecheng-158	172	14	quantities	quantity	NOUN
fumecheng-158	172	15	.	.	PUNCT
fumecheng-158	173	1	by	by	ADP
fumecheng-158	173	2	employing	employ	VERB
fumecheng-158	173	3	measured	measure	VERB
fumecheng-158	173	4	quantities	quantity	NOUN
fumecheng-158	173	5	ci	ci	NOUN
fumecheng-158	173	6	,	,	PUNCT
fumecheng-158	173	7	pi1,pi2	pi1,pi2	VERB
fumecheng-158	173	8	as	as	ADP
fumecheng-158	173	9	input	input	NOUN
fumecheng-158	173	10	data	datum	NOUN
fumecheng-158	173	11	,	,	PUNCT
fumecheng-158	173	12	the	the	DET
fumecheng-158	173	13	program	program	NOUN
fumecheng-158	173	14	firstly	firstly	ADV
fumecheng-158	173	15	determines	determine	VERB
fumecheng-158	173	16	,	,	PUNCT
fumecheng-158	173	17	in	in	ADP
fumecheng-158	173	18	the	the	DET
fumecheng-158	173	19	function	function	NOUN
fumecheng-158	173	20	of	of	ADP
fumecheng-158	173	21	the	the	DET
fumecheng-158	173	22	duration	duration	NOUN
fumecheng-158	173	23	of	of	ADP
fumecheng-158	173	24	the	the	DET
fumecheng-158	173	25	work	work	NOUN
fumecheng-158	173	26	cycle	cycle	NOUN
fumecheng-158	173	27	,	,	PUNCT
fumecheng-158	173	28	the	the	DET
fumecheng-158	173	29	geometric	geometric	ADJ
fumecheng-158	173	30	and	and	CCONJ
fumecheng-158	173	31	kinematic	kinematic	ADJ
fumecheng-158	173	32	quantities	quantity	NOUN
fumecheng-158	173	33	:	:	PUNCT
fumecheng-158	173	34	generalized	generalize	VERB
fumecheng-158	173	35	coordinates	coordinate	NOUN
fumecheng-158	173	36	θi	θi	PROPN
fumecheng-158	173	37	,	,	PUNCT
fumecheng-158	173	38	coordinates	coordinate	NOUN
fumecheng-158	173	39	of	of	ADP
fumecheng-158	173	40	joint	joint	ADJ
fumecheng-158	173	41	centers	center	NOUN
fumecheng-158	173	42	and	and	CCONJ
fumecheng-158	173	43	mass	mass	NOUN
fumecheng-158	173	44	centers	center	NOUN
fumecheng-158	173	45	of	of	ADP
fumecheng-158	173	46	chain	chain	NOUN
fumecheng-158	173	47	members	member	NOUN
fumecheng-158	173	48	,	,	PUNCT
fumecheng-158	173	49	angular	angular	ADJ
fumecheng-158	173	50	velocities	velocity	NOUN
fumecheng-158	173	51	i	i	PRON
fumecheng-158	173	52	and	and	CCONJ
fumecheng-158	173	53	angular	angular	ADJ
fumecheng-158	173	54	accelerations	acceleration	NOUN
fumecheng-158	173	55	i	i	PRON
fumecheng-158	173	56	,	,	PUNCT
fumecheng-158	173	57	and	and	CCONJ
fumecheng-158	173	58	linear	linear	PROPN
fumecheng-158	173	59	vθ	vθ	PROPN
fumecheng-158	173	60	&	&	CCONJ
fumecheng-158	173	61	θ	θ	PROPN
fumecheng-158	173	62	&	&	CCONJ
fumecheng-158	173	63	&	&	CCONJ
fumecheng-158	173	64	i	i	PROPN
fumecheng-158	173	65	and	and	CCONJ
fumecheng-158	173	66	angular	angular	ADJ
fumecheng-158	173	67	ωi	ωi	NOUN
fumecheng-158	173	68	velocity	velocity	NOUN
fumecheng-158	173	69	and	and	CCONJ
fumecheng-158	173	70	linear	linear	PROPN
fumecheng-158	173	71	wi	wi	PROPN
fumecheng-158	173	72	and	and	CCONJ
fumecheng-158	173	73	angular	angular	ADJ
fumecheng-158	173	74	εi	εi	NOUN
fumecheng-158	173	75	acceleration	acceleration	NOUN
fumecheng-158	173	76	for	for	ADP
fumecheng-158	173	77	the	the	DET
fumecheng-158	173	78	mass	mass	ADJ
fumecheng-158	173	79	center	center	NOUN
fumecheng-158	173	80	of	of	ADP
fumecheng-158	173	81	the	the	DET
fumecheng-158	173	82	excavator	excavator	NOUN
fumecheng-158	173	83	kinematic	kinematic	ADJ
fumecheng-158	173	84	chain	chain	NOUN
fumecheng-158	173	85	members	member	NOUN
fumecheng-158	173	86	.	.	PUNCT
fumecheng-158	174	1	quantities	quantity	NOUN
fumecheng-158	174	2	of	of	ADP
fumecheng-158	174	3	angular	angular	ADJ
fumecheng-158	174	4	velocities	velocity	NOUN
fumecheng-158	174	5	and	and	CCONJ
fumecheng-158	174	6	angular	angular	ADJ
fumecheng-158	174	7	accelerations	acceleration	NOUN
fumecheng-158	174	8	of	of	ADP
fumecheng-158	174	9	the	the	DET
fumecheng-158	174	10	excavator	excavator	NOUN
fumecheng-158	174	11	kinematic	kinematic	ADJ
fumecheng-158	174	12	chain	chain	NOUN
fumecheng-158	174	13	members	member	NOUN
fumecheng-158	174	14	are	be	AUX
fumecheng-158	174	15	determined	determined	ADJ
fumecheng-158	174	16	on	on	ADP
fumecheng-158	174	17	the	the	DET
fumecheng-158	174	18	basis	basis	NOUN
fumecheng-158	174	19	of	of	ADP
fumecheng-158	174	20	the	the	DET
fumecheng-158	174	21	double	double	ADJ
fumecheng-158	174	22	numerical	numerical	ADJ
fumecheng-158	174	23	differentiation	differentiation	NOUN
fumecheng-158	174	24	by	by	ADP
fumecheng-158	174	25	using	use	VERB
fumecheng-158	174	26	the	the	DET
fumecheng-158	174	27	equations	equation	NOUN
fumecheng-158	174	28	:	:	PUNCT
fumecheng-158	174	29	(	(	PUNCT
fumecheng-158	175	1	)	)	PUNCT
fumecheng-158	175	2	(	(	PUNCT
fumecheng-158	175	3	)	)	PUNCT
fumecheng-158	175	4	2	2	NUM
fumecheng-158	175	5	i	i	PRON
fumecheng-158	175	6	t	t	X
fumecheng-158	176	1	t	t	NOUN
fumecheng-158	177	1	i	i	PRON
fumecheng-158	177	2	t	t	NOUN
fumecheng-158	178	1	t	t	X
fumecheng-158	179	1	i	i	PRON
fumecheng-158	179	2	t	t	NOUN
fumecheng-158	179	3	θ	θ	X
fumecheng-158	179	4	θ	θ	PUNCT
fumecheng-158	179	5	θ	θ	X
fumecheng-158	180	1	+	+	NOUN
fumecheng-158	180	2	δ	δ	NOUN
fumecheng-158	180	3	−δ−	−δ−	ADJ
fumecheng-158	180	4	=	=	SYM
fumecheng-158	180	5	δ	δ	PROPN
fumecheng-158	180	6	&	&	CCONJ
fumecheng-158	180	7	(	(	PUNCT
fumecheng-158	180	8	27	27	NUM
fumecheng-158	180	9	)	)	PUNCT
fumecheng-158	180	10	(	(	PUNCT
fumecheng-158	180	11	2	2	X
fumecheng-158	180	12	)	)	PUNCT
fumecheng-158	180	13	(	(	PUNCT
fumecheng-158	180	14	)	)	PUNCT
fumecheng-158	180	15	(	(	PUNCT
fumecheng-158	180	16	2	2	X
fumecheng-158	180	17	)	)	PUNCT
fumecheng-158	180	18	2	2	NUM
fumecheng-158	180	19	2	2	NUM
fumecheng-158	180	20	4	4	NUM
fumecheng-158	181	1	i	i	NOUN
fumecheng-158	181	2	t	t	NOUN
fumecheng-158	181	3	t	t	NOUN
fumecheng-158	182	1	i	i	PRON
fumecheng-158	182	2	t	t	X
fumecheng-158	183	1	i	i	PRON
fumecheng-158	183	2	t	t	NOUN
fumecheng-158	184	1	t	t	X
fumecheng-158	185	1	i	i	PRON
fumecheng-158	185	2	t	t	NOUN
fumecheng-158	185	3	θ	θ	X
fumecheng-158	185	4	θ	θ	NOUN
fumecheng-158	185	5	θ	θ	X
fumecheng-158	185	6	θ	θ	X
fumecheng-158	185	7	+	+	CCONJ
fumecheng-158	185	8	δ	δ	PROPN
fumecheng-158	185	9	−	−	NOUN
fumecheng-158	185	10	δ−	δ−	PROPN
fumecheng-158	185	11	+	+	SYM
fumecheng-158	185	12	=	=	SYM
fumecheng-158	185	13	δ	δ	PROPN
fumecheng-158	185	14	&	&	CCONJ
fumecheng-158	185	15	&	&	CCONJ
fumecheng-158	185	16	(	(	PUNCT
fumecheng-158	185	17	28	28	NUM
fumecheng-158	185	18	)	)	PUNCT
fumecheng-158	186	1	where	where	SCONJ
fumecheng-158	186	2	:	:	PUNCT
fumecheng-158	186	3	θi(t	θi(t	NOUN
fumecheng-158	186	4	)	)	PUNCT
fumecheng-158	186	5	is	be	AUX
fumecheng-158	186	6	the	the	DET
fumecheng-158	186	7	generalized	generalized	ADJ
fumecheng-158	186	8	coordinate	coordinate	NOUN
fumecheng-158	186	9	at	at	ADP
fumecheng-158	186	10	moment	moment	NOUN
fumecheng-158	186	11	t	t	PROPN
fumecheng-158	186	12	of	of	ADP
fumecheng-158	186	13	the	the	DET
fumecheng-158	186	14	duration	duration	NOUN
fumecheng-158	186	15	of	of	ADP
fumecheng-158	186	16	the	the	DET
fumecheng-158	186	17	digging	dig	VERB
fumecheng-158	186	18	operation	operation	NOUN
fumecheng-158	186	19	,	,	PUNCT
fumecheng-158	186	20	θi(t+δt	θi(t+δt	NUM
fumecheng-158	186	21	)	)	PUNCT
fumecheng-158	186	22	,	,	PUNCT
fumecheng-158	186	23	θi(t	θi(t	NOUN
fumecheng-158	186	24	-	-	SYM
fumecheng-158	186	25	δt	δt	NOUN
fumecheng-158	186	26	)	)	PUNCT
fumecheng-158	186	27	,	,	PUNCT
fumecheng-158	186	28	θi(t+2δt	θi(t+2δt	NOUN
fumecheng-158	186	29	)	)	PUNCT
fumecheng-158	186	30	,	,	PUNCT
fumecheng-158	186	31	θi(t-2δt	θi(t-2δt	PROPN
fumecheng-158	186	32	)	)	PUNCT
fumecheng-158	186	33	are	be	AUX
fumecheng-158	186	34	generalized	generalized	ADJ
fumecheng-158	186	35	coordinates	coordinate	NOUN
fumecheng-158	186	36	(	(	PUNCT
fumecheng-158	186	37	angles	angle	NOUN
fumecheng-158	186	38	)	)	PUNCT
fumecheng-158	186	39	in	in	ADP
fumecheng-158	186	40	the	the	DET
fumecheng-158	186	41	moment	moment	NOUN
fumecheng-158	186	42	of	of	ADP
fumecheng-158	186	43	time	time	NOUN
fumecheng-158	186	44	which	which	PRON
fumecheng-158	186	45	is	be	AUX
fumecheng-158	186	46	larger	large	ADJ
fumecheng-158	186	47	or	or	CCONJ
fumecheng-158	186	48	smaller	small	ADJ
fumecheng-158	186	49	for	for	ADP
fumecheng-158	186	50	one	one	NUM
fumecheng-158	186	51	or	or	CCONJ
fumecheng-158	186	52	two	two	NUM
fumecheng-158	186	53	intervals	interval	NOUN
fumecheng-158	186	54	of	of	ADP
fumecheng-158	186	55	time	time	NOUN
fumecheng-158	186	56	δt	δt	NOUN
fumecheng-158	186	57	than	than	ADP
fumecheng-158	186	58	time	time	PROPN
fumecheng-158	186	59	t	t	PROPN
fumecheng-158	186	60	,	,	PUNCT
fumecheng-158	186	61	δt	δt	X
fumecheng-158	186	62	is	be	AUX
fumecheng-158	186	63	the	the	DET
fumecheng-158	186	64	interval	interval	NOUN
fumecheng-158	186	65	of	of	ADP
fumecheng-158	186	66	time	time	NOUN
fumecheng-158	186	67	between	between	ADP
fumecheng-158	186	68	two	two	NUM
fumecheng-158	186	69	subsequent	subsequent	ADJ
fumecheng-158	186	70	measurements	measurement	NOUN
fumecheng-158	186	71	of	of	ADP
fumecheng-158	186	72	quantities	quantity	NOUN
fumecheng-158	186	73	.	.	PUNCT
fumecheng-158	187	1	the	the	DET
fumecheng-158	187	2	program	program	NOUN
fumecheng-158	187	3	further	far	ADV
fumecheng-158	187	4	determines	determine	VERB
fumecheng-158	187	5	transfer	transfer	NOUN
fumecheng-158	187	6	functions	function	NOUN
fumecheng-158	187	7	rci	rci	VERB
fumecheng-158	187	8	and	and	CCONJ
fumecheng-158	187	9	drive	drive	VERB
fumecheng-158	187	10	moments	moment	NOUN
fumecheng-158	187	11	mci	mci	PROPN
fumecheng-158	187	12	of	of	ADP
fumecheng-158	187	13	individual	individual	ADJ
fumecheng-158	187	14	drive	drive	NOUN
fumecheng-158	187	15	mechanisms	mechanism	NOUN
fumecheng-158	187	16	on	on	ADP
fumecheng-158	187	17	the	the	DET
fumecheng-158	187	18	basis	basis	NOUN
fumecheng-158	187	19	of	of	ADP
fumecheng-158	187	20	the	the	DET
fumecheng-158	187	21	quantity	quantity	NOUN
fumecheng-158	187	22	parameters	parameter	NOUN
fumecheng-158	187	23	of	of	ADP
fumecheng-158	187	24	actuators	actuator	NOUN
fumecheng-158	187	25	di1,di2	di1,di2	PROPN
fumecheng-158	187	26	and	and	CCONJ
fumecheng-158	187	27	measured	measured	ADJ
fumecheng-158	187	28	pressures	pressure	NOUN
fumecheng-158	187	29	pi1,pi2	pi1,pi2	VERB
fumecheng-158	187	30	in	in	ADP
fumecheng-158	187	31	their	their	PRON
fumecheng-158	187	32	working	work	VERB
fumecheng-158	187	33	ducts	duct	NOUN
fumecheng-158	187	34	.	.	PUNCT
fumecheng-158	188	1	finally	finally	ADV
fumecheng-158	188	2	,	,	PUNCT
fumecheng-158	188	3	after	after	ADP
fumecheng-158	188	4	determining	determine	VERB
fumecheng-158	188	5	innate	innate	ADJ
fumecheng-158	188	6	forces	force	NOUN
fumecheng-158	188	7	fui	fui	PROPN
fumecheng-158	188	8	and	and	CCONJ
fumecheng-158	188	9	moment	moment	NOUN
fumecheng-158	188	10	mui	mui	NOUN
fumecheng-158	188	11	of	of	ADP
fumecheng-158	188	12	chain	chain	NOUN
fumecheng-158	188	13	members	member	NOUN
fumecheng-158	188	14	,	,	PUNCT
fumecheng-158	188	15	the	the	DET
fumecheng-158	188	16	program	program	NOUN
fumecheng-158	188	17	determines	determine	VERB
fumecheng-158	188	18	the	the	DET
fumecheng-158	188	19	vector	vector	NOUN
fumecheng-158	188	20	of	of	ADP
fumecheng-158	188	21	digging	dig	VERB
fumecheng-158	188	22	resistance	resistance	NOUN
fumecheng-158	188	23	w	w	NOUN
fumecheng-158	188	24	and	and	CCONJ
fumecheng-158	188	25	components	component	NOUN
fumecheng-158	188	26	of	of	ADP
fumecheng-158	188	27	force	force	NOUN
fumecheng-158	188	28	f2	f2	PROPN
fumecheng-158	188	29	and	and	CCONJ
fumecheng-158	188	30	moment	moment	NOUN
fumecheng-158	188	31	m2	m2	PROPN
fumecheng-158	188	32	of	of	ADP
fumecheng-158	188	33	the	the	DET
fumecheng-158	188	34	bearing	bearing	NOUN
fumecheng-158	188	35	load	load	NOUN
fumecheng-158	188	36	.	.	PUNCT
fumecheng-158	189	1	experimental	experimental	ADJ
fumecheng-158	189	2	determination	determination	NOUN
fumecheng-158	189	3	of	of	ADP
fumecheng-158	189	4	bearing	bear	VERB
fumecheng-158	189	5	loads	load	NOUN
fumecheng-158	189	6	in	in	ADP
fumecheng-158	189	7	rotating	rotate	VERB
fumecheng-158	189	8	platform	platform	NOUN
fumecheng-158	189	9	drive	drive	NOUN
fumecheng-158	189	10	mechanisms	mechanism	NOUN
fumecheng-158	189	11	of	of	ADP
fumecheng-158	189	12	hyd	hyd	NOUN
fumecheng-158	189	13	.	.	PUNCT
fumecheng-158	190	1	excavators	excavator	NOUN
fumecheng-158	190	2	165	165	NUM
fumecheng-158	190	3	4	4	NUM
fumecheng-158	190	4	.	.	NOUN
fumecheng-158	190	5	example	example	NOUN
fumecheng-158	190	6	as	as	ADP
fumecheng-158	190	7	an	an	DET
fumecheng-158	190	8	example	example	NOUN
fumecheng-158	190	9	,	,	PUNCT
fumecheng-158	190	10	the	the	DET
fumecheng-158	190	11	determination	determination	NOUN
fumecheng-158	190	12	and	and	CCONJ
fumecheng-158	190	13	analysis	analysis	NOUN
fumecheng-158	190	14	of	of	ADP
fumecheng-158	190	15	the	the	DET
fumecheng-158	190	16	bearing	bearing	NOUN
fumecheng-158	190	17	loads	load	NOUN
fumecheng-158	190	18	are	be	AUX
fumecheng-158	190	19	conducted	conduct	VERB
fumecheng-158	190	20	on	on	ADP
fumecheng-158	190	21	the	the	DET
fumecheng-158	190	22	basis	basis	NOUN
fumecheng-158	190	23	of	of	ADP
fumecheng-158	190	24	the	the	DET
fumecheng-158	190	25	results	result	NOUN
fumecheng-158	190	26	of	of	ADP
fumecheng-158	190	27	the	the	DET
fumecheng-158	190	28	testing	testing	NOUN
fumecheng-158	190	29	of	of	ADP
fumecheng-158	190	30	a	a	DET
fumecheng-158	190	31	continuous	continuous	ADJ
fumecheng-158	190	32	tracks	track	NOUN
fumecheng-158	190	33	excavator	excavator	NOUN
fumecheng-158	190	34	bgh	bgh	PROPN
fumecheng-158	190	35	600c	600c	PROPN
fumecheng-158	190	36	,	,	PUNCT
fumecheng-158	190	37	manufactured	manufacture	VERB
fumecheng-158	190	38	by	by	ADP
fumecheng-158	190	39	imk	imk	PROPN
fumecheng-158	190	40	14	14	PROPN
fumecheng-158	190	41	october	october	PROPN
fumecheng-158	190	42	–	–	PUNCT
fumecheng-158	190	43	kruševac	kruševac	ADJ
fumecheng-158	190	44	,	,	PUNCT
fumecheng-158	190	45	with	with	ADP
fumecheng-158	190	46	the	the	DET
fumecheng-158	190	47	mass	mass	NOUN
fumecheng-158	190	48	of	of	ADP
fumecheng-158	190	49	16	16	NUM
fumecheng-158	190	50	t	t	NOUN
fumecheng-158	190	51	and	and	CCONJ
fumecheng-158	190	52	the	the	DET
fumecheng-158	190	53	power	power	NOUN
fumecheng-158	190	54	of	of	ADP
fumecheng-158	190	55	70	70	NUM
fumecheng-158	190	56	kw	kw	NOUN
fumecheng-158	190	57	,	,	PUNCT
fumecheng-158	190	58	equipped	equip	VERB
fumecheng-158	190	59	with	with	ADP
fumecheng-158	190	60	an	an	DET
fumecheng-158	190	61	excavating	excavate	VERB
fumecheng-158	190	62	manipulator	manipulator	NOUN
fumecheng-158	190	63	with	with	ADP
fumecheng-158	190	64	a	a	DET
fumecheng-158	190	65	bucket	bucket	NOUN
fumecheng-158	190	66	of	of	ADP
fumecheng-158	190	67	0,6	0,6	NUM
fumecheng-158	190	68	m3	m3	NOUN
fumecheng-158	190	69	in	in	ADP
fumecheng-158	190	70	capacity	capacity	NOUN
fumecheng-158	190	71	.	.	PUNCT
fumecheng-158	191	1	penetrometer	penetrometer	NOUN
fumecheng-158	191	2	measurements	measurement	NOUN
fumecheng-158	191	3	show	show	VERB
fumecheng-158	191	4	that	that	SCONJ
fumecheng-158	191	5	during	during	ADP
fumecheng-158	191	6	the	the	DET
fumecheng-158	191	7	testing	testing	NOUN
fumecheng-158	191	8	the	the	DET
fumecheng-158	191	9	excavation	excavation	NOUN
fumecheng-158	191	10	of	of	ADP
fumecheng-158	191	11	category	category	NOUN
fumecheng-158	191	12	iii	iii	NOUN
fumecheng-158	191	13	and	and	CCONJ
fumecheng-158	191	14	iv	iv	NUM
fumecheng-158	191	15	soil	soil	NOUN
fumecheng-158	191	16	is	be	AUX
fumecheng-158	191	17	performed	perform	VERB
fumecheng-158	191	18	[	[	PUNCT
fumecheng-158	191	19	8	8	NUM
fumecheng-158	191	20	]	]	PUNCT
fumecheng-158	191	21	.	.	PUNCT
fumecheng-158	192	1	symbols	symbol	NOUN
fumecheng-158	192	2	,	,	PUNCT
fumecheng-158	192	3	names	name	NOUN
fumecheng-158	192	4	and	and	CCONJ
fumecheng-158	192	5	dimensions	dimension	NOUN
fumecheng-158	192	6	of	of	ADP
fumecheng-158	192	7	measured	measure	VERB
fumecheng-158	192	8	quantities	quantity	NOUN
fumecheng-158	192	9	are	be	AUX
fumecheng-158	192	10	given	give	VERB
fumecheng-158	192	11	in	in	ADP
fumecheng-158	192	12	table	table	NOUN
fumecheng-158	192	13	1	1	NUM
fumecheng-158	192	14	,	,	PUNCT
fumecheng-158	192	15	and	and	CCONJ
fumecheng-158	192	16	the	the	DET
fumecheng-158	192	17	measuring	measure	VERB
fumecheng-158	192	18	chain	chain	NOUN
fumecheng-158	192	19	is	be	AUX
fumecheng-158	192	20	shown	show	VERB
fumecheng-158	192	21	in	in	ADP
fumecheng-158	192	22	fig	fig	NOUN
fumecheng-158	192	23	.	.	PUNCT
fumecheng-158	193	1	1c	1c	NOUN
fumecheng-158	193	2	.	.	PUNCT
fumecheng-158	194	1	the	the	DET
fumecheng-158	194	2	initial	initial	ADJ
fumecheng-158	194	3	state	state	NOUN
fumecheng-158	194	4	of	of	ADP
fumecheng-158	194	5	the	the	DET
fumecheng-158	194	6	measured	measure	VERB
fumecheng-158	194	7	quantities	quantity	NOUN
fumecheng-158	194	8	is	be	AUX
fumecheng-158	194	9	defined	define	VERB
fumecheng-158	194	10	on	on	ADP
fumecheng-158	194	11	the	the	DET
fumecheng-158	194	12	horizontal	horizontal	ADJ
fumecheng-158	194	13	contact	contact	NOUN
fumecheng-158	194	14	surface	surface	NOUN
fumecheng-158	194	15	of	of	ADP
fumecheng-158	194	16	the	the	DET
fumecheng-158	194	17	support	support	NOUN
fumecheng-158	194	18	and	and	CCONJ
fumecheng-158	194	19	movement	movement	NOUN
fumecheng-158	194	20	mechanism	mechanism	NOUN
fumecheng-158	194	21	,	,	PUNCT
fumecheng-158	194	22	with	with	ADP
fumecheng-158	194	23	the	the	DET
fumecheng-158	194	24	plane	plane	NOUN
fumecheng-158	194	25	of	of	ADP
fumecheng-158	194	26	the	the	DET
fumecheng-158	194	27	manipulator	manipulator	NOUN
fumecheng-158	194	28	symmetry	symmetry	NOUN
fumecheng-158	194	29	parallel	parallel	ADJ
fumecheng-158	194	30	to	to	ADP
fumecheng-158	194	31	the	the	DET
fumecheng-158	194	32	transverse	transverse	ADJ
fumecheng-158	194	33	plane	plane	NOUN
fumecheng-158	194	34	of	of	ADP
fumecheng-158	194	35	the	the	DET
fumecheng-158	194	36	support	support	NOUN
fumecheng-158	194	37	and	and	CCONJ
fumecheng-158	194	38	movement	movement	NOUN
fumecheng-158	194	39	mechanism	mechanism	NOUN
fumecheng-158	194	40	symmetry	symmetry	NOUN
fumecheng-158	194	41	,	,	PUNCT
fumecheng-158	194	42	with	with	ADP
fumecheng-158	194	43	retracted	retracted	ADJ
fumecheng-158	194	44	hydraulic	hydraulic	ADJ
fumecheng-158	194	45	cylinder	cylinder	NOUN
fumecheng-158	194	46	connecting	connect	VERB
fumecheng-158	194	47	rods	rod	NOUN
fumecheng-158	194	48	and	and	CCONJ
fumecheng-158	194	49	unloaded	unload	VERB
fumecheng-158	194	50	drive	drive	NOUN
fumecheng-158	194	51	mechanisms	mechanism	NOUN
fumecheng-158	194	52	.	.	PUNCT
fumecheng-158	195	1	the	the	DET
fumecheng-158	195	2	sampling	sampling	NOUN
fumecheng-158	195	3	of	of	ADP
fumecheng-158	195	4	measured	measure	VERB
fumecheng-158	195	5	quantities	quantity	NOUN
fumecheng-158	195	6	is	be	AUX
fumecheng-158	195	7	conducted	conduct	VERB
fumecheng-158	195	8	in	in	ADP
fumecheng-158	195	9	the	the	DET
fumecheng-158	195	10	time	time	NOUN
fumecheng-158	195	11	interval	interval	NOUN
fumecheng-158	195	12	δt	δt	NOUN
fumecheng-158	195	13	=	=	SYM
fumecheng-158	195	14	0,032	0,032	NUM
fumecheng-158	195	15	s.	s.	PROPN
fumecheng-158	195	16	during	during	ADP
fumecheng-158	195	17	the	the	DET
fumecheng-158	195	18	testing	testing	NOUN
fumecheng-158	195	19	,	,	PUNCT
fumecheng-158	195	20	forty	forty	NUM
fumecheng-158	195	21	-	-	PUNCT
fumecheng-158	195	22	two	two	NUM
fumecheng-158	195	23	full	full	ADJ
fumecheng-158	195	24	cycles	cycle	NOUN
fumecheng-158	195	25	are	be	AUX
fumecheng-158	195	26	measured	measure	VERB
fumecheng-158	195	27	,	,	PUNCT
fumecheng-158	195	28	from	from	ADP
fumecheng-158	195	29	the	the	DET
fumecheng-158	195	30	digging	dig	VERB
fumecheng-158	195	31	operation	operation	NOUN
fumecheng-158	195	32	,	,	PUNCT
fumecheng-158	195	33	through	through	ADP
fumecheng-158	195	34	the	the	DET
fumecheng-158	195	35	transfer	transfer	NOUN
fumecheng-158	195	36	and	and	CCONJ
fumecheng-158	195	37	unloading	unloading	NOUN
fumecheng-158	195	38	of	of	ADP
fumecheng-158	195	39	soil	soil	NOUN
fumecheng-158	195	40	,	,	PUNCT
fumecheng-158	195	41	to	to	ADP
fumecheng-158	195	42	the	the	DET
fumecheng-158	195	43	operation	operation	NOUN
fumecheng-158	195	44	of	of	ADP
fumecheng-158	195	45	returning	return	VERB
fumecheng-158	195	46	to	to	ADP
fumecheng-158	195	47	the	the	DET
fumecheng-158	195	48	new	new	ADJ
fumecheng-158	195	49	beginning	beginning	NOUN
fumecheng-158	195	50	of	of	ADP
fumecheng-158	195	51	excavation	excavation	NOUN
fumecheng-158	195	52	,	,	PUNCT
fumecheng-158	195	53	with	with	ADP
fumecheng-158	195	54	different	different	ADJ
fumecheng-158	195	55	manipulation	manipulation	NOUN
fumecheng-158	195	56	tasks	task	NOUN
fumecheng-158	195	57	within	within	ADP
fumecheng-158	195	58	the	the	DET
fumecheng-158	195	59	entire	entire	ADJ
fumecheng-158	195	60	working	work	VERB
fumecheng-158	195	61	range	range	NOUN
fumecheng-158	195	62	of	of	ADP
fumecheng-158	195	63	the	the	DET
fumecheng-158	195	64	excavator	excavator	NOUN
fumecheng-158	195	65	.	.	PUNCT
fumecheng-158	196	1	out	out	ADP
fumecheng-158	196	2	of	of	ADP
fumecheng-158	196	3	the	the	DET
fumecheng-158	196	4	total	total	ADJ
fumecheng-158	196	5	number	number	NOUN
fumecheng-158	196	6	of	of	ADP
fumecheng-158	196	7	measurements	measurement	NOUN
fumecheng-158	196	8	,	,	PUNCT
fumecheng-158	196	9	this	this	DET
fumecheng-158	196	10	paper	paper	NOUN
fumecheng-158	196	11	separates	separate	VERB
fumecheng-158	196	12	and	and	CCONJ
fumecheng-158	196	13	analyzes	analyze	VERB
fumecheng-158	196	14	the	the	DET
fumecheng-158	196	15	measurements	measurement	NOUN
fumecheng-158	196	16	conducted	conduct	VERB
fumecheng-158	196	17	during	during	ADP
fumecheng-158	196	18	the	the	DET
fumecheng-158	196	19	digging	digging	NOUN
fumecheng-158	196	20	of	of	ADP
fumecheng-158	196	21	a	a	DET
fumecheng-158	196	22	canal	canal	NOUN
fumecheng-158	196	23	,	,	PUNCT
fumecheng-158	196	24	equal	equal	ADJ
fumecheng-158	196	25	in	in	ADP
fumecheng-158	196	26	width	width	NOUN
fumecheng-158	196	27	to	to	ADP
fumecheng-158	196	28	the	the	DET
fumecheng-158	196	29	bucket	bucket	NOUN
fumecheng-158	196	30	,	,	PUNCT
fumecheng-158	196	31	from	from	ADP
fumecheng-158	196	32	the	the	DET
fumecheng-158	196	33	excavator	excavator	NOUN
fumecheng-158	196	34	support	support	NOUN
fumecheng-158	196	35	surface	surface	NOUN
fumecheng-158	196	36	.	.	PUNCT
fumecheng-158	197	1	for	for	ADP
fumecheng-158	197	2	the	the	DET
fumecheng-158	197	3	spatial	spatial	ADJ
fumecheng-158	197	4	orientation	orientation	NOUN
fumecheng-158	197	5	of	of	ADP
fumecheng-158	197	6	the	the	DET
fumecheng-158	197	7	measured	measure	VERB
fumecheng-158	197	8	quantities	quantity	NOUN
fumecheng-158	197	9	and	and	CCONJ
fumecheng-158	197	10	obtained	obtain	VERB
fumecheng-158	197	11	results	result	NOUN
fumecheng-158	197	12	of	of	ADP
fumecheng-158	197	13	the	the	DET
fumecheng-158	197	14	analyzed	analyze	VERB
fumecheng-158	197	15	cycle	cycle	NOUN
fumecheng-158	197	16	,	,	PUNCT
fumecheng-158	197	17	a	a	DET
fumecheng-158	197	18	path	path	NOUN
fumecheng-158	197	19	of	of	ADP
fumecheng-158	197	20	the	the	DET
fumecheng-158	197	21	center	center	NOUN
fumecheng-158	197	22	of	of	ADP
fumecheng-158	197	23	the	the	DET
fumecheng-158	197	24	bucket	bucket	NOUN
fumecheng-158	197	25	cutting	cutting	NOUN
fumecheng-158	197	26	edge	edge	NOUN
fumecheng-158	197	27	is	be	AUX
fumecheng-158	197	28	given	give	VERB
fumecheng-158	197	29	(	(	PUNCT
fumecheng-158	197	30	fig	fig	NOUN
fumecheng-158	197	31	.	.	NOUN
fumecheng-158	198	1	1	1	NUM
fumecheng-158	198	2	)	)	PUNCT
fumecheng-158	198	3	in	in	ADP
fumecheng-158	198	4	оxy	оxy	NOUN
fumecheng-158	198	5	and	and	CCONJ
fumecheng-158	198	6	oxz	oxz	NOUN
fumecheng-158	198	7	plane	plane	NOUN
fumecheng-158	198	8	of	of	ADP
fumecheng-158	198	9	the	the	DET
fumecheng-158	198	10	absolute	absolute	ADJ
fumecheng-158	198	11	coordinate	coordinate	NOUN
fumecheng-158	198	12	system	system	NOUN
fumecheng-158	198	13	.	.	PUNCT
fumecheng-158	199	1	part	part	NOUN
fumecheng-158	199	2	of	of	ADP
fumecheng-158	199	3	the	the	DET
fumecheng-158	199	4	obtained	obtain	VERB
fumecheng-158	199	5	results	result	NOUN
fumecheng-158	199	6	is	be	AUX
fumecheng-158	199	7	presented	present	VERB
fumecheng-158	199	8	in	in	ADP
fumecheng-158	199	9	the	the	DET
fumecheng-158	199	10	diagrams	diagram	NOUN
fumecheng-158	199	11	of	of	ADP
fumecheng-158	199	12	measured	measure	VERB
fumecheng-158	199	13	(	(	PUNCT
fumecheng-158	199	14	fig	fig	NOUN
fumecheng-158	199	15	.	.	NOUN
fumecheng-158	200	1	2	2	NUM
fumecheng-158	200	2	)	)	PUNCT
fumecheng-158	201	1	and	and	CCONJ
fumecheng-158	201	2	determined	determined	ADJ
fumecheng-158	201	3	quantities	quantity	NOUN
fumecheng-158	201	4	(	(	PUNCT
fumecheng-158	201	5	fig	fig	NOUN
fumecheng-158	201	6	.	.	PUNCT
fumecheng-158	202	1	3	3	NUM
fumecheng-158	202	2	)	)	PUNCT
fumecheng-158	202	3	in	in	ADP
fumecheng-158	202	4	the	the	DET
fumecheng-158	202	5	function	function	NOUN
fumecheng-158	202	6	of	of	ADP
fumecheng-158	202	7	the	the	DET
fumecheng-158	202	8	duration	duration	NOUN
fumecheng-158	202	9	of	of	ADP
fumecheng-158	202	10	the	the	DET
fumecheng-158	202	11	excavator	excavator	NOUN
fumecheng-158	202	12	work	work	NOUN
fumecheng-158	202	13	cycle	cycle	NOUN
fumecheng-158	202	14	.	.	PUNCT
fumecheng-158	203	1	out	out	ADP
fumecheng-158	203	2	of	of	ADP
fumecheng-158	203	3	the	the	DET
fumecheng-158	203	4	measured	measure	VERB
fumecheng-158	203	5	quantities	quantity	NOUN
fumecheng-158	203	6	the	the	DET
fumecheng-158	203	7	diagrams	diagram	NOUN
fumecheng-158	203	8	show	show	VERB
fumecheng-158	203	9	changes	change	NOUN
fumecheng-158	203	10	in	in	ADP
fumecheng-158	203	11	:	:	PUNCT
fumecheng-158	203	12	the	the	DET
fumecheng-158	203	13	movement	movement	NOUN
fumecheng-158	203	14	of	of	ADP
fumecheng-158	203	15	the	the	DET
fumecheng-158	203	16	support	support	NOUN
fumecheng-158	203	17	and	and	CCONJ
fumecheng-158	203	18	movement	movement	NOUN
fumecheng-158	203	19	mechanism	mechanism	NOUN
fumecheng-158	203	20	c1	c1	PROPN
fumecheng-158	203	21	(	(	PUNCT
fumecheng-158	203	22	fig	fig	NOUN
fumecheng-158	203	23	.	.	PUNCT
fumecheng-158	203	24	2a	2a	NUM
fumecheng-158	203	25	)	)	PUNCT
fumecheng-158	203	26	,	,	PUNCT
fumecheng-158	203	27	the	the	DET
fumecheng-158	203	28	angle	angle	NOUN
fumecheng-158	203	29	of	of	ADP
fumecheng-158	203	30	platform	platform	NOUN
fumecheng-158	203	31	rotation	rotation	NOUN
fumecheng-158	203	32	�	�	PROPN
fumecheng-158	203	33	2	2	NUM
fumecheng-158	203	34	and	and	CCONJ
fumecheng-158	203	35	the	the	DET
fumecheng-158	203	36	motions	motion	NOUN
fumecheng-158	203	37	of	of	ADP
fumecheng-158	203	38	hydraulic	hydraulic	ADJ
fumecheng-158	203	39	cylinders	cylinder	NOUN
fumecheng-158	203	40	c3	c3	PROPN
fumecheng-158	203	41	,	,	PUNCT
fumecheng-158	203	42	c4	c4	NOUN
fumecheng-158	203	43	,	,	PUNCT
fumecheng-158	203	44	c5	c5	PROPN
fumecheng-158	203	45	,	,	PUNCT
fumecheng-158	203	46	and	and	CCONJ
fumecheng-158	203	47	pressures	pressure	NOUN
fumecheng-158	203	48	pi1,pi2	pi1,pi2	VERB
fumecheng-158	203	49	(	(	PUNCT
fumecheng-158	203	50	fig	fig	NOUN
fumecheng-158	203	51	.	.	PUNCT
fumecheng-158	204	1	2b	2b	NOUN
fumecheng-158	204	2	,	,	PUNCT
fumecheng-158	204	3	c	c	NOUN
fumecheng-158	204	4	)	)	PUNCT
fumecheng-158	204	5	in	in	ADP
fumecheng-158	204	6	the	the	DET
fumecheng-158	204	7	ducts	duct	NOUN
fumecheng-158	204	8	of	of	ADP
fumecheng-158	204	9	the	the	DET
fumecheng-158	204	10	excavator	excavator	NOUN
fumecheng-158	204	11	drive	drive	NOUN
fumecheng-158	204	12	mechanism	mechanism	NOUN
fumecheng-158	204	13	actuators	actuator	NOUN
fumecheng-158	204	14	.	.	PUNCT
fumecheng-158	205	1	diagrams	diagram	NOUN
fumecheng-158	205	2	of	of	ADP
fumecheng-158	205	3	drive	drive	ADJ
fumecheng-158	205	4	mechanism	mechanism	NOUN
fumecheng-158	205	5	actuator	actuator	NOUN
fumecheng-158	205	6	motion	motion	NOUN
fumecheng-158	205	7	(	(	PUNCT
fumecheng-158	205	8	fig	fig	NOUN
fumecheng-158	205	9	.	.	PUNCT
fumecheng-158	205	10	2a	2a	NUM
fumecheng-158	205	11	)	)	PUNCT
fumecheng-158	205	12	show	show	VERB
fumecheng-158	205	13	that	that	SCONJ
fumecheng-158	205	14	the	the	DET
fumecheng-158	205	15	selected	select	VERB
fumecheng-158	205	16	manipulation	manipulation	NOUN
fumecheng-158	205	17	testing	testing	NOUN
fumecheng-158	205	18	task	task	NOUN
fumecheng-158	205	19	is	be	AUX
fumecheng-158	205	20	conducted	conduct	VERB
fumecheng-158	205	21	with	with	ADP
fumecheng-158	205	22	the	the	DET
fumecheng-158	205	23	simultaneous	simultaneous	ADJ
fumecheng-158	205	24	movement	movement	NOUN
fumecheng-158	205	25	of	of	ADP
fumecheng-158	205	26	at	at	ADV
fumecheng-158	205	27	least	least	ADV
fumecheng-158	205	28	two	two	NUM
fumecheng-158	205	29	members	member	NOUN
fumecheng-158	205	30	of	of	ADP
fumecheng-158	205	31	the	the	DET
fumecheng-158	205	32	excavator	excavator	NOUN
fumecheng-158	205	33	kinematic	kinematic	ADJ
fumecheng-158	205	34	chain	chain	NOUN
fumecheng-158	205	35	.	.	PUNCT
fumecheng-158	206	1	depending	depend	VERB
fumecheng-158	206	2	on	on	ADP
fumecheng-158	206	3	the	the	DET
fumecheng-158	206	4	position	position	NOUN
fumecheng-158	206	5	,	,	PUNCT
fumecheng-158	206	6	the	the	DET
fumecheng-158	206	7	digging	digging	NOUN
fumecheng-158	206	8	process	process	NOUN
fumecheng-158	206	9	is	be	AUX
fumecheng-158	206	10	performed	perform	VERB
fumecheng-158	206	11	with	with	ADP
fumecheng-158	206	12	a	a	DET
fumecheng-158	206	13	separate	separate	ADJ
fumecheng-158	206	14	or	or	CCONJ
fumecheng-158	206	15	simultaneous	simultaneous	ADJ
fumecheng-158	206	16	movement	movement	NOUN
fumecheng-158	206	17	of	of	ADP
fumecheng-158	206	18	the	the	DET
fumecheng-158	206	19	manipulator	manipulator	NOUN
fumecheng-158	206	20	bucket	bucket	NOUN
fumecheng-158	206	21	and	and	CCONJ
fumecheng-158	206	22	stick	stick	NOUN
fumecheng-158	206	23	.	.	PUNCT
fumecheng-158	207	1	at	at	ADP
fumecheng-158	207	2	the	the	DET
fumecheng-158	207	3	beginning	beginning	NOUN
fumecheng-158	207	4	and	and	CCONJ
fumecheng-158	207	5	the	the	DET
fumecheng-158	207	6	end	end	NOUN
fumecheng-158	207	7	of	of	ADP
fumecheng-158	207	8	the	the	DET
fumecheng-158	207	9	digging	digging	NOUN
fumecheng-158	207	10	process	process	NOUN
fumecheng-158	207	11	the	the	DET
fumecheng-158	207	12	lifting	lifting	NOUN
fumecheng-158	207	13	(	(	PUNCT
fumecheng-158	207	14	movement	movement	NOUN
fumecheng-158	207	15	)	)	PUNCT
fumecheng-158	207	16	of	of	ADP
fumecheng-158	207	17	the	the	DET
fumecheng-158	207	18	support	support	NOUN
fumecheng-158	207	19	and	and	CCONJ
fumecheng-158	207	20	movement	movement	NOUN
fumecheng-158	207	21	member	member	NOUN
fumecheng-158	207	22	occur	occur	VERB
fumecheng-158	207	23	,	,	PUNCT
fumecheng-158	207	24	while	while	SCONJ
fumecheng-158	207	25	the	the	DET
fumecheng-158	207	26	angle	angle	NOUN
fumecheng-158	207	27	of	of	ADP
fumecheng-158	207	28	platform	platform	NOUN
fumecheng-158	207	29	rotation	rotation	NOUN
fumecheng-158	207	30	is	be	AUX
fumecheng-158	207	31	relatively	relatively	ADV
fumecheng-158	207	32	small	small	ADJ
fumecheng-158	207	33	.	.	PUNCT
fumecheng-158	208	1	the	the	DET
fumecheng-158	208	2	operation	operation	NOUN
fumecheng-158	208	3	of	of	ADP
fumecheng-158	208	4	material	material	NOUN
fumecheng-158	208	5	transfer	transfer	NOUN
fumecheng-158	208	6	from	from	ADP
fumecheng-158	208	7	the	the	DET
fumecheng-158	208	8	plane	plane	NOUN
fumecheng-158	208	9	of	of	ADP
fumecheng-158	208	10	digging	dig	VERB
fumecheng-158	208	11	into	into	ADP
fumecheng-158	208	12	the	the	DET
fumecheng-158	208	13	plane	plane	NOUN
fumecheng-158	208	14	of	of	ADP
fumecheng-158	208	15	unloading	unloading	NOUN
fumecheng-158	208	16	is	be	AUX
fumecheng-158	208	17	performed	perform	VERB
fumecheng-158	208	18	by	by	ADP
fumecheng-158	208	19	a	a	DET
fumecheng-158	208	20	simultaneous	simultaneous	ADJ
fumecheng-158	208	21	raising	raising	NOUN
fumecheng-158	208	22	of	of	ADP
fumecheng-158	208	23	the	the	DET
fumecheng-158	208	24	boom	boom	NOUN
fumecheng-158	208	25	and	and	CCONJ
fumecheng-158	208	26	platform	platform	NOUN
fumecheng-158	208	27	rotation	rotation	NOUN
fumecheng-158	208	28	.	.	PUNCT
fumecheng-158	209	1	the	the	DET
fumecheng-158	209	2	operation	operation	NOUN
fumecheng-158	209	3	of	of	ADP
fumecheng-158	209	4	material	material	NOUN
fumecheng-158	209	5	unloading	unloading	NOUN
fumecheng-158	209	6	is	be	AUX
fumecheng-158	209	7	performed	perform	VERB
fumecheng-158	209	8	by	by	ADP
fumecheng-158	209	9	moving	move	VERB
fumecheng-158	209	10	the	the	DET
fumecheng-158	209	11	bucket	bucket	NOUN
fumecheng-158	209	12	and	and	CCONJ
fumecheng-158	209	13	stick	stick	NOUN
fumecheng-158	209	14	,	,	PUNCT
fumecheng-158	209	15	and	and	CCONJ
fumecheng-158	209	16	the	the	DET
fumecheng-158	209	17	operation	operation	NOUN
fumecheng-158	209	18	of	of	ADP
fumecheng-158	209	19	returning	return	VERB
fumecheng-158	209	20	to	to	ADP
fumecheng-158	209	21	the	the	DET
fumecheng-158	209	22	plane	plane	NOUN
fumecheng-158	209	23	of	of	ADP
fumecheng-158	209	24	digging	dig	VERB
fumecheng-158	209	25	by	by	ADP
fumecheng-158	209	26	moving	move	VERB
fumecheng-158	209	27	the	the	DET
fumecheng-158	209	28	boom	boom	NOUN
fumecheng-158	209	29	and	and	CCONJ
fumecheng-158	209	30	stick	stick	VERB
fumecheng-158	209	31	with	with	ADP
fumecheng-158	209	32	platform	platform	NOUN
fumecheng-158	209	33	rotation	rotation	NOUN
fumecheng-158	209	34	.	.	PUNCT
fumecheng-158	210	1	during	during	ADP
fumecheng-158	210	2	the	the	DET
fumecheng-158	210	3	digging	dig	VERB
fumecheng-158	210	4	operation	operation	NOUN
fumecheng-158	210	5	,	,	PUNCT
fumecheng-158	210	6	a	a	DET
fumecheng-158	210	7	gradual	gradual	ADJ
fumecheng-158	210	8	increase	increase	NOUN
fumecheng-158	210	9	in	in	ADP
fumecheng-158	210	10	pressures	pressure	NOUN
fumecheng-158	210	11	occurred	occur	VERB
fumecheng-158	210	12	in	in	ADP
fumecheng-158	210	13	the	the	DET
fumecheng-158	210	14	working	work	VERB
fumecheng-158	210	15	chambers	chamber	NOUN
fumecheng-158	210	16	of	of	ADP
fumecheng-158	210	17	the	the	DET
fumecheng-158	210	18	actuators	actuator	NOUN
fumecheng-158	210	19	up	up	ADP
fumecheng-158	210	20	to	to	ADP
fumecheng-158	210	21	their	their	PRON
fumecheng-158	210	22	maximal	maximal	ADJ
fumecheng-158	210	23	values	value	NOUN
fumecheng-158	210	24	(	(	PUNCT
fumecheng-158	210	25	fig	fig	NOUN
fumecheng-158	210	26	.	.	PUNCT
fumecheng-158	211	1	2b	2b	NOUN
fumecheng-158	211	2	,	,	PUNCT
fumecheng-158	211	3	c	c	NOUN
fumecheng-158	211	4	)	)	PUNCT
fumecheng-158	211	5	.	.	PUNCT
fumecheng-158	212	1	due	due	ADP
fumecheng-158	212	2	to	to	ADP
fumecheng-158	212	3	the	the	DET
fumecheng-158	212	4	discontinuation	discontinuation	NOUN
fumecheng-158	212	5	of	of	ADP
fumecheng-158	212	6	the	the	DET
fumecheng-158	212	7	digging	digging	NOUN
fumecheng-158	212	8	process	process	NOUN
fumecheng-158	212	9	,	,	PUNCT
fumecheng-158	212	10	drastic	drastic	ADJ
fumecheng-158	212	11	changes	change	NOUN
fumecheng-158	212	12	appear	appear	VERB
fumecheng-158	212	13	in	in	ADP
fumecheng-158	212	14	pressures	pressure	NOUN
fumecheng-158	212	15	in	in	ADP
fumecheng-158	212	16	the	the	DET
fumecheng-158	212	17	drive	drive	ADJ
fumecheng-158	212	18	mechanism	mechanism	NOUN
fumecheng-158	212	19	actuators	actuator	NOUN
fumecheng-158	212	20	.	.	PUNCT
fumecheng-158	213	1	abrupt	abrupt	ADJ
fumecheng-158	213	2	changes	change	NOUN
fumecheng-158	213	3	in	in	ADP
fumecheng-158	213	4	pressures	pressure	NOUN
fumecheng-158	213	5	in	in	ADP
fumecheng-158	213	6	the	the	DET
fumecheng-158	213	7	hydraulic	hydraulic	ADJ
fumecheng-158	213	8	motor	motor	NOUN
fumecheng-158	213	9	ducts	duct	NOUN
fumecheng-158	213	10	of	of	ADP
fumecheng-158	213	11	the	the	DET
fumecheng-158	213	12	platform	platform	NOUN
fumecheng-158	213	13	rotation	rotation	NOUN
fumecheng-158	213	14	drive	drive	NOUN
fumecheng-158	213	15	take	take	VERB
fumecheng-158	213	16	place	place	NOUN
fumecheng-158	213	17	when	when	SCONJ
fumecheng-158	213	18	the	the	DET
fumecheng-158	213	19	platform	platform	NOUN
fumecheng-158	213	20	start	start	VERB
fumecheng-158	213	21	and	and	CCONJ
fumecheng-158	213	22	stop	stop	VERB
fumecheng-158	213	23	moving	move	VERB
fumecheng-158	213	24	during	during	ADP
fumecheng-158	213	25	the	the	DET
fumecheng-158	213	26	operation	operation	NOUN
fumecheng-158	213	27	of	of	ADP
fumecheng-158	213	28	material	material	NOUN
fumecheng-158	213	29	transfer	transfer	NOUN
fumecheng-158	213	30	.	.	PUNCT
fumecheng-158	214	1	166	166	NUM
fumecheng-158	214	2	v.	v.	ADP
fumecheng-158	214	3	jovanović	jovanović	PROPN
fumecheng-158	214	4	,	,	PUNCT
fumecheng-158	214	5	d.	d.	PROPN
fumecheng-158	214	6	janošević	janošević	PROPN
fumecheng-158	214	7	,	,	PUNCT
fumecheng-158	214	8	n.	n.	PROPN
fumecheng-158	214	9	petrović	petrović	PROPN
fumecheng-158	214	10	fig	fig	NOUN
fumecheng-158	214	11	.	.	PUNCT
fumecheng-158	215	1	2	2	NUM
fumecheng-158	215	2	measured	measure	VERB
fumecheng-158	215	3	quantities	quantity	NOUN
fumecheng-158	215	4	of	of	ADP
fumecheng-158	215	5	the	the	DET
fumecheng-158	215	6	state	state	NOUN
fumecheng-158	215	7	of	of	ADP
fumecheng-158	215	8	the	the	DET
fumecheng-158	215	9	excavator	excavator	NOUN
fumecheng-158	215	10	:	:	PUNCT
fumecheng-158	215	11	a	a	X
fumecheng-158	215	12	)	)	PUNCT
fumecheng-158	215	13	movement	movement	NOUN
fumecheng-158	215	14	of	of	ADP
fumecheng-158	215	15	the	the	DET
fumecheng-158	215	16	rotating	rotate	VERB
fumecheng-158	215	17	mechanism	mechanism	NOUN
fumecheng-158	215	18	,	,	PUNCT
fumecheng-158	215	19	angle	angle	NOUN
fumecheng-158	215	20	of	of	ADP
fumecheng-158	215	21	the	the	DET
fumecheng-158	215	22	platform	platform	NOUN
fumecheng-158	215	23	rotation	rotation	NOUN
fumecheng-158	215	24	and	and	CCONJ
fumecheng-158	215	25	motions	motion	NOUN
fumecheng-158	215	26	of	of	ADP
fumecheng-158	215	27	manipulator	manipulator	NOUN
fumecheng-158	215	28	hydraulic	hydraulic	ADJ
fumecheng-158	215	29	cylinders	cylinder	NOUN
fumecheng-158	215	30	,	,	PUNCT
fumecheng-158	215	31	b	b	NOUN
fumecheng-158	215	32	,	,	PUNCT
fumecheng-158	215	33	c	c	NOUN
fumecheng-158	215	34	)	)	PUNCT
fumecheng-158	215	35	pressures	pressure	NOUN
fumecheng-158	215	36	in	in	ADP
fumecheng-158	215	37	the	the	DET
fumecheng-158	215	38	excavator	excavator	NOUN
fumecheng-158	215	39	drive	drive	NOUN
fumecheng-158	215	40	mechanism	mechanism	NOUN
fumecheng-158	215	41	actuators	actuator	NOUN
fumecheng-158	215	42	out	out	ADP
fumecheng-158	215	43	of	of	ADP
fumecheng-158	215	44	the	the	DET
fumecheng-158	215	45	determined	determined	ADJ
fumecheng-158	215	46	quantities	quantity	NOUN
fumecheng-158	215	47	,	,	PUNCT
fumecheng-158	215	48	obtained	obtain	VERB
fumecheng-158	215	49	by	by	ADP
fumecheng-158	215	50	using	use	VERB
fumecheng-158	215	51	the	the	DET
fumecheng-158	215	52	developed	develop	VERB
fumecheng-158	215	53	program	program	NOUN
fumecheng-158	215	54	,	,	PUNCT
fumecheng-158	215	55	the	the	DET
fumecheng-158	215	56	paper	paper	NOUN
fumecheng-158	215	57	shows	show	VERB
fumecheng-158	215	58	the	the	DET
fumecheng-158	215	59	change	change	NOUN
fumecheng-158	215	60	in	in	ADP
fumecheng-158	215	61	the	the	DET
fumecheng-158	215	62	quantities	quantity	NOUN
fumecheng-158	215	63	of	of	ADP
fumecheng-158	215	64	platform	platform	NOUN
fumecheng-158	215	65	drive	drive	NOUN
fumecheng-158	215	66	mechanism	mechanism	NOUN
fumecheng-158	215	67	during	during	ADP
fumecheng-158	215	68	the	the	DET
fumecheng-158	215	69	cycle	cycle	NOUN
fumecheng-158	215	70	,	,	PUNCT
fumecheng-158	215	71	based	base	VERB
fumecheng-158	215	72	on	on	ADP
fumecheng-158	215	73	the	the	DET
fumecheng-158	215	74	components	component	NOUN
fumecheng-158	215	75	of	of	ADP
fumecheng-158	215	76	force	force	NOUN
fumecheng-158	215	77	f2	f2	PROPN
fumecheng-158	215	78	and	and	CCONJ
fumecheng-158	215	79	moment	moment	NOUN
fumecheng-158	215	80	m2	m2	PROPN
fumecheng-158	215	81	(	(	PUNCT
fumecheng-158	215	82	fig	fig	PROPN
fumecheng-158	215	83	.	.	PUNCT
fumecheng-158	216	1	3a	3a	NUM
fumecheng-158	216	2	,	,	PUNCT
fumecheng-158	216	3	b	b	NOUN
fumecheng-158	216	4	)	)	PUNCT
fumecheng-158	216	5	of	of	ADP
fumecheng-158	216	6	the	the	DET
fumecheng-158	216	7	bearing	bearing	NOUN
fumecheng-158	216	8	loads	load	NOUN
fumecheng-158	216	9	in	in	ADP
fumecheng-158	216	10	the	the	DET
fumecheng-158	216	11	static	static	ADJ
fumecheng-158	216	12	and	and	CCONJ
fumecheng-158	216	13	dynamic	dynamic	ADJ
fumecheng-158	216	14	mathematical	mathematical	ADJ
fumecheng-158	216	15	model	model	NOUN
fumecheng-158	216	16	of	of	ADP
fumecheng-158	216	17	the	the	DET
fumecheng-158	216	18	excavator	excavator	NOUN
fumecheng-158	216	19	.	.	PUNCT
fumecheng-158	217	1	as	as	SCONJ
fumecheng-158	217	2	the	the	DET
fumecheng-158	217	3	diagrams	diagram	NOUN
fumecheng-158	217	4	show	show	VERB
fumecheng-158	217	5	,	,	PUNCT
fumecheng-158	217	6	bearing	bear	VERB
fumecheng-158	217	7	loads	load	NOUN
fumecheng-158	217	8	determined	determine	VERB
fumecheng-158	217	9	by	by	ADP
fumecheng-158	217	10	using	use	VERB
fumecheng-158	217	11	the	the	DET
fumecheng-158	217	12	static	static	ADJ
fumecheng-158	217	13	and	and	CCONJ
fumecheng-158	217	14	dynamic	dynamic	ADJ
fumecheng-158	217	15	mathematical	mathematical	ADJ
fumecheng-158	217	16	model	model	NOUN
fumecheng-158	217	17	of	of	ADP
fumecheng-158	217	18	the	the	DET
fumecheng-158	217	19	excavator	excavator	NOUN
fumecheng-158	217	20	experimental	experimental	ADJ
fumecheng-158	217	21	determination	determination	NOUN
fumecheng-158	217	22	of	of	ADP
fumecheng-158	217	23	bearing	bear	VERB
fumecheng-158	217	24	loads	load	NOUN
fumecheng-158	217	25	in	in	ADP
fumecheng-158	217	26	rotating	rotate	VERB
fumecheng-158	217	27	platform	platform	NOUN
fumecheng-158	217	28	drive	drive	NOUN
fumecheng-158	217	29	mechanisms	mechanism	NOUN
fumecheng-158	217	30	of	of	ADP
fumecheng-158	217	31	hyd	hyd	NOUN
fumecheng-158	217	32	.	.	PUNCT
fumecheng-158	218	1	excavators	excavator	NOUN
fumecheng-158	218	2	167	167	NUM
fumecheng-158	218	3	fig	fig	NOUN
fumecheng-158	218	4	.	.	PUNCT
fumecheng-158	219	1	3	3	NUM
fumecheng-158	219	2	loading	loading	NOUN
fumecheng-158	219	3	of	of	ADP
fumecheng-158	219	4	the	the	DET
fumecheng-158	219	5	platform	platform	NOUN
fumecheng-158	219	6	rotation	rotation	NOUN
fumecheng-158	219	7	drive	drive	NOUN
fumecheng-158	219	8	bearing	bearing	NOUN
fumecheng-158	219	9	:	:	PUNCT
fumecheng-158	219	10	a	a	X
fumecheng-158	219	11	)	)	PUNCT
fumecheng-158	219	12	bearing	bear	VERB
fumecheng-158	219	13	load	load	NOUN
fumecheng-158	219	14	force	force	NOUN
fumecheng-158	219	15	components	component	NOUN
fumecheng-158	219	16	,	,	PUNCT
fumecheng-158	219	17	b	b	NOUN
fumecheng-158	219	18	)	)	PUNCT
fumecheng-158	219	19	bearing	bear	VERB
fumecheng-158	219	20	load	load	NOUN
fumecheng-158	219	21	moment	moment	NOUN
fumecheng-158	219	22	components	component	NOUN
fumecheng-158	219	23	,	,	PUNCT
fumecheng-158	219	24	c	c	NOUN
fumecheng-158	219	25	)	)	PUNCT
fumecheng-158	219	26	equivalent	equivalent	ADJ
fumecheng-158	219	27	bearing	bearing	NOUN
fumecheng-158	219	28	load	load	NOUN
fumecheng-158	219	29	force	force	NOUN
fumecheng-158	219	30	and	and	CCONJ
fumecheng-158	219	31	moment	moment	NOUN
fumecheng-158	219	32	.	.	PUNCT
fumecheng-158	220	1	vary	vary	VERB
fumecheng-158	220	2	only	only	ADV
fumecheng-158	220	3	slightly	slightly	ADV
fumecheng-158	220	4	during	during	ADP
fumecheng-158	220	5	the	the	DET
fumecheng-158	220	6	major	major	ADJ
fumecheng-158	220	7	part	part	NOUN
fumecheng-158	220	8	of	of	ADP
fumecheng-158	220	9	the	the	DET
fumecheng-158	220	10	digging	dig	VERB
fumecheng-158	220	11	process	process	NOUN
fumecheng-158	220	12	,	,	PUNCT
fumecheng-158	220	13	which	which	PRON
fumecheng-158	220	14	shows	show	VERB
fumecheng-158	220	15	that	that	SCONJ
fumecheng-158	220	16	the	the	DET
fumecheng-158	220	17	dynamic	dynamic	ADJ
fumecheng-158	220	18	influence	influence	NOUN
fumecheng-158	220	19	due	due	ADP
fumecheng-158	220	20	to	to	ADP
fumecheng-158	220	21	the	the	DET
fumecheng-158	220	22	movement	movement	NOUN
fumecheng-158	220	23	of	of	ADP
fumecheng-158	220	24	the	the	DET
fumecheng-158	220	25	excavator	excavator	NOUN
fumecheng-158	220	26	kinematic	kinematic	ADJ
fumecheng-158	220	27	chain	chain	NOUN
fumecheng-158	220	28	members	member	NOUN
fumecheng-158	220	29	during	during	ADP
fumecheng-158	220	30	the	the	DET
fumecheng-158	220	31	digging	dig	VERB
fumecheng-158	220	32	process	process	NOUN
fumecheng-158	220	33	is	be	AUX
fumecheng-158	220	34	small	small	ADJ
fumecheng-158	220	35	since	since	SCONJ
fumecheng-158	220	36	the	the	DET
fumecheng-158	220	37	digging	digging	NOUN
fumecheng-158	220	38	process	process	NOUN
fumecheng-158	220	39	itself	itself	PRON
fumecheng-158	220	40	takes	take	VERB
fumecheng-158	220	41	place	place	NOUN
fumecheng-158	220	42	relatively	relatively	ADV
fumecheng-158	220	43	slowly	slowly	ADV
fumecheng-158	220	44	.	.	PUNCT
fumecheng-158	221	1	the	the	DET
fumecheng-158	221	2	dynamic	dynamic	ADJ
fumecheng-158	221	3	influence	influence	NOUN
fumecheng-158	221	4	on	on	ADP
fumecheng-158	221	5	the	the	DET
fumecheng-158	221	6	loading	loading	NOUN
fumecheng-158	221	7	of	of	ADP
fumecheng-158	221	8	the	the	DET
fumecheng-158	221	9	bearing	bearing	NOUN
fumecheng-158	221	10	occurs	occur	VERB
fumecheng-158	221	11	at	at	ADP
fumecheng-158	221	12	the	the	DET
fumecheng-158	221	13	beginning	beginning	NOUN
fumecheng-158	221	14	and	and	CCONJ
fumecheng-158	221	15	168	168	NUM
fumecheng-158	221	16	v.	v.	ADP
fumecheng-158	221	17	jovanović	jovanović	PROPN
fumecheng-158	221	18	,	,	PUNCT
fumecheng-158	221	19	d.	d.	PROPN
fumecheng-158	221	20	janošević	janošević	PROPN
fumecheng-158	221	21	,	,	PUNCT
fumecheng-158	221	22	n.	n.	PROPN
fumecheng-158	221	23	petrović	petrović	NOUN
fumecheng-158	221	24	the	the	DET
fumecheng-158	221	25	end	end	NOUN
fumecheng-158	221	26	of	of	ADP
fumecheng-158	221	27	the	the	DET
fumecheng-158	221	28	digging	digging	NOUN
fumecheng-158	221	29	process	process	NOUN
fumecheng-158	221	30	when	when	SCONJ
fumecheng-158	221	31	the	the	DET
fumecheng-158	221	32	lifting	lifting	NOUN
fumecheng-158	221	33	(	(	PUNCT
fumecheng-158	221	34	movement	movement	NOUN
fumecheng-158	221	35	)	)	PUNCT
fumecheng-158	221	36	of	of	ADP
fumecheng-158	221	37	the	the	DET
fumecheng-158	221	38	support	support	NOUN
fumecheng-158	221	39	and	and	CCONJ
fumecheng-158	221	40	movement	movement	NOUN
fumecheng-158	221	41	member	member	NOUN
fumecheng-158	221	42	takes	take	VERB
fumecheng-158	221	43	place	place	NOUN
fumecheng-158	221	44	as	as	ADV
fumecheng-158	221	45	well	well	ADV
fumecheng-158	221	46	,	,	PUNCT
fumecheng-158	221	47	which	which	PRON
fumecheng-158	221	48	also	also	ADV
fumecheng-158	221	49	causes	cause	VERB
fumecheng-158	221	50	the	the	DET
fumecheng-158	221	51	appearance	appearance	NOUN
fumecheng-158	221	52	of	of	ADP
fumecheng-158	221	53	increased	increase	VERB
fumecheng-158	221	54	dynamic	dynamic	ADJ
fumecheng-158	221	55	forces	force	NOUN
fumecheng-158	221	56	and	and	CCONJ
fumecheng-158	221	57	moments	moment	NOUN
fumecheng-158	221	58	in	in	ADP
fumecheng-158	221	59	all	all	DET
fumecheng-158	221	60	members	member	NOUN
fumecheng-158	221	61	of	of	ADP
fumecheng-158	221	62	the	the	DET
fumecheng-158	221	63	excavator	excavator	NOUN
fumecheng-158	221	64	kinematic	kinematic	ADJ
fumecheng-158	221	65	chain	chain	NOUN
fumecheng-158	221	66	.	.	PUNCT
fumecheng-158	222	1	the	the	DET
fumecheng-158	222	2	increased	increase	VERB
fumecheng-158	222	3	dynamic	dynamic	ADJ
fumecheng-158	222	4	loadings	loading	NOUN
fumecheng-158	222	5	of	of	ADP
fumecheng-158	222	6	the	the	DET
fumecheng-158	222	7	bearing	bearing	NOUN
fumecheng-158	222	8	occur	occur	VERB
fumecheng-158	222	9	at	at	ADP
fumecheng-158	222	10	the	the	DET
fumecheng-158	222	11	beginning	beginning	NOUN
fumecheng-158	222	12	and	and	CCONJ
fumecheng-158	222	13	the	the	DET
fumecheng-158	222	14	end	end	NOUN
fumecheng-158	222	15	of	of	ADP
fumecheng-158	222	16	the	the	DET
fumecheng-158	222	17	operation	operation	NOUN
fumecheng-158	222	18	of	of	ADP
fumecheng-158	222	19	soil	soil	NOUN
fumecheng-158	222	20	transfer	transfer	NOUN
fumecheng-158	222	21	and	and	CCONJ
fumecheng-158	222	22	returning	return	VERB
fumecheng-158	222	23	to	to	ADP
fumecheng-158	222	24	the	the	DET
fumecheng-158	222	25	new	new	ADJ
fumecheng-158	222	26	plane	plane	NOUN
fumecheng-158	222	27	of	of	ADP
fumecheng-158	222	28	digging	dig	VERB
fumecheng-158	222	29	due	due	ADJ
fumecheng-158	222	30	to	to	ADP
fumecheng-158	222	31	the	the	DET
fumecheng-158	222	32	movement	movement	NOUN
fumecheng-158	222	33	of	of	ADP
fumecheng-158	222	34	the	the	DET
fumecheng-158	222	35	excavator	excavator	NOUN
fumecheng-158	222	36	platform	platform	NOUN
fumecheng-158	222	37	when	when	SCONJ
fumecheng-158	222	38	the	the	DET
fumecheng-158	222	39	masses	masse	NOUN
fumecheng-158	222	40	of	of	ADP
fumecheng-158	222	41	the	the	DET
fumecheng-158	222	42	manipulator	manipulator	NOUN
fumecheng-158	222	43	kinematic	kinematic	NOUN
fumecheng-158	222	44	chain	chain	NOUN
fumecheng-158	222	45	members	member	NOUN
fumecheng-158	222	46	,	,	PUNCT
fumecheng-158	222	47	carried	carry	VERB
fumecheng-158	222	48	by	by	ADP
fumecheng-158	222	49	the	the	DET
fumecheng-158	222	50	excavator	excavator	NOUN
fumecheng-158	222	51	rotating	rotate	VERB
fumecheng-158	222	52	platform	platform	NOUN
fumecheng-158	222	53	,	,	PUNCT
fumecheng-158	222	54	accelerate	accelerate	NOUN
fumecheng-158	222	55	and	and	CCONJ
fumecheng-158	222	56	decelerate	decelerate	NOUN
fumecheng-158	222	57	.	.	PUNCT
fumecheng-158	223	1	dynamic	dynamic	ADJ
fumecheng-158	223	2	changes	change	NOUN
fumecheng-158	223	3	in	in	ADP
fumecheng-158	223	4	the	the	DET
fumecheng-158	223	5	loading	loading	NOUN
fumecheng-158	223	6	of	of	ADP
fumecheng-158	223	7	the	the	DET
fumecheng-158	223	8	bearing	bearing	NOUN
fumecheng-158	223	9	also	also	ADV
fumecheng-158	223	10	occur	occur	VERB
fumecheng-158	223	11	during	during	ADP
fumecheng-158	223	12	the	the	DET
fumecheng-158	223	13	unloading	unloading	NOUN
fumecheng-158	223	14	operation	operation	NOUN
fumecheng-158	223	15	due	due	ADP
fumecheng-158	223	16	to	to	ADP
fumecheng-158	223	17	the	the	DET
fumecheng-158	223	18	abrupt	abrupt	ADJ
fumecheng-158	223	19	change	change	NOUN
fumecheng-158	223	20	in	in	ADP
fumecheng-158	223	21	the	the	DET
fumecheng-158	223	22	dynamic	dynamic	ADJ
fumecheng-158	223	23	parameters	parameter	NOUN
fumecheng-158	223	24	by	by	ADP
fumecheng-158	223	25	reducing	reduce	VERB
fumecheng-158	223	26	the	the	DET
fumecheng-158	223	27	mass	mass	NOUN
fumecheng-158	223	28	of	of	ADP
fumecheng-158	223	29	soil	soil	NOUN
fumecheng-158	223	30	when	when	SCONJ
fumecheng-158	223	31	the	the	DET
fumecheng-158	223	32	bucket	bucket	NOUN
fumecheng-158	223	33	is	be	AUX
fumecheng-158	223	34	emptied	empty	VERB
fumecheng-158	223	35	.	.	PUNCT
fumecheng-158	224	1	during	during	ADP
fumecheng-158	224	2	the	the	DET
fumecheng-158	224	3	work	work	NOUN
fumecheng-158	224	4	cycle	cycle	NOUN
fumecheng-158	224	5	of	of	ADP
fumecheng-158	224	6	the	the	DET
fumecheng-158	224	7	excavator	excavator	NOUN
fumecheng-158	224	8	,	,	PUNCT
fumecheng-158	224	9	the	the	DET
fumecheng-158	224	10	greatest	great	ADJ
fumecheng-158	224	11	values	value	NOUN
fumecheng-158	224	12	of	of	ADP
fumecheng-158	224	13	the	the	DET
fumecheng-158	224	14	components	component	NOUN
fumecheng-158	224	15	of	of	ADP
fumecheng-158	224	16	force	force	NOUN
fumecheng-158	224	17	(	(	PUNCT
fumecheng-158	224	18	fig	fig	NOUN
fumecheng-158	224	19	.	.	PUNCT
fumecheng-158	224	20	3a	3a	NUM
fumecheng-158	224	21	)	)	PUNCT
fumecheng-158	224	22	and	and	CCONJ
fumecheng-158	224	23	moment	moment	NOUN
fumecheng-158	224	24	(	(	PUNCT
fumecheng-158	224	25	fig	fig	NOUN
fumecheng-158	224	26	.	.	PUNCT
fumecheng-158	225	1	3b	3b	NUM
fumecheng-158	225	2	)	)	PUNCT
fumecheng-158	225	3	of	of	ADP
fumecheng-158	225	4	the	the	DET
fumecheng-158	225	5	slewing	slewing	NOUN
fumecheng-158	225	6	bearing	bear	VERB
fumecheng-158	225	7	loads	load	NOUN
fumecheng-158	225	8	,	,	PUNCT
fumecheng-158	225	9	as	as	ADV
fumecheng-158	225	10	well	well	ADV
fumecheng-158	225	11	as	as	ADP
fumecheng-158	225	12	the	the	DET
fumecheng-158	225	13	greatest	great	ADJ
fumecheng-158	225	14	values	value	NOUN
fumecheng-158	225	15	of	of	ADP
fumecheng-158	225	16	the	the	DET
fumecheng-158	225	17	equivalent	equivalent	ADJ
fumecheng-158	225	18	force	force	NOUN
fumecheng-158	225	19	and	and	CCONJ
fumecheng-158	225	20	the	the	DET
fumecheng-158	225	21	equivalent	equivalent	ADJ
fumecheng-158	225	22	moment	moment	NOUN
fumecheng-158	225	23	of	of	ADP
fumecheng-158	225	24	bearing	bear	VERB
fumecheng-158	225	25	loads	load	NOUN
fumecheng-158	225	26	,	,	PUNCT
fumecheng-158	225	27	applicable	applicable	ADJ
fumecheng-158	225	28	for	for	ADP
fumecheng-158	225	29	the	the	DET
fumecheng-158	225	30	selection	selection	NOUN
fumecheng-158	225	31	of	of	ADP
fumecheng-158	225	32	the	the	DET
fumecheng-158	225	33	bearing	bearing	NOUN
fumecheng-158	225	34	size	size	NOUN
fumecheng-158	225	35	,	,	PUNCT
fumecheng-158	225	36	occur	occur	VERB
fumecheng-158	225	37	during	during	ADP
fumecheng-158	225	38	the	the	DET
fumecheng-158	225	39	digging	dig	VERB
fumecheng-158	225	40	operation	operation	NOUN
fumecheng-158	225	41	.	.	PUNCT
fumecheng-158	226	1	5	5	X
fumecheng-158	226	2	.	.	X
fumecheng-158	226	3	conclusion	conclusion	NOUN
fumecheng-158	226	4	the	the	DET
fumecheng-158	226	5	conducted	conduct	VERB
fumecheng-158	226	6	research	research	NOUN
fumecheng-158	226	7	,	,	PUNCT
fumecheng-158	226	8	whose	whose	DET
fumecheng-158	226	9	part	part	NOUN
fumecheng-158	226	10	is	be	AUX
fumecheng-158	226	11	presented	present	VERB
fumecheng-158	226	12	in	in	ADP
fumecheng-158	226	13	this	this	DET
fumecheng-158	226	14	paper	paper	NOUN
fumecheng-158	226	15	,	,	PUNCT
fumecheng-158	226	16	represent	represent	VERB
fumecheng-158	226	17	a	a	DET
fumecheng-158	226	18	contribution	contribution	NOUN
fumecheng-158	226	19	to	to	ADP
fumecheng-158	226	20	the	the	DET
fumecheng-158	226	21	analysis	analysis	NOUN
fumecheng-158	226	22	of	of	ADP
fumecheng-158	226	23	defining	define	VERB
fumecheng-158	226	24	the	the	DET
fumecheng-158	226	25	character	character	NOUN
fumecheng-158	226	26	of	of	ADP
fumecheng-158	226	27	change	change	NOUN
fumecheng-158	226	28	in	in	ADP
fumecheng-158	226	29	the	the	DET
fumecheng-158	226	30	bearing	bearing	NOUN
fumecheng-158	226	31	loads	load	NOUN
fumecheng-158	226	32	in	in	ADP
fumecheng-158	226	33	the	the	DET
fumecheng-158	226	34	rotating	rotate	VERB
fumecheng-158	226	35	platform	platform	NOUN
fumecheng-158	226	36	drive	drive	NOUN
fumecheng-158	226	37	mechanism	mechanism	NOUN
fumecheng-158	226	38	of	of	ADP
fumecheng-158	226	39	hydraulic	hydraulic	ADJ
fumecheng-158	226	40	excavators	excavator	NOUN
fumecheng-158	226	41	during	during	ADP
fumecheng-158	226	42	the	the	DET
fumecheng-158	226	43	digging	digging	NOUN
fumecheng-158	226	44	process	process	NOUN
fumecheng-158	226	45	with	with	ADP
fumecheng-158	226	46	an	an	DET
fumecheng-158	226	47	excavating	excavate	VERB
fumecheng-158	226	48	manipulator	manipulator	NOUN
fumecheng-158	226	49	.	.	PUNCT
fumecheng-158	227	1	the	the	DET
fumecheng-158	227	2	analysis	analysis	NOUN
fumecheng-158	227	3	shows	show	VERB
fumecheng-158	227	4	that	that	SCONJ
fumecheng-158	227	5	the	the	DET
fumecheng-158	227	6	greatest	great	ADJ
fumecheng-158	227	7	loads	load	NOUN
fumecheng-158	227	8	,	,	PUNCT
fumecheng-158	227	9	applicable	applicable	ADJ
fumecheng-158	227	10	for	for	ADP
fumecheng-158	227	11	the	the	DET
fumecheng-158	227	12	adequate	adequate	ADJ
fumecheng-158	227	13	bearing	bearing	NOUN
fumecheng-158	227	14	selection	selection	NOUN
fumecheng-158	227	15	,	,	PUNCT
fumecheng-158	227	16	according	accord	VERB
fumecheng-158	227	17	to	to	ADP
fumecheng-158	227	18	the	the	DET
fumecheng-158	227	19	criteria	criterion	NOUN
fumecheng-158	227	20	of	of	ADP
fumecheng-158	227	21	global	global	ADJ
fumecheng-158	227	22	bearing	bear	VERB
fumecheng-158	227	23	manufacturers	manufacturer	NOUN
fumecheng-158	227	24	,	,	PUNCT
fumecheng-158	227	25	occur	occur	VERB
fumecheng-158	227	26	during	during	ADP
fumecheng-158	227	27	the	the	DET
fumecheng-158	227	28	digging	dig	VERB
fumecheng-158	227	29	operation	operation	NOUN
fumecheng-158	227	30	.	.	PUNCT
fumecheng-158	228	1	the	the	DET
fumecheng-158	228	2	importance	importance	NOUN
fumecheng-158	228	3	of	of	ADP
fumecheng-158	228	4	knowledge	knowledge	NOUN
fumecheng-158	228	5	of	of	ADP
fumecheng-158	228	6	bearing	bear	VERB
fumecheng-158	228	7	load	load	NOUN
fumecheng-158	228	8	vectors	vector	NOUN
fumecheng-158	228	9	is	be	AUX
fumecheng-158	228	10	the	the	DET
fumecheng-158	228	11	basis	basis	NOUN
fumecheng-158	228	12	of	of	ADP
fumecheng-158	228	13	necessary	necessary	ADJ
fumecheng-158	228	14	mechanical	mechanical	ADJ
fumecheng-158	228	15	,	,	PUNCT
fumecheng-158	228	16	energy	energy	NOUN
fumecheng-158	228	17	and	and	CCONJ
fumecheng-158	228	18	structural	structural	ADJ
fumecheng-158	228	19	simulations	simulation	NOUN
fumecheng-158	228	20	and	and	CCONJ
fumecheng-158	228	21	analyses	analysis	NOUN
fumecheng-158	228	22	with	with	ADP
fumecheng-158	228	23	the	the	DET
fumecheng-158	228	24	aim	aim	NOUN
fumecheng-158	228	25	of	of	ADP
fumecheng-158	228	26	optimizing	optimize	VERB
fumecheng-158	228	27	the	the	DET
fumecheng-158	228	28	structure	structure	NOUN
fumecheng-158	228	29	and	and	CCONJ
fumecheng-158	228	30	drive	drive	ADJ
fumecheng-158	228	31	mechanisms	mechanism	NOUN
fumecheng-158	228	32	of	of	ADP
fumecheng-158	228	33	the	the	DET
fumecheng-158	228	34	excavator	excavator	NOUN
fumecheng-158	228	35	.	.	PUNCT
fumecheng-158	229	1	the	the	DET
fumecheng-158	229	2	developed	develop	VERB
fumecheng-158	229	3	software	software	NOUN
fumecheng-158	229	4	and	and	CCONJ
fumecheng-158	229	5	the	the	DET
fumecheng-158	229	6	set	set	NOUN
fumecheng-158	229	7	of	of	ADP
fumecheng-158	229	8	measured	measure	VERB
fumecheng-158	229	9	quantities	quantity	NOUN
fumecheng-158	229	10	obtained	obtain	VERB
fumecheng-158	229	11	during	during	ADP
fumecheng-158	229	12	the	the	DET
fumecheng-158	229	13	conducted	conduct	VERB
fumecheng-158	229	14	testing	testing	NOUN
fumecheng-158	229	15	of	of	ADP
fumecheng-158	229	16	the	the	DET
fumecheng-158	229	17	hydraulic	hydraulic	ADJ
fumecheng-158	229	18	excavator	excavator	NOUN
fumecheng-158	229	19	can	can	AUX
fumecheng-158	229	20	be	be	AUX
fumecheng-158	229	21	used	use	VERB
fumecheng-158	229	22	not	not	PART
fumecheng-158	229	23	only	only	ADV
fumecheng-158	229	24	to	to	PART
fumecheng-158	229	25	define	define	VERB
fumecheng-158	229	26	the	the	DET
fumecheng-158	229	27	bearing	bearing	NOUN
fumecheng-158	229	28	load	load	NOUN
fumecheng-158	229	29	vectors	vector	NOUN
fumecheng-158	229	30	but	but	CCONJ
fumecheng-158	229	31	also	also	ADV
fumecheng-158	229	32	for	for	ADP
fumecheng-158	229	33	other	other	ADJ
fumecheng-158	229	34	dynamic	dynamic	ADJ
fumecheng-158	229	35	analyses	analysis	NOUN
fumecheng-158	229	36	of	of	ADP
fumecheng-158	229	37	the	the	DET
fumecheng-158	229	38	excavator	excavator	NOUN
fumecheng-158	229	39	.	.	PUNCT
fumecheng-158	230	1	references	reference	NOUN
fumecheng-158	230	2	1	1	NUM
fumecheng-158	230	3	.	.	PUNCT
fumecheng-158	230	4	janošević	janošević	PROPN
fumecheng-158	230	5	,	,	PUNCT
fumecheng-158	230	6	d.	d.	PROPN
fumecheng-158	230	7	,	,	PUNCT
fumecheng-158	230	8	mitrev	mitrev	PROPN
fumecheng-158	230	9	r.	r.	PROPN
fumecheng-158	230	10	,	,	PUNCT
fumecheng-158	230	11	andjelković	andjelković	PROPN
fumecheng-158	230	12	b.	b.	PROPN
fumecheng-158	230	13	,	,	PUNCT
fumecheng-158	230	14	petrov	petrov	PROPN
fumecheng-158	230	15	p.	p.	PROPN
fumecheng-158	230	16	,	,	PUNCT
fumecheng-158	230	17	2013	2013	NUM
fumecheng-158	230	18	,	,	PUNCT
fumecheng-158	230	19	quantitative	quantitative	ADJ
fumecheng-158	230	20	measures	measure	NOUN
fumecheng-158	230	21	for	for	ADP
fumecheng-158	230	22	assessment	assessment	NOUN
fumecheng-158	230	23	of	of	ADP
fumecheng-158	230	24	the	the	DET
fumecheng-158	230	25	hydraulic	hydraulic	ADJ
fumecheng-158	230	26	excavator	excavator	NOUN
fumecheng-158	230	27	digging	dig	VERB
fumecheng-158	230	28	efficiency	efficiency	NOUN
fumecheng-158	230	29	,	,	PUNCT
fumecheng-158	230	30	journal	journal	NOUN
fumecheng-158	230	31	of	of	ADP
fumecheng-158	230	32	zhejiang	zhejiang	PROPN
fumecheng-158	230	33	university	university	PROPN
fumecheng-158	230	34	-	-	PUNCT
fumecheng-158	230	35	science	science	PROPN
fumecheng-158	230	36	a	a	DET
fumecheng-158	230	37	(	(	PUNCT
fumecheng-158	230	38	applied	applied	ADJ
fumecheng-158	230	39	physics	physics	PROPN
fumecheng-158	230	40	&	&	CCONJ
fumecheng-158	230	41	engineering	engineering	PROPN
fumecheng-158	230	42	)	)	PUNCT
fumecheng-158	230	43	,	,	PUNCT
fumecheng-158	230	44	13(12	13(12	NUM
fumecheng-158	230	45	)	)	PUNCT
fumecheng-158	230	46	,	,	PUNCT
fumecheng-158	230	47	pp	pp	ADP
fumecheng-158	230	48	.	.	PUNCT
fumecheng-158	231	1	926	926	NUM
fumecheng-158	231	2	-	-	SYM
fumecheng-158	231	3	942	942	NUM
fumecheng-158	231	4	.	.	NOUN
fumecheng-158	232	1	2	2	NUM
fumecheng-158	232	2	.	.	X
fumecheng-158	232	3	tomović	tomović	PROPN
fumecheng-158	232	4	,	,	PUNCT
fumecheng-158	232	5	r.	r.	PROPN
fumecheng-158	232	6	,	,	PUNCT
fumecheng-158	232	7	miltenović	miltenović	NOUN
fumecheng-158	232	8	,	,	PUNCT
fumecheng-158	232	9	v.	v.	ADP
fumecheng-158	232	10	,	,	PUNCT
fumecheng-158	232	11	2008	2008	NUM
fumecheng-158	232	12	,	,	PUNCT
fumecheng-158	232	13	impact	impact	NOUN
fumecheng-158	232	14	of	of	ADP
fumecheng-158	232	15	rolling	rolling	ADJ
fumecheng-158	232	16	bearing	bear	VERB
fumecheng-158	232	17	structural	structural	ADJ
fumecheng-158	232	18	parameters	parameter	NOUN
fumecheng-158	232	19	on	on	ADP
fumecheng-158	232	20	the	the	DET
fumecheng-158	232	21	balanced	balanced	ADJ
fumecheng-158	232	22	rigid	rigid	ADJ
fumecheng-158	232	23	rotor	rotor	NOUN
fumecheng-158	232	24	’s	’s	PART
fumecheng-158	232	25	oscillation	oscillation	NOUN
fumecheng-158	232	26	frequency	frequency	NOUN
fumecheng-158	232	27	,	,	PUNCT
fumecheng-158	232	28	facta	facta	PROPN
fumecheng-158	232	29	universitatis	universitatis	PROPN
fumecheng-158	232	30	series	series	NOUN
fumecheng-158	232	31	:	:	PUNCT
fumecheng-158	232	32	mechanical	mechanical	ADJ
fumecheng-158	232	33	engineering	engineering	NOUN
fumecheng-158	232	34	6(1	6(1	NUM
fumecheng-158	232	35	)	)	PUNCT
fumecheng-158	232	36	,	,	PUNCT
fumecheng-158	232	37	pp	pp	ADP
fumecheng-158	232	38	.	.	PUNCT
fumecheng-158	233	1	5766	5766	NUM
fumecheng-158	233	2	.	.	PUNCT
fumecheng-158	234	1	3	3	X
fumecheng-158	234	2	.	.	X
fumecheng-158	234	3	jovanović	jovanović	PROPN
fumecheng-158	234	4	,	,	PUNCT
fumecheng-158	234	5	v.	v.	ADV
fumecheng-158	234	6	,	,	PUNCT
fumecheng-158	234	7	janošević	janošević	PROPN
fumecheng-158	234	8	,	,	PUNCT
fumecheng-158	234	9	d.	d.	PROPN
fumecheng-158	234	10	,	,	PUNCT
fumecheng-158	234	11	petrović	petrović	NOUN
fumecheng-158	234	12	,	,	PUNCT
fumecheng-158	234	13	n.	n.	NOUN
fumecheng-158	234	14	,	,	PUNCT
fumecheng-158	234	15	2013	2013	NUM
fumecheng-158	234	16	,	,	PUNCT
fumecheng-158	234	17	analysis	analysis	NOUN
fumecheng-158	234	18	of	of	ADP
fumecheng-158	234	19	axial	axial	ADJ
fumecheng-158	234	20	bearing	bearing	NOUN
fumecheng-158	234	21	load	load	NOUN
fumecheng-158	234	22	of	of	ADP
fumecheng-158	234	23	a	a	DET
fumecheng-158	234	24	rotating	rotate	VERB
fumecheng-158	234	25	platform	platform	NOUN
fumecheng-158	234	26	drive	drive	NOUN
fumecheng-158	234	27	in	in	ADP
fumecheng-158	234	28	hydraulic	hydraulic	ADJ
fumecheng-158	234	29	excavators	excavator	NOUN
fumecheng-158	234	30	,	,	PUNCT
fumecheng-158	234	31	tehnički	tehnički	PROPN
fumecheng-158	234	32	vjesnik	vjesnik	PROPN
fumecheng-158	234	33	/	/	SYM
fumecheng-158	234	34	technical	technical	ADJ
fumecheng-158	234	35	gazette	gazette	NOUN
fumecheng-158	234	36	,	,	PUNCT
fumecheng-158	234	37	2(21	2(21	NUM
fumecheng-158	234	38	)	)	PUNCT
fumecheng-158	234	39	,	,	PUNCT
fumecheng-158	234	40	pp	pp	ADJ
fumecheng-158	234	41	.	.	PUNCT
fumecheng-158	235	1	263	263	NUM
fumecheng-158	235	2	-	-	SYM
fumecheng-158	235	3	270	270	NUM
fumecheng-158	235	4	.	.	PUNCT
fumecheng-158	236	1	4	4	NUM
fumecheng-158	236	2	.	.	X
fumecheng-158	237	1	jin	jin	PROPN
fumecheng-158	237	2	,	,	PUNCT
fumecheng-158	237	3	k.	k.	PROPN
fumecheng-158	237	4	,	,	PUNCT
fumecheng-158	237	5	park	park	NOUN
fumecheng-158	237	6	,	,	PUNCT
fumecheng-158	237	7	t.	t.	PROPN
fumecheng-158	237	8	,	,	PUNCT
fumecheng-158	237	9	lee	lee	PROPN
fumecheng-158	237	10	,	,	PUNCT
fumecheng-158	237	11	h.	h.	PROPN
fumecheng-158	237	12	,	,	PUNCT
fumecheng-158	237	13	2012	2012	NUM
fumecheng-158	237	14	,	,	PUNCT
fumecheng-158	237	15	control	control	NOUN
fumecheng-158	237	16	method	method	NOUN
fumecheng-158	237	17	to	to	PART
fumecheng-158	237	18	suppress	suppress	VERB
fumecheng-158	237	19	the	the	DET
fumecheng-158	237	20	swing	swing	NOUN
fumecheng-158	237	21	vibration	vibration	NOUN
fumecheng-158	237	22	of	of	ADP
fumecheng-158	237	23	a	a	DET
fumecheng-158	237	24	hybrid	hybrid	ADJ
fumecheng-158	237	25	excavator	excavator	NOUN
fumecheng-158	237	26	using	use	VERB
fumecheng-158	237	27	sliding	slide	VERB
fumecheng-158	237	28	mode	mode	NOUN
fumecheng-158	237	29	approach	approach	NOUN
fumecheng-158	237	30	,	,	PUNCT
fumecheng-158	237	31	journal	journal	NOUN
fumecheng-158	237	32	of	of	ADP
fumecheng-158	237	33	mechanical	mechanical	ADJ
fumecheng-158	237	34	engineering	engineering	NOUN
fumecheng-158	237	35	science	science	NOUN
fumecheng-158	237	36	,	,	PUNCT
fumecheng-158	237	37	1	1	NUM
fumecheng-158	237	38	,	,	PUNCT
fumecheng-158	237	39	pp	pp	ADJ
fumecheng-158	237	40	.	.	PUNCT
fumecheng-158	238	1	1237	1237	NUM
fumecheng-158	238	2	-	-	SYM
fumecheng-158	238	3	1253	1253	NUM
fumecheng-158	238	4	.	.	PUNCT
fumecheng-158	239	1	5	5	X
fumecheng-158	239	2	.	.	X
fumecheng-158	239	3	jin	jin	PROPN
fumecheng-158	239	4	,	,	PUNCT
fumecheng-158	239	5	z.	z.	PROPN
fumecheng-158	239	6	,	,	PUNCT
fumecheng-158	239	7	2011	2011	NUM
fumecheng-158	239	8	,	,	PUNCT
fumecheng-158	239	9	analysis	analysis	NOUN
fumecheng-158	239	10	on	on	ADP
fumecheng-158	239	11	dynamic	dynamic	ADJ
fumecheng-158	239	12	characteristics	characteristic	NOUN
fumecheng-158	239	13	of	of	ADP
fumecheng-158	239	14	closed	closed	ADJ
fumecheng-158	239	15	slewing	slewing	NOUN
fumecheng-158	239	16	system	system	NOUN
fumecheng-158	239	17	for	for	ADP
fumecheng-158	239	18	large	large	ADJ
fumecheng-158	239	19	-	-	PUNCT
fumecheng-158	239	20	scale	scale	NOUN
fumecheng-158	239	21	hydraulic	hydraulic	ADJ
fumecheng-158	239	22	excavator	excavator	NOUN
fumecheng-158	239	23	,	,	PUNCT
fumecheng-158	239	24	fluid	fluid	ADJ
fumecheng-158	239	25	power	power	NOUN
fumecheng-158	239	26	and	and	CCONJ
fumecheng-158	239	27	mechatronics	mechatronic	NOUN
fumecheng-158	239	28	(	(	PUNCT
fumecheng-158	239	29	fpm	fpm	ADJ
fumecheng-158	239	30	)	)	PUNCT
fumecheng-158	239	31	,	,	PUNCT
fumecheng-158	239	32	international	international	ADJ
fumecheng-158	239	33	conference	conference	NOUN
fumecheng-158	239	34	,	,	PUNCT
fumecheng-158	239	35	pp	pp	ADP
fumecheng-158	239	36	.	.	PUNCT
fumecheng-158	240	1	663	663	NUM
fumecheng-158	240	2	-	-	SYM
fumecheng-158	240	3	668	668	NUM
fumecheng-158	240	4	.	.	NOUN
fumecheng-158	241	1	6	6	NUM
fumecheng-158	241	2	.	.	X
fumecheng-158	241	3	pavlović	pavlović	NOUN
fumecheng-158	241	4	,	,	PUNCT
fumecheng-158	241	5	j.	j.	PROPN
fumecheng-158	241	6	,	,	PUNCT
fumecheng-158	241	7	jovanović	jovanović	PROPN
fumecheng-158	241	8	,	,	PUNCT
fumecheng-158	241	9	m.	m.	NOUN
fumecheng-158	241	10	,	,	PUNCT
fumecheng-158	241	11	milojević	milojević	INTJ
fumecheng-158	241	12	,	,	PUNCT
fumecheng-158	241	13	a.	a.	NOUN
fumecheng-158	241	14	,	,	PUNCT
fumecheng-158	241	15	2014	2014	NUM
fumecheng-158	241	16	,	,	PUNCT
fumecheng-158	241	17	optimal	optimal	ADJ
fumecheng-158	241	18	synthesis	synthesis	NOUN
fumecheng-158	241	19	of	of	ADP
fumecheng-158	241	20	a	a	DET
fumecheng-158	241	21	manipulator	manipulator	NOUN
fumecheng-158	241	22	using	use	VERB
fumecheng-158	241	23	two	two	NUM
fumecheng-158	241	24	competitive	competitive	ADJ
fumecheng-158	241	25	methods	method	NOUN
fumecheng-158	241	26	,	,	PUNCT
fumecheng-158	241	27	facta	facta	PROPN
fumecheng-158	241	28	universitatis	universitatis	PROPN
fumecheng-158	241	29	series	series	NOUN
fumecheng-158	241	30	:	:	PUNCT
fumecheng-158	241	31	mechanical	mechanical	ADJ
fumecheng-158	241	32	engineering	engineering	NOUN
fumecheng-158	241	33	12(1	12(1	NUM
fumecheng-158	241	34	)	)	PUNCT
fumecheng-158	241	35	,	,	PUNCT
fumecheng-158	242	1	pp	pp	ADP
fumecheng-158	242	2	.	.	PUNCT
fumecheng-158	243	1	61	61	NUM
fumecheng-158	243	2	-	-	SYM
fumecheng-158	243	3	72	72	NUM
fumecheng-158	243	4	.	.	PUNCT
fumecheng-158	244	1	7	7	X
fumecheng-158	244	2	.	.	X
fumecheng-158	244	3	janošević	janošević	PROPN
fumecheng-158	244	4	,	,	PUNCT
fumecheng-158	244	5	d.	d.	PROPN
fumecheng-158	244	6	,	,	PUNCT
fumecheng-158	244	7	petrović	petrović	NOUN
fumecheng-158	244	8	,	,	PUNCT
fumecheng-158	244	9	n.	n.	NOUN
fumecheng-158	244	10	,	,	PUNCT
fumecheng-158	244	11	nikolić	nikolić	NOUN
fumecheng-158	244	12	,	,	PUNCT
fumecheng-158	244	13	v.	v.	ADP
fumecheng-158	244	14	,	,	PUNCT
fumecheng-158	244	15	2010	2010	NUM
fumecheng-158	244	16	,	,	PUNCT
fumecheng-158	244	17	mechanism	mechanism	NOUN
fumecheng-158	244	18	synthesis	synthesis	NOUN
fumecheng-158	244	19	of	of	ADP
fumecheng-158	244	20	manipulator	manipulator	NOUN
fumecheng-158	244	21	of	of	ADP
fumecheng-158	244	22	mobile	mobile	ADJ
fumecheng-158	244	23	machines	machine	NOUN
fumecheng-158	244	24	,	,	PUNCT
fumecheng-158	244	25	machine	machine	NOUN
fumecheng-158	244	26	design	design	NOUN
fumecheng-158	244	27	,	,	PUNCT
fumecheng-158	244	28	faculty	faculty	NOUN
fumecheng-158	244	29	of	of	ADP
fumecheng-158	244	30	technical	technical	PROPN
fumecheng-158	244	31	sciences	sciences	PROPN
fumecheng-158	244	32	novi	novi	PROPN
fumecheng-158	244	33	sad	sad	ADJ
fumecheng-158	244	34	,	,	PUNCT
fumecheng-158	244	35	pp	pp	ADJ
fumecheng-158	244	36	.	.	PUNCT
fumecheng-158	245	1	55	55	NUM
fumecheng-158	245	2	-	-	SYM
fumecheng-158	245	3	58	58	NUM
fumecheng-158	245	4	.	.	PUNCT
fumecheng-158	246	1	8	8	NUM
fumecheng-158	246	2	.	.	X
fumecheng-158	246	3	janošević	janošević	PROPN
fumecheng-158	246	4	,	,	PUNCT
fumecheng-158	246	5	d.	d.	PROPN
fumecheng-158	246	6	,	,	PUNCT
fumecheng-158	246	7	1997	1997	NUM
fumecheng-158	246	8	,	,	PUNCT
fumecheng-158	246	9	optimalna	optimalna	PROPN
fumecheng-158	246	10	sinteza	sinteza	PROPN
fumecheng-158	246	11	pogonskih	pogonskih	PROPN
fumecheng-158	246	12	mehanizama	mehanizama	PROPN
fumecheng-158	246	13	hidrauličkih	hidrauličkih	PROPN
fumecheng-158	246	14	bagera	bagera	NOUN
fumecheng-158	246	15	,	,	PUNCT
fumecheng-158	246	16	doktorska	doktorska	NOUN
fumecheng-158	246	17	disertacija	disertacija	NOUN
fumecheng-158	246	18	,	,	PUNCT
fumecheng-158	247	1	mašinski	mašinski	NOUN
fumecheng-158	247	2	fakultet	fakultet	NOUN
fumecheng-158	248	1	univerziteta	univerziteta	PROPN
fumecheng-158	248	2	u	u	PROPN
fumecheng-158	248	3	nišu	nišu	PROPN
fumecheng-158	248	4	.	.	PROPN
fumecheng-158	249	1	9	9	NUM
fumecheng-158	249	2	.	.	X
fumecheng-158	249	3	janošević	janošević	PROPN
fumecheng-158	249	4	,	,	PUNCT
fumecheng-158	249	5	d.	d.	PROPN
fumecheng-158	249	6	,	,	PUNCT
fumecheng-158	249	7	2006	2006	NUM
fumecheng-158	249	8	,	,	PUNCT
fumecheng-158	249	9	projektovanje	projektovanje	PROPN
fumecheng-158	249	10	mobilnih	mobilnih	PROPN
fumecheng-158	249	11	mašina	mašina	PROPN
fumecheng-158	249	12	,	,	PUNCT
fumecheng-158	249	13	univerzitet	univerzitet	NOUN
fumecheng-158	249	14	u	u	NOUN
fumecheng-158	249	15	nišu	nišu	PROPN
fumecheng-158	249	16	,	,	PUNCT
fumecheng-158	249	17	mašinski	mašinski	ADJ
fumecheng-158	249	18	fakultet	fakultet	NOUN
fumecheng-158	249	19	.	.	PUNCT
fumecheng-158	250	1	10	10	NUM
fumecheng-158	250	2	.	.	PUNCT
fumecheng-158	250	3	slewing	slewing	NOUN
fumecheng-158	250	4	bearings	bearing	NOUN
fumecheng-158	250	5	,	,	PUNCT
fumecheng-158	250	6	2007	2007	NUM
fumecheng-158	250	7	,	,	PUNCT
fumecheng-158	250	8	rothe	rothe	PROPN
fumecheng-158	250	9	erde	erde	PROPN
fumecheng-158	250	10	gmbh	gmbh	PROPN
fumecheng-158	250	11	,	,	PUNCT
fumecheng-158	250	12	dortmund	dortmund	PROPN
fumecheng-158	250	13	.	.	PUNCT
fumecheng-158	251	1	experimental	experimental	ADJ
fumecheng-158	251	2	determination	determination	NOUN
fumecheng-158	251	3	of	of	ADP
fumecheng-158	251	4	bearing	bear	VERB
fumecheng-158	251	5	loads	load	NOUN
fumecheng-158	251	6	in	in	ADP
fumecheng-158	251	7	rotating	rotate	VERB
fumecheng-158	251	8	platform	platform	NOUN
fumecheng-158	251	9	drive	drive	NOUN
fumecheng-158	251	10	mechanisms	mechanism	NOUN
fumecheng-158	251	11	of	of	ADP
fumecheng-158	251	12	hyd	hyd	NOUN
fumecheng-158	251	13	.	.	PUNCT
fumecheng-158	252	1	excavators	excavator	NOUN
fumecheng-158	252	2	169	169	NUM
fumecheng-158	252	3	eksperimentalno	eksperimentalno	NOUN
fumecheng-158	252	4	određivanje	određivanje	PROPN
fumecheng-158	252	5	opterećenja	opterećenja	PROPN
fumecheng-158	252	6	ležaja	ležaja	PROPN
fumecheng-158	252	7	pogona	pogona	PROPN
fumecheng-158	252	8	obrtne	obrtne	PROPN
fumecheng-158	252	9	platforme	platforme	PROPN
fumecheng-158	252	10	hidrauličkih	hidrauličkih	PROPN
fumecheng-158	252	11	bagera	bagera	NOUN
fumecheng-158	252	12	u	u	PROPN
fumecheng-158	252	13	radu	radu	PROPN
fumecheng-158	252	14	je	je	PROPN
fumecheng-158	252	15	dat	dat	PROPN
fumecheng-158	252	16	postupak	postupak	PROPN
fumecheng-158	252	17	za	za	PROPN
fumecheng-158	252	18	eksperimentalno	eksperimentalno	PROPN
fumecheng-158	252	19	određivanje	određivanje	PROPN
fumecheng-158	252	20	opterećenja	opterećenja	VERB
fumecheng-158	252	21	aksijalnog	aksijalnog	PROPN
fumecheng-158	252	22	ležaja	ležaja	PROPN
fumecheng-158	252	23	pogonskog	pogonskog	VERB
fumecheng-158	252	24	mehanizma	mehanizma	ADJ
fumecheng-158	252	25	obrtne	obrtne	NOUN
fumecheng-158	252	26	platforme	platforme	PROPN
fumecheng-158	252	27	hidrauličkih	hidrauličkih	PROPN
fumecheng-158	252	28	bagera	bagera	PROPN
fumecheng-158	252	29	sa	sa	PROPN
fumecheng-158	252	30	dubinskim	dubinskim	PROPN
fumecheng-158	252	31	manipulatorom	manipulatorom	ADV
fumecheng-158	252	32	.	.	PUNCT
fumecheng-158	253	1	definisan	definisan	PROPN
fumecheng-158	253	2	je	je	PROPN
fumecheng-158	253	3	matematički	matematički	PROPN
fumecheng-158	253	4	model	model	PROPN
fumecheng-158	253	5	koji	koji	PROPN
fumecheng-158	253	6	omogućuje	omogućuje	PROPN
fumecheng-158	253	7	da	da	PROPN
fumecheng-158	253	8	se	se	PROPN
fumecheng-158	253	9	,	,	PUNCT
fumecheng-158	253	10	na	na	ADP
fumecheng-158	253	11	osnovu	osnovu	ADJ
fumecheng-158	253	12	merenih	merenih	PROPN
fumecheng-158	253	13	veličina	veličina	PROPN
fumecheng-158	253	14	stanja	stanja	PROPN
fumecheng-158	253	15	bagera	bagera	NOUN
fumecheng-158	253	16	pri	pri	PROPN
fumecheng-158	253	17	radu	radu	PROPN
fumecheng-158	253	18	u	u	PROPN
fumecheng-158	253	19	ekploatacionim	ekploatacionim	PROPN
fumecheng-158	253	20	uslovima	uslovima	PROPN
fumecheng-158	253	21	,	,	PUNCT
fumecheng-158	253	22	posredo	posredo	PROPN
fumecheng-158	253	23	,	,	PUNCT
fumecheng-158	253	24	odrede	odrede	NOUN
fumecheng-158	253	25	vektori	vektori	ADP
fumecheng-158	253	26	sile	sile	PROPN
fumecheng-158	253	27	i	i	PRON
fumecheng-158	253	28	momenta	momenta	PROPN
fumecheng-158	253	29	opterećenja	opterećenja	VERB
fumecheng-158	253	30	ležaja	ležaja	PROPN
fumecheng-158	253	31	.	.	PUNCT
fumecheng-158	254	1	pri	pri	PROPN
fumecheng-158	254	2	čemu	čemu	PROPN
fumecheng-158	254	3	se	se	PROPN
fumecheng-158	254	4	merene	merene	PROPN
fumecheng-158	254	5	veličine	veličine	PROPN
fumecheng-158	254	6	stanja	stanja	PROPN
fumecheng-158	254	7	bagera	bagera	NOUN
fumecheng-158	254	8	odnose	odnose	ADJ
fumecheng-158	254	9	na	na	PART
fumecheng-158	254	10	položaj	položaj	NOUN
fumecheng-158	254	11	kinematičkog	kinematičkog	ADJ
fumecheng-158	254	12	lanca	lanca	PROPN
fumecheng-158	255	1	i	i	PRON
fumecheng-158	255	2	pritiske	pritiske	PROPN
fumecheng-158	255	3	hidrostatičkog	hidrostatičkog	PROPN
fumecheng-158	255	4	sistema	sistema	PROPN
fumecheng-158	255	5	u	u	PROPN
fumecheng-158	255	6	vodovima	vodovima	PROPN
fumecheng-158	256	1	aktuatora	aktuatora	PROPN
fumecheng-158	256	2	pogonskih	pogonskih	PROPN
fumecheng-158	256	3	mehanizama	mehanizama	PROPN
fumecheng-158	256	4	bagera	bagera	NOUN
fumecheng-158	256	5	.	.	PUNCT
fumecheng-158	257	1	kao	kao	PROPN
fumecheng-158	257	2	primer	primer	PROPN
fumecheng-158	257	3	,	,	PUNCT
fumecheng-158	257	4	dati	dati	PROPN
fumecheng-158	257	5	su	su	PROPN
fumecheng-158	257	6	rezultati	rezultati	PROPN
fumecheng-158	257	7	istraživanja	istraživanja	VERB
fumecheng-158	257	8	dobijeni	dobijeni	PROPN
fumecheng-158	257	9	pri	pri	PROPN
fumecheng-158	257	10	ersperimentalnom	ersperimentalnom	PROPN
fumecheng-158	257	11	određivanju	određivanju	PROPN
fumecheng-158	257	12	opterećenja	opterećenja	VERB
fumecheng-158	257	13	aksijalnog	aksijalnog	PROPN
fumecheng-158	257	14	ležaja	ležaja	PROPN
fumecheng-158	257	15	pogona	pogona	PROPN
fumecheng-158	258	1	okretanja	okretanja	NOUN
fumecheng-158	258	2	obrtne	obrtne	PROPN
fumecheng-158	258	3	platforme	platforme	PROPN
fumecheng-158	258	4	hidrauličkog	hidrauličkog	NOUN
fumecheng-158	258	5	bagera	bagera	PROPN
fumecheng-158	258	6	mase	mase	PROPN
fumecheng-158	258	7	16000	16000	NUM
fumecheng-158	258	8	kg	kg	NOUN
fumecheng-158	258	9	.	.	PUNCT
fumecheng-158	259	1	ključne	ključne	PROPN
fumecheng-158	259	2	reči	reči	NOUN
fumecheng-158	259	3	:	:	PUNCT
fumecheng-158	259	4	hidraulički	hidraulički	NOUN
fumecheng-158	259	5	bageri	bageri	NOUN
fumecheng-158	259	6	,	,	PUNCT
fumecheng-158	259	7	opterećenja	opterećenja	VERB
fumecheng-158	259	8	ležaja	ležaja	PROPN
fumecheng-158	259	9	obrtne	obrtne	PROPN
fumecheng-158	259	10	platforme	platforme	NOUN
fumecheng-158	259	11	experimental	experimental	ADJ
fumecheng-158	259	12	determination	determination	NOUN
fumecheng-158	259	13	of	of	ADP
fumecheng-158	259	14	bearing	bear	VERB
fumecheng-158	259	15	loads	load	NOUN
fumecheng-158	259	16	in	in	ADP
fumecheng-158	259	17	 	 	SPACE
fumecheng-158	259	18	rotating	rotate	VERB
fumecheng-158	259	19	platform	platform	NOUN
fumecheng-158	259	20	drive	drive	NOUN
fumecheng-158	259	21	mechanisms	mechanism	NOUN
fumecheng-158	259	22	of	of	ADP
fumecheng-158	259	23	 	 	SPACE
fumecheng-158	259	24	hydraulic	hydraulic	ADJ
fumecheng-158	259	25	excavators	excavator	NOUN
fumecheng-158	259	26	(	(	PUNCT
fumecheng-158	259	27	vesna	vesna	PROPN
fumecheng-158	259	28	jovanović	jovanović	PROPN
fumecheng-158	259	29	,	,	PUNCT
fumecheng-158	259	30	dragoslav	dragoslav	ADJ
fumecheng-158	259	31	janošević	janošević	PROPN
fumecheng-158	259	32	,	,	PUNCT
fumecheng-158	259	33	nikola	nikola	PROPN
fumecheng-158	259	34	petrović	petrović	PROPN
fumecheng-158	259	35	1	1	NUM
fumecheng-158	259	36	.	.	PUNCT
fumecheng-158	259	37	introduction	introduction	NOUN