id	sid	tid	token	lemma	pos
fumecheng-3689	1	1	facta	facta	PROPN
fumecheng-3689	1	2	universitatis	universitatis	PROPN
fumecheng-3689	1	3	series	series	NOUN
fumecheng-3689	1	4	:	:	PUNCT
fumecheng-3689	1	5	mechanical	mechanical	ADJ
fumecheng-3689	1	6	engineering	engineering	NOUN
fumecheng-3689	1	7	vol	vol	NOUN
fumecheng-3689	1	8	.	.	PROPN
fumecheng-3689	2	1	18	18	NUM
fumecheng-3689	2	2	,	,	PUNCT
fumecheng-3689	2	3	no	no	DET
fumecheng-3689	2	4	1	1	NUM
fumecheng-3689	2	5	,	,	PUNCT
fumecheng-3689	2	6	2020	2020	NUM
fumecheng-3689	2	7	,	,	PUNCT
fumecheng-3689	2	8	pp	pp	ADV
fumecheng-3689	2	9	.	.	PUNCT
fumecheng-3689	3	1	79	79	NUM
fumecheng-3689	3	2	89	89	NUM
fumecheng-3689	3	3	https://doi.org/10.22190/fume190428006a	https://doi.org/10.22190/fume190428006a	NOUN
fumecheng-3689	3	4	©	©	PROPN
fumecheng-3689	3	5	2020	2020	NUM
fumecheng-3689	3	6	by	by	ADP
fumecheng-3689	3	7	university	university	PROPN
fumecheng-3689	3	8	of	of	ADP
fumecheng-3689	3	9	niš	niš	PROPN
fumecheng-3689	3	10	,	,	PUNCT
fumecheng-3689	3	11	serbia	serbia	PROPN
fumecheng-3689	3	12	|	|	ADV
fumecheng-3689	3	13	creative	creative	ADJ
fumecheng-3689	3	14	commons	common	NOUN
fumecheng-3689	3	15	license	license	NOUN
fumecheng-3689	3	16	:	:	PUNCT
fumecheng-3689	3	17	cc	cc	VERB
fumecheng-3689	3	18	by	by	ADP
fumecheng-3689	3	19	-	-	PUNCT
fumecheng-3689	3	20	nc	nc	VERB
fumecheng-3689	3	21	-	-	PUNCT
fumecheng-3689	3	22	nd	nd	ADV
fumecheng-3689	3	23	original	original	ADJ
fumecheng-3689	3	24	scientific	scientific	ADJ
fumecheng-3689	3	25	paper	paper	NOUN
fumecheng-3689	3	26			PROPN
fumecheng-3689	3	27	workspace	workspace	NOUN
fumecheng-3689	3	28	analysis	analysis	NOUN
fumecheng-3689	3	29	and	and	CCONJ
fumecheng-3689	3	30	optimization	optimization	NOUN
fumecheng-3689	3	31	of	of	ADP
fumecheng-3689	3	32	the	the	DET
fumecheng-3689	3	33	parallel	parallel	ADJ
fumecheng-3689	3	34	robots	robot	NOUN
fumecheng-3689	3	35	based	base	VERB
fumecheng-3689	3	36	on	on	ADP
fumecheng-3689	3	37	computer	computer	NOUN
fumecheng-3689	3	38	-	-	PUNCT
fumecheng-3689	3	39	aided	aid	VERB
fumecheng-3689	3	40	design	design	NOUN
fumecheng-3689	3	41	approach	approach	NOUN
fumecheng-3689	3	42	badreddine	badreddine	PROPN
fumecheng-3689	3	43	aboulissane	aboulissane	NOUN
fumecheng-3689	3	44	,	,	PUNCT
fumecheng-3689	3	45	larbi	larbi	PROPN
fumecheng-3689	3	46	el	el	PROPN
fumecheng-3689	3	47	bakkali	bakkali	PROPN
fumecheng-3689	3	48	,	,	PUNCT
fumecheng-3689	3	49	jalal	jalal	PROPN
fumecheng-3689	3	50	el	el	PROPN
fumecheng-3689	3	51	bahaoui	bahaoui	PROPN
fumecheng-3689	3	52	team	team	NOUN
fumecheng-3689	3	53	modeling	modeling	NOUN
fumecheng-3689	3	54	and	and	CCONJ
fumecheng-3689	3	55	simulation	simulation	NOUN
fumecheng-3689	3	56	of	of	ADP
fumecheng-3689	3	57	mechanical	mechanical	ADJ
fumecheng-3689	3	58	systems	system	NOUN
fumecheng-3689	3	59	,	,	PUNCT
fumecheng-3689	3	60	faculty	faculty	NOUN
fumecheng-3689	3	61	of	of	ADP
fumecheng-3689	3	62	sciences	science	NOUN
fumecheng-3689	3	63	,	,	PUNCT
fumecheng-3689	3	64	abdelmalek	abdelmalek	PROPN
fumecheng-3689	3	65	essaadi	essaadi	PROPN
fumecheng-3689	3	66	university	university	PROPN
fumecheng-3689	3	67	,	,	PUNCT
fumecheng-3689	3	68	tetouan	tetouan	PROPN
fumecheng-3689	3	69	,	,	PUNCT
fumecheng-3689	3	70	morocco	morocco	PROPN
fumecheng-3689	3	71	abstract	abstract	NOUN
fumecheng-3689	3	72	.	.	PUNCT
fumecheng-3689	4	1	this	this	DET
fumecheng-3689	4	2	paper	paper	NOUN
fumecheng-3689	4	3	provides	provide	VERB
fumecheng-3689	4	4	workspace	workspace	NOUN
fumecheng-3689	4	5	determination	determination	NOUN
fumecheng-3689	4	6	and	and	CCONJ
fumecheng-3689	4	7	analysis	analysis	NOUN
fumecheng-3689	4	8	based	base	VERB
fumecheng-3689	4	9	on	on	ADP
fumecheng-3689	4	10	the	the	DET
fumecheng-3689	4	11	graphical	graphical	ADJ
fumecheng-3689	4	12	technique	technique	NOUN
fumecheng-3689	4	13	of	of	ADP
fumecheng-3689	4	14	both	both	CCONJ
fumecheng-3689	4	15	spatial	spatial	ADJ
fumecheng-3689	4	16	and	and	CCONJ
fumecheng-3689	4	17	planar	planar	ADJ
fumecheng-3689	4	18	parallel	parallel	ADJ
fumecheng-3689	4	19	manipulators	manipulator	NOUN
fumecheng-3689	4	20	.	.	PUNCT
fumecheng-3689	5	1	the	the	DET
fumecheng-3689	5	2	computation	computation	NOUN
fumecheng-3689	5	3	and	and	CCONJ
fumecheng-3689	5	4	analysis	analysis	NOUN
fumecheng-3689	5	5	of	of	ADP
fumecheng-3689	5	6	workspaces	workspace	NOUN
fumecheng-3689	5	7	will	will	AUX
fumecheng-3689	5	8	be	be	AUX
fumecheng-3689	5	9	carried	carry	VERB
fumecheng-3689	5	10	out	out	ADP
fumecheng-3689	5	11	using	use	VERB
fumecheng-3689	5	12	the	the	DET
fumecheng-3689	5	13	parameterization	parameterization	NOUN
fumecheng-3689	5	14	and	and	CCONJ
fumecheng-3689	5	15	threedimensional	threedimensional	ADJ
fumecheng-3689	5	16	representation	representation	NOUN
fumecheng-3689	5	17	of	of	ADP
fumecheng-3689	5	18	the	the	DET
fumecheng-3689	5	19	workspace	workspace	NOUN
fumecheng-3689	5	20	.	.	PUNCT
fumecheng-3689	6	1	this	this	DET
fumecheng-3689	6	2	technique	technique	NOUN
fumecheng-3689	6	3	is	be	AUX
fumecheng-3689	6	4	implemented	implement	VERB
fumecheng-3689	6	5	in	in	ADP
fumecheng-3689	6	6	cad	cad	PROPN
fumecheng-3689	6	7	(	(	PUNCT
fumecheng-3689	6	8	computer	computer	NOUN
fumecheng-3689	6	9	aided	aid	VERB
fumecheng-3689	6	10	design	design	NOUN
fumecheng-3689	6	11	)	)	PUNCT
fumecheng-3689	6	12	software	software	NOUN
fumecheng-3689	6	13	catia	catia	NOUN
fumecheng-3689	6	14	workbenches	workbench	NOUN
fumecheng-3689	6	15	.	.	PUNCT
fumecheng-3689	7	1	in	in	ADP
fumecheng-3689	7	2	order	order	NOUN
fumecheng-3689	7	3	to	to	PART
fumecheng-3689	7	4	determine	determine	VERB
fumecheng-3689	7	5	the	the	DET
fumecheng-3689	7	6	workspace	workspace	NOUN
fumecheng-3689	7	7	of	of	ADP
fumecheng-3689	7	8	the	the	DET
fumecheng-3689	7	9	proposed	propose	VERB
fumecheng-3689	7	10	manipulators	manipulator	NOUN
fumecheng-3689	7	11	,	,	PUNCT
fumecheng-3689	7	12	the	the	DET
fumecheng-3689	7	13	reachable	reachable	ADJ
fumecheng-3689	7	14	region	region	NOUN
fumecheng-3689	7	15	by	by	ADP
fumecheng-3689	7	16	each	each	DET
fumecheng-3689	7	17	kinematic	kinematic	ADJ
fumecheng-3689	7	18	chain	chain	NOUN
fumecheng-3689	7	19	is	be	AUX
fumecheng-3689	7	20	created	create	VERB
fumecheng-3689	7	21	as	as	ADP
fumecheng-3689	7	22	a	a	DET
fumecheng-3689	7	23	volume	volume	NOUN
fumecheng-3689	7	24	/	/	SYM
fumecheng-3689	7	25	area	area	NOUN
fumecheng-3689	7	26	;	;	PUNCT
fumecheng-3689	7	27	afterwards	afterwards	ADV
fumecheng-3689	7	28	,	,	PUNCT
fumecheng-3689	7	29	the	the	DET
fumecheng-3689	7	30	full	full	ADJ
fumecheng-3689	7	31	reachable	reachable	ADJ
fumecheng-3689	7	32	workspace	workspace	NOUN
fumecheng-3689	7	33	is	be	AUX
fumecheng-3689	7	34	obtained	obtain	VERB
fumecheng-3689	7	35	by	by	ADP
fumecheng-3689	7	36	the	the	DET
fumecheng-3689	7	37	application	application	NOUN
fumecheng-3689	7	38	of	of	ADP
fumecheng-3689	7	39	a	a	DET
fumecheng-3689	7	40	boolean	boolean	ADJ
fumecheng-3689	7	41	intersection	intersection	NOUN
fumecheng-3689	7	42	function	function	NOUN
fumecheng-3689	7	43	on	on	ADP
fumecheng-3689	7	44	the	the	DET
fumecheng-3689	7	45	previously	previously	ADV
fumecheng-3689	7	46	generated	generate	VERB
fumecheng-3689	7	47	volumes	volume	NOUN
fumecheng-3689	7	48	/	/	SYM
fumecheng-3689	7	49	areas	area	NOUN
fumecheng-3689	7	50	.	.	PUNCT
fumecheng-3689	8	1	finally	finally	ADV
fumecheng-3689	8	2	,	,	PUNCT
fumecheng-3689	8	3	the	the	DET
fumecheng-3689	8	4	relations	relation	NOUN
fumecheng-3689	8	5	between	between	ADP
fumecheng-3689	8	6	the	the	DET
fumecheng-3689	8	7	total	total	ADJ
fumecheng-3689	8	8	workspace	workspace	NOUN
fumecheng-3689	8	9	and	and	CCONJ
fumecheng-3689	8	10	the	the	DET
fumecheng-3689	8	11	design	design	NOUN
fumecheng-3689	8	12	parameters	parameter	NOUN
fumecheng-3689	8	13	are	be	AUX
fumecheng-3689	8	14	simulated	simulate	VERB
fumecheng-3689	8	15	,	,	PUNCT
fumecheng-3689	8	16	and	and	CCONJ
fumecheng-3689	8	17	the	the	DET
fumecheng-3689	8	18	product	product	NOUN
fumecheng-3689	8	19	engineering	engineering	NOUN
fumecheng-3689	8	20	optimizer	optimizer	NOUN
fumecheng-3689	8	21	workbench	workbench	NOUN
fumecheng-3689	8	22	is	be	AUX
fumecheng-3689	8	23	used	use	VERB
fumecheng-3689	8	24	to	to	PART
fumecheng-3689	8	25	optimize	optimize	VERB
fumecheng-3689	8	26	the	the	DET
fumecheng-3689	8	27	design	design	NOUN
fumecheng-3689	8	28	variables	variable	NOUN
fumecheng-3689	8	29	in	in	ADP
fumecheng-3689	8	30	order	order	NOUN
fumecheng-3689	8	31	to	to	PART
fumecheng-3689	8	32	obtain	obtain	VERB
fumecheng-3689	8	33	a	a	DET
fumecheng-3689	8	34	maximized	maximized	ADJ
fumecheng-3689	8	35	workspace	workspace	NOUN
fumecheng-3689	8	36	volume	volume	NOUN
fumecheng-3689	8	37	.	.	PUNCT
fumecheng-3689	9	1	simulated	simulated	ADJ
fumecheng-3689	9	2	annealing	anneal	VERB
fumecheng-3689	9	3	(	(	PUNCT
fumecheng-3689	9	4	sa	sa	NOUN
fumecheng-3689	9	5	)	)	PUNCT
fumecheng-3689	9	6	and	and	CCONJ
fumecheng-3689	9	7	conjugate	conjugate	ADJ
fumecheng-3689	9	8	gradient	gradient	NOUN
fumecheng-3689	9	9	(	(	PUNCT
fumecheng-3689	9	10	cg	cg	NOUN
fumecheng-3689	9	11	)	)	PUNCT
fumecheng-3689	9	12	are	be	AUX
fumecheng-3689	9	13	considered	consider	VERB
fumecheng-3689	9	14	in	in	ADP
fumecheng-3689	9	15	this	this	DET
fumecheng-3689	9	16	study	study	NOUN
fumecheng-3689	9	17	as	as	ADP
fumecheng-3689	9	18	optimization	optimization	NOUN
fumecheng-3689	9	19	tools	tool	NOUN
fumecheng-3689	9	20	.	.	PUNCT
fumecheng-3689	10	1	key	key	ADJ
fumecheng-3689	10	2	words	word	NOUN
fumecheng-3689	10	3	:	:	PUNCT
fumecheng-3689	10	4	cad	cad	PROPN
fumecheng-3689	10	5	software	software	NOUN
fumecheng-3689	10	6	,	,	PUNCT
fumecheng-3689	10	7	design	design	NOUN
fumecheng-3689	10	8	parameters	parameter	NOUN
fumecheng-3689	10	9	,	,	PUNCT
fumecheng-3689	10	10	optimization	optimization	NOUN
fumecheng-3689	10	11	,	,	PUNCT
fumecheng-3689	10	12	parallel	parallel	ADJ
fumecheng-3689	10	13	robots	robot	NOUN
fumecheng-3689	10	14	,	,	PUNCT
fumecheng-3689	10	15	workspace	workspace	NOUN
fumecheng-3689	10	16	analysis	analysis	NOUN
fumecheng-3689	10	17	1	1	NUM
fumecheng-3689	10	18	.	.	PUNCT
fumecheng-3689	10	19	introduction	introduction	NOUN
fumecheng-3689	10	20	a	a	DET
fumecheng-3689	10	21	parallel	parallel	ADJ
fumecheng-3689	10	22	manipulator	manipulator	NOUN
fumecheng-3689	10	23	is	be	AUX
fumecheng-3689	10	24	a	a	DET
fumecheng-3689	10	25	mechanism	mechanism	NOUN
fumecheng-3689	10	26	in	in	ADP
fumecheng-3689	10	27	which	which	PRON
fumecheng-3689	10	28	there	there	PRON
fumecheng-3689	10	29	are	be	VERB
fumecheng-3689	10	30	two	two	NUM
fumecheng-3689	10	31	or	or	CCONJ
fumecheng-3689	10	32	more	more	ADV
fumecheng-3689	10	33	closed	closed	ADJ
fumecheng-3689	10	34	kinematic	kinematic	ADJ
fumecheng-3689	10	35	chains	chain	NOUN
fumecheng-3689	10	36	attaching	attach	VERB
fumecheng-3689	10	37	the	the	DET
fumecheng-3689	10	38	base	base	NOUN
fumecheng-3689	10	39	to	to	ADP
fumecheng-3689	10	40	the	the	DET
fumecheng-3689	10	41	mobile	mobile	ADJ
fumecheng-3689	10	42	platform	platform	NOUN
fumecheng-3689	10	43	.	.	PUNCT
fumecheng-3689	11	1	nowadays	nowadays	ADV
fumecheng-3689	11	2	,	,	PUNCT
fumecheng-3689	11	3	most	most	ADJ
fumecheng-3689	11	4	of	of	ADP
fumecheng-3689	11	5	the	the	DET
fumecheng-3689	11	6	manipulators	manipulator	NOUN
fumecheng-3689	11	7	are	be	AUX
fumecheng-3689	11	8	serial	serial	ADJ
fumecheng-3689	11	9	architecture	architecture	NOUN
fumecheng-3689	11	10	;	;	PUNCT
fumecheng-3689	11	11	parallel	parallel	ADJ
fumecheng-3689	11	12	robots	robot	NOUN
fumecheng-3689	11	13	exhibit	exhibit	VERB
fumecheng-3689	11	14	many	many	ADJ
fumecheng-3689	11	15	advantages	advantage	NOUN
fumecheng-3689	11	16	,	,	PUNCT
fumecheng-3689	11	17	such	such	ADJ
fumecheng-3689	11	18	as	as	ADP
fumecheng-3689	11	19	high	high	ADJ
fumecheng-3689	11	20	speeds	speed	NOUN
fumecheng-3689	11	21	and	and	CCONJ
fumecheng-3689	11	22	accelerations	acceleration	NOUN
fumecheng-3689	11	23	,	,	PUNCT
fumecheng-3689	11	24	low	low	ADJ
fumecheng-3689	11	25	mobile	mobile	ADJ
fumecheng-3689	11	26	masses	masse	NOUN
fumecheng-3689	11	27	,	,	PUNCT
fumecheng-3689	11	28	high	high	ADJ
fumecheng-3689	11	29	stiffness	stiffness	NOUN
fumecheng-3689	11	30	,	,	PUNCT
fumecheng-3689	11	31	and	and	CCONJ
fumecheng-3689	11	32	great	great	ADJ
fumecheng-3689	11	33	accuracy	accuracy	NOUN
fumecheng-3689	11	34	.	.	PUNCT
fumecheng-3689	12	1	the	the	DET
fumecheng-3689	12	2	most	most	ADV
fumecheng-3689	12	3	notable	notable	ADJ
fumecheng-3689	12	4	disadvantage	disadvantage	NOUN
fumecheng-3689	12	5	of	of	ADP
fumecheng-3689	12	6	the	the	DET
fumecheng-3689	12	7	parallel	parallel	ADJ
fumecheng-3689	12	8	manipulators	manipulator	NOUN
fumecheng-3689	12	9	is	be	AUX
fumecheng-3689	12	10	their	their	PRON
fumecheng-3689	12	11	relatively	relatively	ADV
fumecheng-3689	12	12	small	small	ADJ
fumecheng-3689	12	13	workspaces	workspace	NOUN
fumecheng-3689	12	14	.	.	PUNCT
fumecheng-3689	13	1	one	one	PRON
fumecheng-3689	13	2	can	can	AUX
fumecheng-3689	13	3	use	use	VERB
fumecheng-3689	13	4	the	the	DET
fumecheng-3689	13	5	workspace	workspace	NOUN
fumecheng-3689	13	6	volume	volume	NOUN
fumecheng-3689	13	7	or	or	CCONJ
fumecheng-3689	13	8	surface	surface	NOUN
fumecheng-3689	13	9	as	as	ADP
fumecheng-3689	13	10	an	an	DET
fumecheng-3689	13	11	objective	objective	ADJ
fumecheng-3689	13	12	function	function	NOUN
fumecheng-3689	13	13	for	for	ADP
fumecheng-3689	13	14	optimization	optimization	NOUN
fumecheng-3689	13	15	.	.	PUNCT
fumecheng-3689	14	1	in	in	ADP
fumecheng-3689	14	2	this	this	DET
fumecheng-3689	14	3	sense	sense	NOUN
fumecheng-3689	14	4	,	,	PUNCT
fumecheng-3689	14	5	the	the	DET
fumecheng-3689	14	6	researchers	researcher	NOUN
fumecheng-3689	14	7	focused	focus	VERB
fumecheng-3689	14	8	on	on	ADP
fumecheng-3689	14	9	workspace	workspace	NOUN
fumecheng-3689	14	10	determination	determination	NOUN
fumecheng-3689	14	11	as	as	ADP
fumecheng-3689	14	12	a	a	DET
fumecheng-3689	14	13	performance	performance	NOUN
fumecheng-3689	14	14	index	index	NOUN
fumecheng-3689	14	15	in	in	ADP
fumecheng-3689	14	16	order	order	NOUN
fumecheng-3689	14	17	to	to	PART
fumecheng-3689	14	18	design	design	VERB
fumecheng-3689	14	19	robots	robot	NOUN
fumecheng-3689	14	20	for	for	ADP
fumecheng-3689	14	21	specific	specific	ADJ
fumecheng-3689	14	22	industrial	industrial	ADJ
fumecheng-3689	14	23	applications	application	NOUN
fumecheng-3689	14	24	.	.	PUNCT
fumecheng-3689	15	1	the	the	DET
fumecheng-3689	15	2	calculation	calculation	NOUN
fumecheng-3689	15	3	of	of	ADP
fumecheng-3689	15	4	the	the	DET
fumecheng-3689	15	5	parallel	parallel	ADJ
fumecheng-3689	15	6	robots	robot	NOUN
fumecheng-3689	15	7	’	'	PUNCT
fumecheng-3689	15	8	workspace	workspace	NOUN
fumecheng-3689	15	9	received	receive	VERB
fumecheng-3689	15	10	april	april	PROPN
fumecheng-3689	15	11	28	28	NUM
fumecheng-3689	15	12	,	,	PUNCT
fumecheng-3689	15	13	2019	2019	NUM
fumecheng-3689	15	14	/	/	PUNCT
fumecheng-3689	15	15	accepted	accept	VERB
fumecheng-3689	15	16	january	january	PROPN
fumecheng-3689	15	17	25	25	NUM
fumecheng-3689	15	18	,	,	PUNCT
fumecheng-3689	15	19	2020	2020	NUM
fumecheng-3689	15	20	corresponding	correspond	VERB
fumecheng-3689	15	21	author	author	NOUN
fumecheng-3689	15	22	:	:	PUNCT
fumecheng-3689	15	23	badreddine	badreddine	PROPN
fumecheng-3689	15	24	aboulissane	aboulissane	NOUN
fumecheng-3689	15	25	team	team	NOUN
fumecheng-3689	15	26	modeling	modeling	NOUN
fumecheng-3689	15	27	and	and	CCONJ
fumecheng-3689	15	28	simulation	simulation	NOUN
fumecheng-3689	15	29	of	of	ADP
fumecheng-3689	15	30	mechanical	mechanical	ADJ
fumecheng-3689	15	31	systems	system	NOUN
fumecheng-3689	15	32	,	,	PUNCT
fumecheng-3689	15	33	faculty	faculty	NOUN
fumecheng-3689	15	34	of	of	ADP
fumecheng-3689	15	35	sciences	science	NOUN
fumecheng-3689	15	36	,	,	PUNCT
fumecheng-3689	15	37	abdelmalek	abdelmalek	PROPN
fumecheng-3689	15	38	essaadi	essaadi	PROPN
fumecheng-3689	15	39	university	university	PROPN
fumecheng-3689	15	40	,	,	PUNCT
fumecheng-3689	15	41	bp	bp	PROPN
fumecheng-3689	15	42	.	.	PROPN
fumecheng-3689	15	43	2121	2121	NUM
fumecheng-3689	15	44	m'hannech	m'hannech	PROPN
fumecheng-3689	15	45	ii	ii	PROPN
fumecheng-3689	15	46	,	,	PUNCT
fumecheng-3689	15	47	tetouan	tetouan	PROPN
fumecheng-3689	15	48	,	,	PUNCT
fumecheng-3689	15	49	morocco	morocco	PROPN
fumecheng-3689	15	50	e	e	NOUN
fumecheng-3689	15	51	-	-	NOUN
fumecheng-3689	15	52	mail	mail	NOUN
fumecheng-3689	15	53	:	:	PUNCT
fumecheng-3689	15	54	b.aboulissane@gmail.com	b.aboulissane@gmail.com	PROPN
fumecheng-3689	15	55	80	80	NUM
fumecheng-3689	15	56	b.	b.	PROPN
fumecheng-3689	15	57	aboulissane	aboulissane	PROPN
fumecheng-3689	15	58	,	,	PUNCT
fumecheng-3689	15	59	l.	l.	PROPN
fumecheng-3689	15	60	el	el	PROPN
fumecheng-3689	15	61	bakkali	bakkali	PROPN
fumecheng-3689	15	62	,	,	PUNCT
fumecheng-3689	15	63	j.	j.	PROPN
fumecheng-3689	15	64	el	el	PROPN
fumecheng-3689	15	65	bahaoui	bahaoui	PROPN
fumecheng-3689	15	66	is	be	AUX
fumecheng-3689	15	67	a	a	DET
fumecheng-3689	15	68	complex	complex	ADJ
fumecheng-3689	15	69	problem	problem	NOUN
fumecheng-3689	15	70	due	due	ADP
fumecheng-3689	15	71	to	to	ADP
fumecheng-3689	15	72	the	the	DET
fumecheng-3689	15	73	kinematic	kinematic	ADJ
fumecheng-3689	15	74	modeling	modeling	NOUN
fumecheng-3689	15	75	difficulty	difficulty	NOUN
fumecheng-3689	15	76	.	.	PUNCT
fumecheng-3689	16	1	however	however	ADV
fumecheng-3689	16	2	,	,	PUNCT
fumecheng-3689	16	3	the	the	DET
fumecheng-3689	16	4	problem	problem	NOUN
fumecheng-3689	16	5	of	of	ADP
fumecheng-3689	16	6	workspace	workspace	NOUN
fumecheng-3689	16	7	optimization	optimization	NOUN
fumecheng-3689	16	8	of	of	ADP
fumecheng-3689	16	9	the	the	DET
fumecheng-3689	16	10	parallel	parallel	ADJ
fumecheng-3689	16	11	manipulators	manipulator	NOUN
fumecheng-3689	16	12	to	to	PART
fumecheng-3689	16	13	obtain	obtain	VERB
fumecheng-3689	16	14	a	a	DET
fumecheng-3689	16	15	prescribed	prescribed	ADJ
fumecheng-3689	16	16	workspace	workspace	NOUN
fumecheng-3689	16	17	has	have	AUX
fumecheng-3689	16	18	been	be	AUX
fumecheng-3689	16	19	investigated	investigate	VERB
fumecheng-3689	16	20	in	in	ADP
fumecheng-3689	16	21	few	few	ADJ
fumecheng-3689	16	22	articles	article	NOUN
fumecheng-3689	16	23	.	.	PUNCT
fumecheng-3689	17	1	the	the	DET
fumecheng-3689	17	2	concept	concept	NOUN
fumecheng-3689	17	3	of	of	ADP
fumecheng-3689	17	4	the	the	DET
fumecheng-3689	17	5	prescribed	prescribed	ADJ
fumecheng-3689	17	6	workspace	workspace	NOUN
fumecheng-3689	17	7	is	be	AUX
fumecheng-3689	17	8	a	a	DET
fumecheng-3689	17	9	significant	significant	ADJ
fumecheng-3689	17	10	issue	issue	NOUN
fumecheng-3689	17	11	to	to	PART
fumecheng-3689	17	12	optimize	optimize	VERB
fumecheng-3689	17	13	and	and	CCONJ
fumecheng-3689	17	14	to	to	PART
fumecheng-3689	17	15	synthesize	synthesize	VERB
fumecheng-3689	17	16	a	a	DET
fumecheng-3689	17	17	robot	robot	NOUN
fumecheng-3689	17	18	.	.	PUNCT
fumecheng-3689	18	1	the	the	DET
fumecheng-3689	18	2	actuated	actuate	VERB
fumecheng-3689	18	3	joint	joint	ADJ
fumecheng-3689	18	4	variables	variable	NOUN
fumecheng-3689	18	5	,	,	PUNCT
fumecheng-3689	18	6	the	the	DET
fumecheng-3689	18	7	range	range	NOUN
fumecheng-3689	18	8	of	of	ADP
fumecheng-3689	18	9	joints	joint	NOUN
fumecheng-3689	18	10	motion	motion	NOUN
fumecheng-3689	18	11	and	and	CCONJ
fumecheng-3689	18	12	the	the	DET
fumecheng-3689	18	13	mechanical	mechanical	ADJ
fumecheng-3689	18	14	interferences	interference	NOUN
fumecheng-3689	18	15	between	between	ADP
fumecheng-3689	18	16	the	the	DET
fumecheng-3689	18	17	links	link	NOUN
fumecheng-3689	18	18	essentially	essentially	ADV
fumecheng-3689	18	19	influence	influence	VERB
fumecheng-3689	18	20	the	the	DET
fumecheng-3689	18	21	parallel	parallel	ADJ
fumecheng-3689	18	22	manipulators	manipulator	NOUN
fumecheng-3689	18	23	’	'	PUNCT
fumecheng-3689	18	24	workspace	workspace	NOUN
fumecheng-3689	18	25	.	.	PUNCT
fumecheng-3689	19	1	in	in	ADP
fumecheng-3689	19	2	this	this	DET
fumecheng-3689	19	3	paper	paper	NOUN
fumecheng-3689	19	4	,	,	PUNCT
fumecheng-3689	19	5	we	we	PRON
fumecheng-3689	19	6	focus	focus	VERB
fumecheng-3689	19	7	on	on	ADP
fumecheng-3689	19	8	some	some	DET
fumecheng-3689	19	9	areas	area	NOUN
fumecheng-3689	19	10	of	of	ADP
fumecheng-3689	19	11	the	the	DET
fumecheng-3689	19	12	space	space	NOUN
fumecheng-3689	19	13	that	that	PRON
fumecheng-3689	19	14	surrounds	surround	VERB
fumecheng-3689	19	15	the	the	DET
fumecheng-3689	19	16	manipulator	manipulator	NOUN
fumecheng-3689	19	17	,	,	PUNCT
fumecheng-3689	19	18	and	and	CCONJ
fumecheng-3689	19	19	limiting	limit	VERB
fumecheng-3689	19	20	its	its	PRON
fumecheng-3689	19	21	workspace	workspace	NOUN
fumecheng-3689	19	22	to	to	ADP
fumecheng-3689	19	23	the	the	DET
fumecheng-3689	19	24	prescribed	prescribed	ADJ
fumecheng-3689	19	25	area	area	NOUN
fumecheng-3689	19	26	.	.	PUNCT
fumecheng-3689	20	1	several	several	ADJ
fumecheng-3689	20	2	papers	paper	NOUN
fumecheng-3689	20	3	studied	study	VERB
fumecheng-3689	20	4	this	this	DET
fumecheng-3689	20	5	problem	problem	NOUN
fumecheng-3689	20	6	based	base	VERB
fumecheng-3689	20	7	on	on	ADP
fumecheng-3689	20	8	geometrical	geometrical	ADJ
fumecheng-3689	20	9	techniques	technique	NOUN
fumecheng-3689	20	10	,	,	PUNCT
fumecheng-3689	20	11	and	and	CCONJ
fumecheng-3689	20	12	using	use	VERB
fumecheng-3689	20	13	optimization	optimization	NOUN
fumecheng-3689	20	14	algorithms	algorithm	NOUN
fumecheng-3689	20	15	to	to	PART
fumecheng-3689	20	16	synthesize	synthesize	VERB
fumecheng-3689	20	17	the	the	DET
fumecheng-3689	20	18	design	design	NOUN
fumecheng-3689	20	19	parameters	parameter	NOUN
fumecheng-3689	20	20	of	of	ADP
fumecheng-3689	20	21	the	the	DET
fumecheng-3689	20	22	parallel	parallel	ADJ
fumecheng-3689	20	23	manipulators	manipulator	NOUN
fumecheng-3689	20	24	.	.	PUNCT
fumecheng-3689	21	1	gallant	gallant	NOUN
fumecheng-3689	21	2	and	and	CCONJ
fumecheng-3689	21	3	boudreau	boudreau	PROPN
fumecheng-3689	22	1	[	[	X
fumecheng-3689	22	2	1	1	X
fumecheng-3689	22	3	]	]	PUNCT
fumecheng-3689	22	4	used	use	VERB
fumecheng-3689	22	5	a	a	DET
fumecheng-3689	22	6	genetic	genetic	ADJ
fumecheng-3689	22	7	algorithm	algorithm	NOUN
fumecheng-3689	22	8	in	in	ADP
fumecheng-3689	22	9	order	order	NOUN
fumecheng-3689	22	10	to	to	PART
fumecheng-3689	22	11	optimize	optimize	VERB
fumecheng-3689	22	12	a	a	DET
fumecheng-3689	22	13	3	3	NUM
fumecheng-3689	22	14	-	-	PUNCT
fumecheng-3689	22	15	dof	dof	NOUN
fumecheng-3689	22	16	planar	planar	ADJ
fumecheng-3689	22	17	parallel	parallel	NOUN
fumecheng-3689	22	18	manipulator	manipulator	NOUN
fumecheng-3689	22	19	to	to	PART
fumecheng-3689	22	20	obtain	obtain	VERB
fumecheng-3689	22	21	a	a	DET
fumecheng-3689	22	22	workspace	workspace	NOUN
fumecheng-3689	22	23	as	as	ADV
fumecheng-3689	22	24	close	close	ADJ
fumecheng-3689	22	25	as	as	ADP
fumecheng-3689	22	26	possible	possible	ADJ
fumecheng-3689	22	27	to	to	ADP
fumecheng-3689	22	28	a	a	DET
fumecheng-3689	22	29	prescribed	prescribed	ADJ
fumecheng-3689	22	30	one	one	NUM
fumecheng-3689	22	31	.	.	PUNCT
fumecheng-3689	22	32	singularities	singularity	NOUN
fumecheng-3689	22	33	and	and	CCONJ
fumecheng-3689	22	34	workspace	workspace	NOUN
fumecheng-3689	22	35	of	of	ADP
fumecheng-3689	22	36	planar	planar	ADJ
fumecheng-3689	22	37	3	3	NUM
fumecheng-3689	22	38	-	-	PUNCT
fumecheng-3689	22	39	rpr	rpr	NOUN
fumecheng-3689	22	40	parallel	parallel	ADJ
fumecheng-3689	22	41	mechanism	mechanism	NOUN
fumecheng-3689	22	42	for	for	ADP
fumecheng-3689	22	43	maximal	maximal	ADJ
fumecheng-3689	22	44	singularityfree	singularityfree	NOUN
fumecheng-3689	22	45	workspace	workspace	NOUN
fumecheng-3689	22	46	by	by	ADP
fumecheng-3689	22	47	optimizing	optimize	VERB
fumecheng-3689	22	48	the	the	DET
fumecheng-3689	22	49	geometric	geometric	ADJ
fumecheng-3689	22	50	parameters	parameter	NOUN
fumecheng-3689	22	51	are	be	AUX
fumecheng-3689	22	52	investigated	investigate	VERB
fumecheng-3689	22	53	by	by	ADP
fumecheng-3689	22	54	jiang	jiang	PROPN
fumecheng-3689	22	55	and	and	CCONJ
fumecheng-3689	22	56	gosselin	gosselin	PROPN
fumecheng-3689	23	1	[	[	X
fumecheng-3689	23	2	2	2	NUM
fumecheng-3689	23	3	,	,	PUNCT
fumecheng-3689	23	4	3	3	NUM
fumecheng-3689	23	5	]	]	PUNCT
fumecheng-3689	23	6	and	and	CCONJ
fumecheng-3689	23	7	yang	yang	PROPN
fumecheng-3689	23	8	and	and	CCONJ
fumecheng-3689	23	9	o’brien	o’brien	PROPN
fumecheng-3689	24	1	[	[	X
fumecheng-3689	24	2	4	4	NUM
fumecheng-3689	24	3	]	]	PUNCT
fumecheng-3689	24	4	.	.	PUNCT
fumecheng-3689	25	1	di	di	PROPN
fumecheng-3689	25	2	gregorio	gregorio	PROPN
fumecheng-3689	25	3	and	and	CCONJ
fumecheng-3689	25	4	zanforlin	zanforlin	PROPN
fumecheng-3689	26	1	[	[	X
fumecheng-3689	26	2	5	5	NUM
fumecheng-3689	26	3	]	]	PUNCT
fumecheng-3689	26	4	studied	study	VERB
fumecheng-3689	26	5	the	the	DET
fumecheng-3689	26	6	workspace	workspace	NOUN
fumecheng-3689	26	7	of	of	ADP
fumecheng-3689	26	8	the	the	DET
fumecheng-3689	26	9	3	3	NUM
fumecheng-3689	26	10	-	-	PUNCT
fumecheng-3689	26	11	ruu	ruu	NOUN
fumecheng-3689	26	12	and	and	CCONJ
fumecheng-3689	26	13	the	the	DET
fumecheng-3689	26	14	delta	delta	NOUN
fumecheng-3689	26	15	robot	robot	NOUN
fumecheng-3689	26	16	.	.	PUNCT
fumecheng-3689	27	1	they	they	PRON
fumecheng-3689	27	2	concluded	conclude	VERB
fumecheng-3689	27	3	that	that	SCONJ
fumecheng-3689	27	4	these	these	DET
fumecheng-3689	27	5	robots	robot	NOUN
fumecheng-3689	27	6	could	could	AUX
fumecheng-3689	27	7	have	have	VERB
fumecheng-3689	27	8	the	the	DET
fumecheng-3689	27	9	same	same	ADJ
fumecheng-3689	27	10	closure	closure	NOUN
fumecheng-3689	27	11	equations	equation	NOUN
fumecheng-3689	27	12	and	and	CCONJ
fumecheng-3689	27	13	workspace	workspace	NOUN
fumecheng-3689	27	14	when	when	SCONJ
fumecheng-3689	27	15	some	some	DET
fumecheng-3689	27	16	geometric	geometric	ADJ
fumecheng-3689	27	17	conditions	condition	NOUN
fumecheng-3689	27	18	are	be	AUX
fumecheng-3689	27	19	satisfied	satisfied	ADJ
fumecheng-3689	27	20	.	.	PUNCT
fumecheng-3689	28	1	chablat	chablat	NOUN
fumecheng-3689	28	2	et	et	PROPN
fumecheng-3689	28	3	al	al	PROPN
fumecheng-3689	28	4	.	.	PUNCT
fumecheng-3689	29	1	[	[	X
fumecheng-3689	29	2	6	6	NUM
fumecheng-3689	29	3	,	,	PUNCT
fumecheng-3689	29	4	7	7	NUM
fumecheng-3689	29	5	]	]	PUNCT
fumecheng-3689	29	6	compared	compare	VERB
fumecheng-3689	29	7	3	3	NUM
fumecheng-3689	29	8	-	-	PUNCT
fumecheng-3689	29	9	dof	dof	NOUN
fumecheng-3689	29	10	parallel	parallel	NOUN
fumecheng-3689	29	11	kinematic	kinematic	NOUN
fumecheng-3689	29	12	machines	machine	NOUN
fumecheng-3689	29	13	using	use	VERB
fumecheng-3689	29	14	two	two	NUM
fumecheng-3689	29	15	design	design	NOUN
fumecheng-3689	29	16	criteria	criterion	NOUN
fumecheng-3689	29	17	:	:	PUNCT
fumecheng-3689	29	18	regular	regular	ADJ
fumecheng-3689	29	19	workspace	workspace	NOUN
fumecheng-3689	29	20	shape	shape	NOUN
fumecheng-3689	29	21	and	and	CCONJ
fumecheng-3689	29	22	a	a	DET
fumecheng-3689	29	23	kinetostatic	kinetostatic	ADJ
fumecheng-3689	29	24	performance	performance	NOUN
fumecheng-3689	29	25	index	index	NOUN
fumecheng-3689	29	26	that	that	PRON
fumecheng-3689	29	27	needs	need	VERB
fumecheng-3689	29	28	to	to	PART
fumecheng-3689	29	29	be	be	AUX
fumecheng-3689	29	30	as	as	ADV
fumecheng-3689	29	31	homogenous	homogenous	ADJ
fumecheng-3689	29	32	as	as	ADP
fumecheng-3689	29	33	possible	possible	ADJ
fumecheng-3689	29	34	throughout	throughout	ADP
fumecheng-3689	29	35	the	the	DET
fumecheng-3689	29	36	workspace	workspace	NOUN
fumecheng-3689	29	37	;	;	PUNCT
fumecheng-3689	29	38	this	this	DET
fumecheng-3689	29	39	technique	technique	NOUN
fumecheng-3689	29	40	is	be	AUX
fumecheng-3689	29	41	based	base	VERB
fumecheng-3689	29	42	on	on	ADP
fumecheng-3689	29	43	the	the	DET
fumecheng-3689	29	44	interval	interval	NOUN
fumecheng-3689	29	45	analysis	analysis	NOUN
fumecheng-3689	29	46	method	method	NOUN
fumecheng-3689	29	47	.	.	PUNCT
fumecheng-3689	30	1	in	in	ADP
fumecheng-3689	30	2	[	[	X
fumecheng-3689	30	3	8	8	NUM
fumecheng-3689	30	4	]	]	PUNCT
fumecheng-3689	30	5	the	the	DET
fumecheng-3689	30	6	workspace	workspace	NOUN
fumecheng-3689	30	7	optimization	optimization	NOUN
fumecheng-3689	30	8	of	of	ADP
fumecheng-3689	30	9	translational	translational	ADJ
fumecheng-3689	30	10	3	3	NUM
fumecheng-3689	30	11	-	-	PUNCT
fumecheng-3689	30	12	upu	upu	NOUN
fumecheng-3689	30	13	parallel	parallel	NOUN
fumecheng-3689	30	14	robot	robot	NOUN
fumecheng-3689	30	15	is	be	AUX
fumecheng-3689	30	16	performed	perform	VERB
fumecheng-3689	30	17	using	use	VERB
fumecheng-3689	30	18	its	its	PRON
fumecheng-3689	30	19	parameterization	parameterization	NOUN
fumecheng-3689	30	20	by	by	ADP
fumecheng-3689	30	21	two	two	NUM
fumecheng-3689	30	22	design	design	NOUN
fumecheng-3689	30	23	variables	variable	NOUN
fumecheng-3689	30	24	,	,	PUNCT
fumecheng-3689	30	25	which	which	PRON
fumecheng-3689	30	26	are	be	AUX
fumecheng-3689	30	27	the	the	DET
fumecheng-3689	30	28	prismatic	prismatic	ADJ
fumecheng-3689	30	29	joint	joint	ADJ
fumecheng-3689	30	30	stroke	stroke	NOUN
fumecheng-3689	30	31	and	and	CCONJ
fumecheng-3689	30	32	the	the	DET
fumecheng-3689	30	33	distance	distance	NOUN
fumecheng-3689	30	34	between	between	ADP
fumecheng-3689	30	35	the	the	DET
fumecheng-3689	30	36	base	base	NOUN
fumecheng-3689	30	37	and	and	CCONJ
fumecheng-3689	30	38	the	the	DET
fumecheng-3689	30	39	mobile	mobile	ADJ
fumecheng-3689	30	40	platform	platform	NOUN
fumecheng-3689	30	41	.	.	PUNCT
fumecheng-3689	31	1	zhao	zhao	PROPN
fumecheng-3689	31	2	,	,	PUNCT
fumecheng-3689	31	3	chu	chu	PROPN
fumecheng-3689	31	4	,	,	PUNCT
fumecheng-3689	31	5	and	and	CCONJ
fumecheng-3689	31	6	feng	feng	PROPN
fumecheng-3689	32	1	[	[	X
fumecheng-3689	32	2	9	9	NUM
fumecheng-3689	32	3	]	]	PUNCT
fumecheng-3689	32	4	discussed	discuss	VERB
fumecheng-3689	32	5	the	the	DET
fumecheng-3689	32	6	analogous	analogous	ADJ
fumecheng-3689	32	7	symmetry	symmetry	NOUN
fumecheng-3689	32	8	properties	property	NOUN
fumecheng-3689	32	9	between	between	ADP
fumecheng-3689	32	10	the	the	DET
fumecheng-3689	32	11	workspace	workspace	NOUN
fumecheng-3689	32	12	and	and	CCONJ
fumecheng-3689	32	13	the	the	DET
fumecheng-3689	32	14	mechanism	mechanism	NOUN
fumecheng-3689	32	15	structure	structure	NOUN
fumecheng-3689	32	16	.	.	PUNCT
fumecheng-3689	33	1	gao	gao	PROPN
fumecheng-3689	33	2	,	,	PUNCT
fumecheng-3689	33	3	liu	liu	PROPN
fumecheng-3689	33	4	,	,	PUNCT
fumecheng-3689	33	5	and	and	CCONJ
fumecheng-3689	33	6	chen	chen	PROPN
fumecheng-3689	34	1	[	[	X
fumecheng-3689	34	2	10	10	NUM
fumecheng-3689	34	3	]	]	PUNCT
fumecheng-3689	34	4	analyzed	analyze	VERB
fumecheng-3689	34	5	the	the	DET
fumecheng-3689	34	6	relationship	relationship	NOUN
fumecheng-3689	34	7	between	between	ADP
fumecheng-3689	34	8	the	the	DET
fumecheng-3689	34	9	shapes	shape	NOUN
fumecheng-3689	34	10	of	of	ADP
fumecheng-3689	34	11	the	the	DET
fumecheng-3689	34	12	workspaces	workspace	NOUN
fumecheng-3689	34	13	and	and	CCONJ
fumecheng-3689	34	14	the	the	DET
fumecheng-3689	34	15	link	link	NOUN
fumecheng-3689	34	16	lengths	length	NOUN
fumecheng-3689	34	17	for	for	ADP
fumecheng-3689	34	18	3	3	NUM
fumecheng-3689	34	19	-	-	PUNCT
fumecheng-3689	34	20	dof	dof	NOUN
fumecheng-3689	34	21	planar	planar	ADJ
fumecheng-3689	34	22	parallel	parallel	ADJ
fumecheng-3689	34	23	manipulators	manipulator	NOUN
fumecheng-3689	34	24	;	;	PUNCT
fumecheng-3689	34	25	his	his	PRON
fumecheng-3689	34	26	results	result	NOUN
fumecheng-3689	34	27	are	be	AUX
fumecheng-3689	34	28	useful	useful	ADJ
fumecheng-3689	34	29	for	for	SCONJ
fumecheng-3689	34	30	the	the	DET
fumecheng-3689	34	31	designers	designer	NOUN
fumecheng-3689	34	32	to	to	PART
fumecheng-3689	34	33	optimize	optimize	VERB
fumecheng-3689	34	34	the	the	DET
fumecheng-3689	34	35	robots	robot	NOUN
fumecheng-3689	34	36	regarding	regard	VERB
fumecheng-3689	34	37	the	the	DET
fumecheng-3689	34	38	workspace	workspace	NOUN
fumecheng-3689	34	39	index	index	NOUN
fumecheng-3689	34	40	.	.	PUNCT
fumecheng-3689	35	1	hay	hay	NOUN
fumecheng-3689	35	2	and	and	CCONJ
fumecheng-3689	35	3	snyman	snyman	NOUN
fumecheng-3689	35	4	[	[	X
fumecheng-3689	35	5	11	11	NUM
fumecheng-3689	35	6	,	,	PUNCT
fumecheng-3689	35	7	12	12	NUM
fumecheng-3689	35	8	]	]	PUNCT
fumecheng-3689	35	9	focused	focus	VERB
fumecheng-3689	35	10	on	on	ADP
fumecheng-3689	35	11	the	the	DET
fumecheng-3689	35	12	numerical	numerical	ADJ
fumecheng-3689	35	13	multi	multi	ADJ
fumecheng-3689	35	14	-	-	ADJ
fumecheng-3689	35	15	level	level	ADJ
fumecheng-3689	35	16	optimization	optimization	NOUN
fumecheng-3689	35	17	for	for	ADP
fumecheng-3689	35	18	the	the	DET
fumecheng-3689	35	19	synthesis	synthesis	NOUN
fumecheng-3689	35	20	of	of	ADP
fumecheng-3689	35	21	the	the	DET
fumecheng-3689	35	22	3	3	NUM
fumecheng-3689	35	23	-	-	PUNCT
fumecheng-3689	35	24	dof	dof	NOUN
fumecheng-3689	35	25	parallel	parallel	NOUN
fumecheng-3689	35	26	manipulators	manipulator	NOUN
fumecheng-3689	35	27	for	for	ADP
fumecheng-3689	35	28	a	a	DET
fumecheng-3689	35	29	desired	desire	VERB
fumecheng-3689	35	30	workspace	workspace	NOUN
fumecheng-3689	35	31	.	.	PUNCT
fumecheng-3689	36	1	in	in	ADP
fumecheng-3689	36	2	[	[	X
fumecheng-3689	36	3	13	13	NUM
fumecheng-3689	36	4	]	]	PUNCT
fumecheng-3689	36	5	the	the	DET
fumecheng-3689	36	6	workspace	workspace	NOUN
fumecheng-3689	36	7	of	of	ADP
fumecheng-3689	36	8	gough	gough	PROPN
fumecheng-3689	36	9	-	-	PUNCT
fumecheng-3689	36	10	stewart	stewart	PROPN
fumecheng-3689	36	11	platform	platform	NOUN
fumecheng-3689	36	12	was	be	AUX
fumecheng-3689	36	13	optimized	optimize	VERB
fumecheng-3689	36	14	using	use	VERB
fumecheng-3689	36	15	the	the	DET
fumecheng-3689	36	16	genetic	genetic	ADJ
fumecheng-3689	36	17	algorithm	algorithm	NOUN
fumecheng-3689	36	18	.	.	PUNCT
fumecheng-3689	37	1	the	the	DET
fumecheng-3689	37	2	idea	idea	NOUN
fumecheng-3689	37	3	is	be	AUX
fumecheng-3689	37	4	to	to	PART
fumecheng-3689	37	5	minimize	minimize	VERB
fumecheng-3689	37	6	the	the	DET
fumecheng-3689	37	7	areas	area	NOUN
fumecheng-3689	37	8	,	,	PUNCT
fumecheng-3689	37	9	which	which	PRON
fumecheng-3689	37	10	do	do	AUX
fumecheng-3689	37	11	not	not	PART
fumecheng-3689	37	12	belong	belong	VERB
fumecheng-3689	37	13	to	to	ADP
fumecheng-3689	37	14	the	the	DET
fumecheng-3689	37	15	intersection	intersection	NOUN
fumecheng-3689	37	16	between	between	ADP
fumecheng-3689	37	17	two	two	NUM
fumecheng-3689	37	18	areas	area	NOUN
fumecheng-3689	37	19	:	:	PUNCT
fumecheng-3689	37	20	the	the	DET
fumecheng-3689	37	21	workspace	workspace	NOUN
fumecheng-3689	37	22	of	of	ADP
fumecheng-3689	37	23	the	the	DET
fumecheng-3689	37	24	robot	robot	NOUN
fumecheng-3689	37	25	and	and	CCONJ
fumecheng-3689	37	26	the	the	DET
fumecheng-3689	37	27	prescribed	prescribed	ADJ
fumecheng-3689	37	28	workspace	workspace	NOUN
fumecheng-3689	37	29	.	.	PUNCT
fumecheng-3689	38	1	a	a	DET
fumecheng-3689	38	2	genetic	genetic	ADJ
fumecheng-3689	38	3	algorithm	algorithm	NOUN
fumecheng-3689	38	4	based	base	VERB
fumecheng-3689	38	5	method	method	NOUN
fumecheng-3689	38	6	is	be	AUX
fumecheng-3689	38	7	used	use	VERB
fumecheng-3689	38	8	also	also	ADV
fumecheng-3689	38	9	in	in	ADP
fumecheng-3689	38	10	[	[	X
fumecheng-3689	38	11	14	14	NUM
fumecheng-3689	38	12	]	]	PUNCT
fumecheng-3689	38	13	to	to	PART
fumecheng-3689	38	14	deal	deal	VERB
fumecheng-3689	38	15	with	with	ADP
fumecheng-3689	38	16	the	the	DET
fumecheng-3689	38	17	optimal	optimal	ADJ
fumecheng-3689	38	18	dimensional	dimensional	ADJ
fumecheng-3689	38	19	synthesis	synthesis	NOUN
fumecheng-3689	38	20	of	of	ADP
fumecheng-3689	38	21	the	the	DET
fumecheng-3689	38	22	delta	delta	NOUN
fumecheng-3689	38	23	robot	robot	NOUN
fumecheng-3689	38	24	for	for	ADP
fumecheng-3689	38	25	a	a	DET
fumecheng-3689	38	26	prescribed	prescribed	ADJ
fumecheng-3689	38	27	workspace	workspace	NOUN
fumecheng-3689	38	28	.	.	PUNCT
fumecheng-3689	39	1	the	the	DET
fumecheng-3689	39	2	geometrical	geometrical	ADJ
fumecheng-3689	39	3	approaches	approach	NOUN
fumecheng-3689	39	4	have	have	AUX
fumecheng-3689	39	5	been	be	AUX
fumecheng-3689	39	6	used	use	VERB
fumecheng-3689	39	7	to	to	PART
fumecheng-3689	39	8	represent	represent	VERB
fumecheng-3689	39	9	the	the	DET
fumecheng-3689	39	10	workspace	workspace	NOUN
fumecheng-3689	39	11	of	of	ADP
fumecheng-3689	39	12	the	the	DET
fumecheng-3689	39	13	parallel	parallel	ADJ
fumecheng-3689	39	14	manipulators	manipulator	NOUN
fumecheng-3689	39	15	,	,	PUNCT
fumecheng-3689	39	16	by	by	ADP
fumecheng-3689	39	17	assad	assad	PROPN
fumecheng-3689	39	18	arrouk	arrouk	PROPN
fumecheng-3689	39	19	et	et	PROPN
fumecheng-3689	39	20	al	al	PROPN
fumecheng-3689	39	21	.	.	PUNCT
fumecheng-3689	40	1	[	[	X
fumecheng-3689	40	2	15	15	NUM
fumecheng-3689	40	3	]	]	X
fumecheng-3689	40	4	,	,	PUNCT
fumecheng-3689	40	5	aboulissane	aboulissane	NOUN
fumecheng-3689	40	6	et	et	PROPN
fumecheng-3689	40	7	al	al	PROPN
fumecheng-3689	40	8	.	.	PUNCT
fumecheng-3689	41	1	[	[	X
fumecheng-3689	41	2	21	21	NUM
fumecheng-3689	41	3	]	]	PUNCT
fumecheng-3689	41	4	,	,	PUNCT
fumecheng-3689	41	5	bonevet	bonevet	PROPN
fumecheng-3689	41	6	al	al	PROPN
fumecheng-3689	41	7	.	.	PUNCT
fumecheng-3689	42	1	[	[	X
fumecheng-3689	42	2	16	16	NUM
fumecheng-3689	42	3	]	]	PUNCT
fumecheng-3689	42	4	,	,	PUNCT
fumecheng-3689	42	5	gosselin	gosselin	PROPN
fumecheng-3689	43	1	[	[	X
fumecheng-3689	43	2	17	17	NUM
fumecheng-3689	43	3	]	]	PUNCT
fumecheng-3689	43	4	,	,	PUNCT
fumecheng-3689	43	5	and	and	CCONJ
fumecheng-3689	43	6	merlet	merlet	ADJ
fumecheng-3689	43	7	[	[	X
fumecheng-3689	43	8	18	18	NUM
fumecheng-3689	43	9	]	]	PUNCT
fumecheng-3689	43	10	.	.	PUNCT
fumecheng-3689	44	1	the	the	DET
fumecheng-3689	44	2	principle	principle	NOUN
fumecheng-3689	44	3	of	of	ADP
fumecheng-3689	44	4	these	these	DET
fumecheng-3689	44	5	methods	method	NOUN
fumecheng-3689	44	6	is	be	AUX
fumecheng-3689	44	7	to	to	PART
fumecheng-3689	44	8	deduce	deduce	VERB
fumecheng-3689	44	9	,	,	PUNCT
fumecheng-3689	44	10	from	from	ADP
fumecheng-3689	44	11	the	the	DET
fumecheng-3689	44	12	constraints	constraint	NOUN
fumecheng-3689	44	13	on	on	ADP
fumecheng-3689	44	14	each	each	DET
fumecheng-3689	44	15	limb	limb	NOUN
fumecheng-3689	44	16	,	,	PUNCT
fumecheng-3689	44	17	a	a	DET
fumecheng-3689	44	18	geometrical	geometrical	ADJ
fumecheng-3689	44	19	entity	entity	NOUN
fumecheng-3689	44	20	(	(	PUNCT
fumecheng-3689	44	21	sub	sub	NOUN
fumecheng-3689	44	22	-	-	NOUN
fumecheng-3689	44	23	workspace	workspace	NOUN
fumecheng-3689	44	24	)	)	PUNCT
fumecheng-3689	44	25	which	which	PRON
fumecheng-3689	44	26	describes	describe	VERB
fumecheng-3689	44	27	all	all	DET
fumecheng-3689	44	28	the	the	DET
fumecheng-3689	44	29	possible	possible	ADJ
fumecheng-3689	44	30	poses	pose	NOUN
fumecheng-3689	44	31	of	of	ADP
fumecheng-3689	44	32	the	the	DET
fumecheng-3689	44	33	tool	tool	NOUN
fumecheng-3689	44	34	center	center	NOUN
fumecheng-3689	44	35	point	point	NOUN
fumecheng-3689	44	36	that	that	PRON
fumecheng-3689	44	37	satisfy	satisfy	VERB
fumecheng-3689	44	38	the	the	DET
fumecheng-3689	44	39	leg	leg	NOUN
fumecheng-3689	44	40	constraints	constraint	NOUN
fumecheng-3689	44	41	.	.	PUNCT
fumecheng-3689	45	1	then	then	ADV
fumecheng-3689	45	2	,	,	PUNCT
fumecheng-3689	45	3	the	the	DET
fumecheng-3689	45	4	robotic	robotic	ADJ
fumecheng-3689	45	5	manipulator	manipulator	NOUN
fumecheng-3689	45	6	workspace	workspace	NOUN
fumecheng-3689	45	7	is	be	AUX
fumecheng-3689	45	8	generated	generate	VERB
fumecheng-3689	45	9	by	by	ADP
fumecheng-3689	45	10	the	the	DET
fumecheng-3689	45	11	intersection	intersection	NOUN
fumecheng-3689	45	12	of	of	ADP
fumecheng-3689	45	13	all	all	DET
fumecheng-3689	45	14	the	the	DET
fumecheng-3689	45	15	subworkspaces	subworkspace	NOUN
fumecheng-3689	45	16	.	.	PUNCT
fumecheng-3689	46	1	tsirogiannis	tsirogiannis	PROPN
fumecheng-3689	46	2	et	et	PROPN
fumecheng-3689	46	3	al	al	PROPN
fumecheng-3689	46	4	.	.	PUNCT
fumecheng-3689	47	1	[	[	X
fumecheng-3689	47	2	22	22	NUM
fumecheng-3689	47	3	]	]	PUNCT
fumecheng-3689	47	4	presented	present	VERB
fumecheng-3689	47	5	an	an	DET
fumecheng-3689	47	6	overall	overall	ADJ
fumecheng-3689	47	7	structural	structural	ADJ
fumecheng-3689	47	8	design	design	NOUN
fumecheng-3689	47	9	optimization	optimization	NOUN
fumecheng-3689	47	10	approach	approach	NOUN
fumecheng-3689	47	11	for	for	ADP
fumecheng-3689	47	12	a	a	DET
fumecheng-3689	47	13	robot	robot	NOUN
fumecheng-3689	47	14	arm	arm	NOUN
fumecheng-3689	47	15	link	link	NOUN
fumecheng-3689	47	16	seeking	seek	VERB
fumecheng-3689	47	17	mass	mass	ADJ
fumecheng-3689	47	18	reduction	reduction	NOUN
fumecheng-3689	47	19	and	and	CCONJ
fumecheng-3689	47	20	satisfaction	satisfaction	NOUN
fumecheng-3689	47	21	of	of	ADP
fumecheng-3689	47	22	manufacturability	manufacturability	NOUN
fumecheng-3689	47	23	with	with	ADP
fumecheng-3689	47	24	sls	sls	PROPN
fumecheng-3689	47	25	am	be	AUX
fumecheng-3689	47	26	technique	technique	NOUN
fumecheng-3689	47	27	.	.	PUNCT
fumecheng-3689	48	1	in	in	ADP
fumecheng-3689	48	2	this	this	DET
fumecheng-3689	48	3	paper	paper	NOUN
fumecheng-3689	48	4	,	,	PUNCT
fumecheng-3689	48	5	a	a	DET
fumecheng-3689	48	6	graphical	graphical	ADJ
fumecheng-3689	48	7	based	base	VERB
fumecheng-3689	48	8	technique	technique	NOUN
fumecheng-3689	48	9	is	be	AUX
fumecheng-3689	48	10	addressed	address	VERB
fumecheng-3689	48	11	for	for	ADP
fumecheng-3689	48	12	workspace	workspace	NOUN
fumecheng-3689	48	13	’s	’s	PART
fumecheng-3689	48	14	determination	determination	NOUN
fumecheng-3689	48	15	,	,	PUNCT
fumecheng-3689	48	16	analysis	analysis	NOUN
fumecheng-3689	48	17	and	and	CCONJ
fumecheng-3689	48	18	optimization	optimization	NOUN
fumecheng-3689	48	19	of	of	ADP
fumecheng-3689	48	20	two	two	NUM
fumecheng-3689	48	21	parallel	parallel	ADJ
fumecheng-3689	48	22	robots	robot	NOUN
fumecheng-3689	48	23	,	,	PUNCT
fumecheng-3689	48	24	which	which	PRON
fumecheng-3689	48	25	are	be	AUX
fumecheng-3689	48	26	the	the	DET
fumecheng-3689	48	27	3	3	NUM
fumecheng-3689	48	28	-	-	PUNCT
fumecheng-3689	48	29	rpr	rpr	NOUN
fumecheng-3689	48	30	planar	planar	ADJ
fumecheng-3689	48	31	manipulator	manipulator	NOUN
fumecheng-3689	48	32	,	,	PUNCT
fumecheng-3689	48	33	and	and	CCONJ
fumecheng-3689	48	34	the	the	DET
fumecheng-3689	48	35	delta	delta	NOUN
fumecheng-3689	48	36	robot	robot	NOUN
fumecheng-3689	48	37	.	.	PUNCT
fumecheng-3689	49	1	the	the	DET
fumecheng-3689	49	2	first	first	ADJ
fumecheng-3689	49	3	section	section	NOUN
fumecheng-3689	49	4	is	be	AUX
fumecheng-3689	49	5	dedicated	dedicate	VERB
fumecheng-3689	49	6	to	to	ADP
fumecheng-3689	49	7	the	the	DET
fumecheng-3689	49	8	description	description	NOUN
fumecheng-3689	49	9	of	of	ADP
fumecheng-3689	49	10	the	the	DET
fumecheng-3689	49	11	proposed	propose	VERB
fumecheng-3689	49	12	manipulators	manipulator	NOUN
fumecheng-3689	49	13	.	.	PUNCT
fumecheng-3689	50	1	in	in	ADP
fumecheng-3689	50	2	the	the	DET
fumecheng-3689	50	3	next	next	ADJ
fumecheng-3689	50	4	section	section	NOUN
fumecheng-3689	50	5	,	,	PUNCT
fumecheng-3689	50	6	we	we	PRON
fumecheng-3689	50	7	present	present	VERB
fumecheng-3689	50	8	the	the	DET
fumecheng-3689	50	9	steps	step	NOUN
fumecheng-3689	50	10	to	to	PART
fumecheng-3689	50	11	determine	determine	VERB
fumecheng-3689	50	12	the	the	DET
fumecheng-3689	50	13	workspace	workspace	NOUN
fumecheng-3689	50	14	of	of	ADP
fumecheng-3689	50	15	both	both	DET
fumecheng-3689	50	16	robots	robot	NOUN
fumecheng-3689	50	17	.	.	PUNCT
fumecheng-3689	51	1	the	the	DET
fumecheng-3689	51	2	last	last	ADJ
fumecheng-3689	51	3	section	section	NOUN
fumecheng-3689	51	4	is	be	AUX
fumecheng-3689	51	5	about	about	ADP
fumecheng-3689	51	6	the	the	DET
fumecheng-3689	51	7	comparison	comparison	NOUN
fumecheng-3689	51	8	of	of	ADP
fumecheng-3689	51	9	the	the	DET
fumecheng-3689	51	10	two	two	NUM
fumecheng-3689	51	11	optimization	optimization	NOUN
fumecheng-3689	51	12	methods	method	NOUN
fumecheng-3689	51	13	,	,	PUNCT
fumecheng-3689	51	14	applied	apply	VERB
fumecheng-3689	51	15	to	to	ADP
fumecheng-3689	51	16	the	the	DET
fumecheng-3689	51	17	workspace	workspace	NOUN
fumecheng-3689	51	18	of	of	ADP
fumecheng-3689	51	19	the	the	DET
fumecheng-3689	51	20	delta	delta	NOUN
fumecheng-3689	51	21	robot	robot	NOUN
fumecheng-3689	51	22	.	.	PUNCT
fumecheng-3689	52	1	workspace	workspace	NOUN
fumecheng-3689	52	2	analysis	analysis	NOUN
fumecheng-3689	52	3	and	and	CCONJ
fumecheng-3689	52	4	optimization	optimization	NOUN
fumecheng-3689	52	5	of	of	ADP
fumecheng-3689	52	6	the	the	DET
fumecheng-3689	52	7	parallel	parallel	ADJ
fumecheng-3689	52	8	robots	robot	NOUN
fumecheng-3689	52	9	based	base	VERB
fumecheng-3689	52	10	on	on	ADP
fumecheng-3689	52	11	computer	computer	NOUN
fumecheng-3689	52	12	-	-	PUNCT
fumecheng-3689	52	13	aided	aid	VERB
fumecheng-3689	52	14	design	design	NOUN
fumecheng-3689	52	15	approach	approach	NOUN
fumecheng-3689	52	16	81	81	NUM
fumecheng-3689	52	17	2	2	NUM
fumecheng-3689	52	18	.	.	PUNCT
fumecheng-3689	52	19	kinematic	kinematic	ADJ
fumecheng-3689	52	20	scheme	scheme	NOUN
fumecheng-3689	52	21	and	and	CCONJ
fumecheng-3689	52	22	description	description	NOUN
fumecheng-3689	52	23	of	of	ADP
fumecheng-3689	52	24	the	the	DET
fumecheng-3689	52	25	3	3	NUM
fumecheng-3689	52	26	-	-	PUNCT
fumecheng-3689	52	27	rpr	rpr	NOUN
fumecheng-3689	52	28	and	and	CCONJ
fumecheng-3689	52	29	the	the	DET
fumecheng-3689	52	30	delta	delta	NOUN
fumecheng-3689	52	31	robots	robot	NOUN
fumecheng-3689	52	32	2.1	2.1	NUM
fumecheng-3689	52	33	.	.	PUNCT
fumecheng-3689	53	1	the	the	DET
fumecheng-3689	53	2	3	3	NUM
fumecheng-3689	53	3	-	-	PUNCT
fumecheng-3689	53	4	rpr	rpr	NOUN
fumecheng-3689	53	5	planar	planar	PROPN
fumecheng-3689	53	6	parallel	parallel	ADJ
fumecheng-3689	53	7	robot	robot	NOUN
fumecheng-3689	53	8	fig	fig	NOUN
fumecheng-3689	53	9	.	.	PUNCT
fumecheng-3689	54	1	1	1	NUM
fumecheng-3689	54	2	shows	show	VERB
fumecheng-3689	54	3	the	the	DET
fumecheng-3689	54	4	kinematic	kinematic	ADJ
fumecheng-3689	54	5	scheme	scheme	NOUN
fumecheng-3689	54	6	of	of	ADP
fumecheng-3689	54	7	the	the	DET
fumecheng-3689	54	8	3	3	NUM
fumecheng-3689	54	9	-	-	PUNCT
fumecheng-3689	54	10	rpr	rpr	PROPN
fumecheng-3689	54	11	planar	planar	PROPN
fumecheng-3689	54	12	robot	robot	NOUN
fumecheng-3689	54	13	.	.	PUNCT
fumecheng-3689	55	1	this	this	DET
fumecheng-3689	55	2	mechanism	mechanism	NOUN
fumecheng-3689	55	3	is	be	AUX
fumecheng-3689	55	4	a	a	DET
fumecheng-3689	55	5	parallel	parallel	ADJ
fumecheng-3689	55	6	robot	robot	NOUN
fumecheng-3689	55	7	with	with	ADP
fumecheng-3689	55	8	closed	closed	ADJ
fumecheng-3689	55	9	loop	loop	NOUN
fumecheng-3689	55	10	chains	chain	NOUN
fumecheng-3689	55	11	.	.	PUNCT
fumecheng-3689	56	1	three	three	NUM
fumecheng-3689	56	2	actuated	actuate	VERB
fumecheng-3689	56	3	prismatic	prismatic	ADJ
fumecheng-3689	56	4	joints	joint	NOUN
fumecheng-3689	56	5	are	be	AUX
fumecheng-3689	56	6	linked	link	VERB
fumecheng-3689	56	7	to	to	ADP
fumecheng-3689	56	8	passive	passive	ADJ
fumecheng-3689	56	9	joints	joint	NOUN
fumecheng-3689	56	10	,	,	PUNCT
fumecheng-3689	56	11	,	,	PUNCT
fumecheng-3689	56	12	and	and	CCONJ
fumecheng-3689	56	13	fixed	fix	VERB
fumecheng-3689	56	14	to	to	ADP
fumecheng-3689	56	15	the	the	DET
fumecheng-3689	56	16	base	base	NOUN
fumecheng-3689	56	17	,	,	PUNCT
fumecheng-3689	56	18	and	and	CCONJ
fumecheng-3689	56	19	,	,	PUNCT
fumecheng-3689	56	20	,	,	PUNCT
fumecheng-3689	56	21	fixed	fix	VERB
fumecheng-3689	56	22	to	to	ADP
fumecheng-3689	56	23	the	the	DET
fumecheng-3689	56	24	mobile	mobile	ADJ
fumecheng-3689	56	25	platform	platform	NOUN
fumecheng-3689	56	26	.	.	PUNCT
fumecheng-3689	57	1	the	the	DET
fumecheng-3689	57	2	actuated	actuate	VERB
fumecheng-3689	57	3	prismatic	prismatic	ADJ
fumecheng-3689	57	4	joints	joint	NOUN
fumecheng-3689	57	5	coordinates	coordinate	NOUN
fumecheng-3689	57	6	are	be	AUX
fumecheng-3689	57	7	given	give	VERB
fumecheng-3689	57	8	by	by	ADP
fumecheng-3689	57	9	the	the	DET
fumecheng-3689	57	10	length	length	NOUN
fumecheng-3689	57	11	of	of	ADP
fumecheng-3689	57	12	the	the	DET
fumecheng-3689	57	13	legs	leg	NOUN
fumecheng-3689	57	14	,	,	PUNCT
fumecheng-3689	57	15	named	name	VERB
fumecheng-3689	57	16	,	,	PUNCT
fumecheng-3689	57	17	,	,	PUNCT
fumecheng-3689	57	18	and	and	CCONJ
fumecheng-3689	57	19	.	.	PUNCT
fumecheng-3689	58	1	the	the	DET
fumecheng-3689	58	2	orientation	orientation	NOUN
fumecheng-3689	58	3	of	of	ADP
fumecheng-3689	58	4	the	the	DET
fumecheng-3689	58	5	mobile	mobile	ADJ
fumecheng-3689	58	6	platform	platform	NOUN
fumecheng-3689	58	7	is	be	AUX
fumecheng-3689	58	8	given	give	VERB
fumecheng-3689	58	9	by	by	ADP
fumecheng-3689	58	10	angle	angle	NOUN
fumecheng-3689	58	11	.	.	PUNCT
fumecheng-3689	59	1	the	the	DET
fumecheng-3689	59	2	components	component	NOUN
fumecheng-3689	59	3	of	of	ADP
fumecheng-3689	59	4	points	point	NOUN
fumecheng-3689	59	5	and	and	CCONJ
fumecheng-3689	59	6	are	be	AUX
fumecheng-3689	59	7	respectively	respectively	ADV
fumecheng-3689	59	8	and	and	CCONJ
fumecheng-3689	59	9	.	.	PUNCT
fumecheng-3689	60	1	each	each	DET
fumecheng-3689	60	2	limb	limb	NOUN
fumecheng-3689	60	3	generates	generate	VERB
fumecheng-3689	60	4	an	an	DET
fumecheng-3689	60	5	annular	annular	ADJ
fumecheng-3689	60	6	region	region	NOUN
fumecheng-3689	60	7	bounded	bound	VERB
fumecheng-3689	60	8	by	by	ADP
fumecheng-3689	60	9	two	two	NUM
fumecheng-3689	60	10	concentric	concentric	ADJ
fumecheng-3689	60	11	circles	circle	NOUN
fumecheng-3689	60	12	with	with	ADP
fumecheng-3689	60	13	radii	radius	NOUN
fumecheng-3689	60	14	of	of	ADP
fumecheng-3689	60	15	and	and	CCONJ
fumecheng-3689	60	16	,	,	PUNCT
fumecheng-3689	60	17	the	the	DET
fumecheng-3689	60	18	centers	center	NOUN
fumecheng-3689	60	19	of	of	ADP
fumecheng-3689	60	20	the	the	DET
fumecheng-3689	60	21	circles	circle	NOUN
fumecheng-3689	60	22	are	be	AUX
fumecheng-3689	60	23	defined	define	VERB
fumecheng-3689	60	24	by	by	ADP
fumecheng-3689	60	25	eq	eq	PROPN
fumecheng-3689	60	26	.	.	PUNCT
fumecheng-3689	61	1	(	(	PUNCT
fumecheng-3689	61	2	1	1	NUM
fumecheng-3689	61	3	)	)	PUNCT
fumecheng-3689	61	4	,	,	PUNCT
fumecheng-3689	61	5	and	and	CCONJ
fumecheng-3689	61	6	eq	eq	NOUN
fumecheng-3689	61	7	.	.	PUNCT
fumecheng-3689	62	1	(	(	PUNCT
fumecheng-3689	62	2	2	2	NUM
fumecheng-3689	62	3	):	):	PUNCT
fumecheng-3689	62	4	cos	cos	PROPN
fumecheng-3689	62	5	(	(	PUNCT
fumecheng-3689	62	6	)	)	PUNCT
fumecheng-3689	62	7	sin	sin	NOUN
fumecheng-3689	62	8	(	(	PUNCT
fumecheng-3689	62	9	)	)	PUNCT
fumecheng-3689	62	10	ci	ci	PROPN
fumecheng-3689	62	11	ai	ai	VERB
fumecheng-3689	62	12	bi	bi	PROPN
fumecheng-3689	62	13	bix	bix	PROPN
fumecheng-3689	62	14	x	x	PROPN
fumecheng-3689	62	15	x	x	SYM
fumecheng-3689	62	16	y	y	PROPN
fumecheng-3689	62	17			PROPN
fumecheng-3689	62	18			PROPN
fumecheng-3689	62	19			X
fumecheng-3689	62	20	(	(	PUNCT
fumecheng-3689	62	21	1	1	X
fumecheng-3689	62	22	)	)	PUNCT
fumecheng-3689	62	23	sin	sin	NOUN
fumecheng-3689	62	24	(	(	PUNCT
fumecheng-3689	62	25	)	)	PUNCT
fumecheng-3689	62	26	cos	cos	PROPN
fumecheng-3689	62	27	(	(	PUNCT
fumecheng-3689	62	28	)	)	PUNCT
fumecheng-3689	62	29	ci	ci	PROPN
fumecheng-3689	62	30	ai	ai	VERB
fumecheng-3689	62	31	bi	bi	PROPN
fumecheng-3689	62	32	biy	biy	PROPN
fumecheng-3689	62	33	y	y	PROPN
fumecheng-3689	62	34	x	x	PROPN
fumecheng-3689	62	35	y	y	PROPN
fumecheng-3689	63	1			PROPN
fumecheng-3689	63	2			PROPN
fumecheng-3689	63	3			PROPN
fumecheng-3689	63	4	(	(	PUNCT
fumecheng-3689	63	5	2	2	NUM
fumecheng-3689	63	6	)	)	PUNCT
fumecheng-3689	63	7	fig	fig	NOUN
fumecheng-3689	63	8	.	.	PUNCT
fumecheng-3689	64	1	1	1	NUM
fumecheng-3689	64	2	kinematic	kinematic	ADJ
fumecheng-3689	64	3	diagram	diagram	NOUN
fumecheng-3689	64	4	of	of	ADP
fumecheng-3689	64	5	the	the	DET
fumecheng-3689	64	6	3	3	NUM
fumecheng-3689	64	7	-	-	PUNCT
fumecheng-3689	64	8	rpr	rpr	NOUN
fumecheng-3689	64	9	planar	planar	PROPN
fumecheng-3689	64	10	parallel	parallel	NOUN
fumecheng-3689	64	11	robot	robot	NOUN
fumecheng-3689	64	12	the	the	DET
fumecheng-3689	64	13	vector	vector	NOUN
fumecheng-3689	64	14	describing	describe	VERB
fumecheng-3689	64	15	the	the	DET
fumecheng-3689	64	16	3	3	NUM
fumecheng-3689	64	17	-	-	PUNCT
fumecheng-3689	64	18	rpr	rpr	NOUN
fumecheng-3689	64	19	parallel	parallel	NOUN
fumecheng-3689	64	20	manipulator	manipulator	NOUN
fumecheng-3689	64	21	parameters	parameter	NOUN
fumecheng-3689	64	22	is	be	AUX
fumecheng-3689	64	23	defined	define	VERB
fumecheng-3689	64	24	as	as	SCONJ
fumecheng-3689	64	25	follows	follow	VERB
fumecheng-3689	64	26	:	:	PUNCT
fumecheng-3689	65	1	1	1	NUM
fumecheng-3689	65	2	min	min	NOUN
fumecheng-3689	65	3	max	max	PROPN
fumecheng-3689	65	4	1	1	NUM
fumecheng-3689	65	5	1	1	NUM
fumecheng-3689	65	6	2	2	NUM
fumecheng-3689	65	7	2	2	NUM
fumecheng-3689	65	8	3	3	NUM
fumecheng-3689	65	9	3	3	NUM
fumecheng-3689	65	10	[	[	PUNCT
fumecheng-3689	65	11	]	]	X
fumecheng-3689	65	12	t	t	X
fumecheng-3689	65	13	c	c	NOUN
fumecheng-3689	65	14	c	c	NOUN
fumecheng-3689	65	15	c	c	NOUN
fumecheng-3689	65	16	c	c	NOUN
fumecheng-3689	65	17	c	c	NOUN
fumecheng-3689	65	18	cx	cx	PROPN
fumecheng-3689	65	19	y	y	PROPN
fumecheng-3689	65	20	x	x	PUNCT
fumecheng-3689	65	21	y	y	PROPN
fumecheng-3689	65	22	x	x	SYM
fumecheng-3689	65	23	y	y	NOUN
fumecheng-3689	65	24			ADP
fumecheng-3689	65	25			PROPN
fumecheng-3689	65	26	(	(	PUNCT
fumecheng-3689	65	27	3	3	NUM
fumecheng-3689	65	28	)	)	PUNCT
fumecheng-3689	65	29	2.2	2.2	NUM
fumecheng-3689	65	30	.	.	PUNCT
fumecheng-3689	66	1	the	the	DET
fumecheng-3689	66	2	delta	delta	NOUN
fumecheng-3689	66	3	parallel	parallel	NOUN
fumecheng-3689	66	4	robot	robot	NOUN
fumecheng-3689	66	5	the	the	DET
fumecheng-3689	66	6	robot	robot	NOUN
fumecheng-3689	66	7	under	under	ADP
fumecheng-3689	66	8	study	study	NOUN
fumecheng-3689	66	9	in	in	ADP
fumecheng-3689	66	10	this	this	DET
fumecheng-3689	66	11	section	section	NOUN
fumecheng-3689	66	12	is	be	AUX
fumecheng-3689	66	13	the	the	DET
fumecheng-3689	66	14	delta	delta	NOUN
fumecheng-3689	66	15	parallel	parallel	NOUN
fumecheng-3689	66	16	robot	robot	NOUN
fumecheng-3689	66	17	depicted	depict	VERB
fumecheng-3689	66	18	in	in	ADP
fumecheng-3689	66	19	fig	fig	NOUN
fumecheng-3689	66	20	.	.	PUNCT
fumecheng-3689	67	1	2(a	2(a	NUM
fumecheng-3689	67	2	)	)	PUNCT
fumecheng-3689	68	1	;	;	PUNCT
fumecheng-3689	68	2	it	it	PRON
fumecheng-3689	68	3	is	be	AUX
fumecheng-3689	68	4	composed	compose	VERB
fumecheng-3689	68	5	of	of	ADP
fumecheng-3689	68	6	a	a	DET
fumecheng-3689	68	7	triangular	triangular	NOUN
fumecheng-3689	68	8	moving	move	VERB
fumecheng-3689	68	9	platform	platform	NOUN
fumecheng-3689	68	10	linked	link	VERB
fumecheng-3689	68	11	to	to	ADP
fumecheng-3689	68	12	a	a	DET
fumecheng-3689	68	13	triangular	triangular	NOUN
fumecheng-3689	68	14	fixed	fix	VERB
fumecheng-3689	68	15	base	base	NOUN
fumecheng-3689	68	16	with	with	ADP
fumecheng-3689	68	17	three	three	NUM
fumecheng-3689	68	18	closed	closed	ADJ
fumecheng-3689	68	19	parallel	parallel	ADJ
fumecheng-3689	68	20	chains	chain	NOUN
fumecheng-3689	68	21	.	.	PUNCT
fumecheng-3689	69	1	each	each	DET
fumecheng-3689	69	2	one	one	NOUN
fumecheng-3689	69	3	consists	consist	VERB
fumecheng-3689	69	4	of	of	ADP
fumecheng-3689	69	5	an	an	DET
fumecheng-3689	69	6	actuated	actuate	VERB
fumecheng-3689	69	7	rotational	rotational	ADJ
fumecheng-3689	69	8	joint	joint	NOUN
fumecheng-3689	69	9	mounted	mount	VERB
fumecheng-3689	69	10	near	near	ADV
fumecheng-3689	69	11	to	to	ADP
fumecheng-3689	69	12	the	the	DET
fumecheng-3689	69	13	fixed	fix	VERB
fumecheng-3689	69	14	base	base	NOUN
fumecheng-3689	69	15	;	;	PUNCT
fumecheng-3689	69	16	the	the	DET
fumecheng-3689	69	17	parallelograms	parallelogram	NOUN
fumecheng-3689	69	18	and	and	CCONJ
fumecheng-3689	69	19	spherical	spherical	ADJ
fumecheng-3689	69	20	joints	joint	NOUN
fumecheng-3689	69	21	transmit	transmit	VERB
fumecheng-3689	69	22	the	the	DET
fumecheng-3689	69	23	movement	movement	NOUN
fumecheng-3689	69	24	of	of	ADP
fumecheng-3689	69	25	the	the	DET
fumecheng-3689	69	26	mobile	mobile	ADJ
fumecheng-3689	69	27	platform	platform	NOUN
fumecheng-3689	69	28	.	.	PUNCT
fumecheng-3689	70	1	in	in	ADP
fumecheng-3689	70	2	this	this	DET
fumecheng-3689	70	3	work	work	NOUN
fumecheng-3689	70	4	,	,	PUNCT
fumecheng-3689	70	5	all	all	DET
fumecheng-3689	70	6	the	the	DET
fumecheng-3689	70	7	three	three	NUM
fumecheng-3689	70	8	arms	arm	NOUN
fumecheng-3689	70	9	of	of	ADP
fumecheng-3689	70	10	the	the	DET
fumecheng-3689	70	11	manipulator	manipulator	NOUN
fumecheng-3689	70	12	are	be	AUX
fumecheng-3689	70	13	identical	identical	ADJ
fumecheng-3689	70	14	in	in	ADP
fumecheng-3689	70	15	terms	term	NOUN
fumecheng-3689	70	16	of	of	ADP
fumecheng-3689	70	17	geometrical	geometrical	ADJ
fumecheng-3689	70	18	parameters	parameter	NOUN
fumecheng-3689	70	19	(	(	PUNCT
fumecheng-3689	70	20	fig	fig	NOUN
fumecheng-3689	70	21	.	.	PUNCT
fumecheng-3689	71	1	2(b	2(b	NUM
fumecheng-3689	71	2	)	)	PUNCT
fumecheng-3689	71	3	)	)	PUNCT
fumecheng-3689	71	4	.	.	PUNCT
fumecheng-3689	72	1	82	82	NUM
fumecheng-3689	72	2	b.	b.	PROPN
fumecheng-3689	72	3	aboulissane	aboulissane	PROPN
fumecheng-3689	72	4	,	,	PUNCT
fumecheng-3689	72	5	l.	l.	PROPN
fumecheng-3689	72	6	el	el	PROPN
fumecheng-3689	72	7	bakkali	bakkali	PROPN
fumecheng-3689	72	8	,	,	PUNCT
fumecheng-3689	72	9	j.	j.	PROPN
fumecheng-3689	72	10	el	el	PROPN
fumecheng-3689	72	11	bahaoui	bahaoui	PROPN
fumecheng-3689	72	12	(	(	PUNCT
fumecheng-3689	72	13	a	a	NOUN
fumecheng-3689	72	14	)	)	PUNCT
fumecheng-3689	72	15	(	(	PUNCT
fumecheng-3689	72	16	b	b	X
fumecheng-3689	72	17	)	)	PUNCT
fumecheng-3689	72	18	fig	fig	NOUN
fumecheng-3689	72	19	.	.	PUNCT
fumecheng-3689	73	1	2	2	NUM
fumecheng-3689	73	2	(	(	PUNCT
fumecheng-3689	73	3	a	a	NOUN
fumecheng-3689	73	4	)	)	PUNCT
fumecheng-3689	73	5	geometric	geometric	ADJ
fumecheng-3689	73	6	scheme	scheme	NOUN
fumecheng-3689	73	7	of	of	ADP
fumecheng-3689	73	8	the	the	DET
fumecheng-3689	73	9	delta	delta	NOUN
fumecheng-3689	73	10	robot	robot	NOUN
fumecheng-3689	73	11	;	;	PUNCT
fumecheng-3689	73	12	(	(	PUNCT
fumecheng-3689	73	13	b	b	X
fumecheng-3689	73	14	)	)	PUNCT
fumecheng-3689	73	15	the	the	DET
fumecheng-3689	73	16	delta	delta	NOUN
fumecheng-3689	73	17	robot	robot	NOUN
fumecheng-3689	73	18	parameterization	parameterization	NOUN
fumecheng-3689	73	19	the	the	DET
fumecheng-3689	73	20	independent	independent	ADJ
fumecheng-3689	73	21	design	design	NOUN
fumecheng-3689	73	22	variables	variable	NOUN
fumecheng-3689	73	23	for	for	ADP
fumecheng-3689	73	24	the	the	DET
fumecheng-3689	73	25	delta	delta	NOUN
fumecheng-3689	73	26	robot	robot	NOUN
fumecheng-3689	73	27	are	be	AUX
fumecheng-3689	73	28	:	:	PUNCT
fumecheng-3689	73	29	2	2	NUM
fumecheng-3689	73	30	1	1	NUM
fumecheng-3689	73	31	2	2	NUM
fumecheng-3689	73	32	[	[	PUNCT
fumecheng-3689	73	33	]	]	X
fumecheng-3689	73	34	tl	tl	PROPN
fumecheng-3689	73	35	l	l	NOUN
fumecheng-3689	73	36	r	r	NOUN
fumecheng-3689	74	1	r	r	NOUN
fumecheng-3689	74	2			NOUN
fumecheng-3689	74	3	(	(	PUNCT
fumecheng-3689	74	4	4	4	NUM
fumecheng-3689	74	5	)	)	PUNCT
fumecheng-3689	74	6	3	3	NUM
fumecheng-3689	74	7	.	.	PUNCT
fumecheng-3689	75	1	workspace	workspace	NOUN
fumecheng-3689	75	2	determination	determination	NOUN
fumecheng-3689	75	3	of	of	ADP
fumecheng-3689	75	4	the	the	DET
fumecheng-3689	75	5	proposed	propose	VERB
fumecheng-3689	75	6	robots	robot	NOUN
fumecheng-3689	75	7	first	first	ADV
fumecheng-3689	75	8	,	,	PUNCT
fumecheng-3689	75	9	we	we	PRON
fumecheng-3689	75	10	need	need	VERB
fumecheng-3689	75	11	to	to	PART
fumecheng-3689	75	12	determine	determine	VERB
fumecheng-3689	75	13	workspace	workspace	NOUN
fumecheng-3689	75	14	of	of	ADP
fumecheng-3689	75	15	the	the	DET
fumecheng-3689	75	16	proposed	propose	VERB
fumecheng-3689	75	17	robots	robot	NOUN
fumecheng-3689	75	18	.	.	PUNCT
fumecheng-3689	76	1	we	we	PRON
fumecheng-3689	76	2	can	can	AUX
fumecheng-3689	76	3	define	define	VERB
fumecheng-3689	76	4	this	this	DET
fumecheng-3689	76	5	region	region	NOUN
fumecheng-3689	76	6	as	as	ADP
fumecheng-3689	76	7	the	the	DET
fumecheng-3689	76	8	reachable	reachable	ADJ
fumecheng-3689	76	9	positions	position	NOUN
fumecheng-3689	76	10	and	and	CCONJ
fumecheng-3689	76	11	rotations	rotation	NOUN
fumecheng-3689	76	12	by	by	ADP
fumecheng-3689	76	13	the	the	DET
fumecheng-3689	76	14	end	end	NOUN
fumecheng-3689	76	15	-	-	PUNCT
fumecheng-3689	76	16	effector	effector	NOUN
fumecheng-3689	76	17	center	center	NOUN
fumecheng-3689	76	18	point	point	NOUN
fumecheng-3689	76	19	,	,	PUNCT
fumecheng-3689	76	20	generally	generally	ADV
fumecheng-3689	76	21	located	locate	VERB
fumecheng-3689	76	22	on	on	ADP
fumecheng-3689	76	23	the	the	DET
fumecheng-3689	76	24	platform	platform	NOUN
fumecheng-3689	76	25	of	of	ADP
fumecheng-3689	76	26	the	the	DET
fumecheng-3689	76	27	robots	robot	NOUN
fumecheng-3689	76	28	.	.	PUNCT
fumecheng-3689	77	1	in	in	ADP
fumecheng-3689	77	2	this	this	DET
fumecheng-3689	77	3	work	work	NOUN
fumecheng-3689	77	4	,	,	PUNCT
fumecheng-3689	77	5	we	we	PRON
fumecheng-3689	77	6	used	use	VERB
fumecheng-3689	77	7	a	a	DET
fumecheng-3689	77	8	geometrical	geometrical	ADJ
fumecheng-3689	77	9	technique	technique	NOUN
fumecheng-3689	77	10	for	for	ADP
fumecheng-3689	77	11	the	the	DET
fumecheng-3689	77	12	representation	representation	NOUN
fumecheng-3689	77	13	of	of	ADP
fumecheng-3689	77	14	the	the	DET
fumecheng-3689	77	15	workspace	workspace	NOUN
fumecheng-3689	77	16	through	through	ADP
fumecheng-3689	77	17	the	the	DET
fumecheng-3689	77	18	catia	catia	PROPN
fumecheng-3689	77	19	software	software	PROPN
fumecheng-3689	77	20	,	,	PUNCT
fumecheng-3689	77	21	and	and	CCONJ
fumecheng-3689	77	22	there	there	PRON
fumecheng-3689	77	23	are	be	VERB
fumecheng-3689	77	24	no	no	DET
fumecheng-3689	77	25	limits	limit	NOUN
fumecheng-3689	77	26	for	for	ADP
fumecheng-3689	77	27	all	all	DET
fumecheng-3689	77	28	the	the	DET
fumecheng-3689	77	29	revolute	revolute	ADJ
fumecheng-3689	77	30	joints	joint	NOUN
fumecheng-3689	77	31	used	use	VERB
fumecheng-3689	77	32	for	for	ADP
fumecheng-3689	77	33	each	each	DET
fumecheng-3689	77	34	manipulator	manipulator	NOUN
fumecheng-3689	77	35	.	.	PUNCT
fumecheng-3689	78	1	3.1	3.1	NUM
fumecheng-3689	78	2	.	.	PUNCT
fumecheng-3689	78	3	workspace	workspace	NOUN
fumecheng-3689	78	4	of	of	ADP
fumecheng-3689	78	5	the	the	DET
fumecheng-3689	78	6	3	3	NUM
fumecheng-3689	78	7	-	-	PUNCT
fumecheng-3689	78	8	rpr	rpr	NOUN
fumecheng-3689	78	9	planar	planar	PROPN
fumecheng-3689	78	10	robot	robot	NOUN
fumecheng-3689	78	11	for	for	ADP
fumecheng-3689	78	12	this	this	DET
fumecheng-3689	78	13	robot	robot	NOUN
fumecheng-3689	78	14	,	,	PUNCT
fumecheng-3689	78	15	we	we	PRON
fumecheng-3689	78	16	obtain	obtain	VERB
fumecheng-3689	78	17	the	the	DET
fumecheng-3689	78	18	workspace	workspace	NOUN
fumecheng-3689	78	19	by	by	ADP
fumecheng-3689	78	20	the	the	DET
fumecheng-3689	78	21	intersection	intersection	NOUN
fumecheng-3689	78	22	of	of	ADP
fumecheng-3689	78	23	three	three	NUM
fumecheng-3689	78	24	circular	circular	ADJ
fumecheng-3689	78	25	areas	area	NOUN
fumecheng-3689	78	26	,	,	PUNCT
fumecheng-3689	78	27	which	which	PRON
fumecheng-3689	78	28	correspond	correspond	VERB
fumecheng-3689	78	29	to	to	ADP
fumecheng-3689	78	30	the	the	DET
fumecheng-3689	78	31	areas	area	NOUN
fumecheng-3689	78	32	accessible	accessible	ADJ
fumecheng-3689	78	33	by	by	ADP
fumecheng-3689	78	34	the	the	DET
fumecheng-3689	78	35	end	end	NOUN
fumecheng-3689	78	36	-	-	PUNCT
fumecheng-3689	78	37	effector	effector	NOUN
fumecheng-3689	78	38	point	point	NOUN
fumecheng-3689	78	39	center	center	NOUN
fumecheng-3689	78	40	when	when	SCONJ
fumecheng-3689	78	41	each	each	DET
fumecheng-3689	78	42	leg	leg	NOUN
fumecheng-3689	78	43	is	be	AUX
fumecheng-3689	78	44	taken	take	VERB
fumecheng-3689	78	45	as	as	ADP
fumecheng-3689	78	46	a	a	DET
fumecheng-3689	78	47	serial	serial	ADJ
fumecheng-3689	78	48	manipulator	manipulator	NOUN
fumecheng-3689	78	49	.	.	PUNCT
fumecheng-3689	79	1	fig	fig	NOUN
fumecheng-3689	79	2	.	.	PUNCT
fumecheng-3689	80	1	3	3	NUM
fumecheng-3689	80	2	shows	show	VERB
fumecheng-3689	80	3	the	the	DET
fumecheng-3689	80	4	steps	step	NOUN
fumecheng-3689	80	5	we	we	PRON
fumecheng-3689	80	6	followed	follow	VERB
fumecheng-3689	80	7	to	to	PART
fumecheng-3689	80	8	generate	generate	VERB
fumecheng-3689	80	9	the	the	DET
fumecheng-3689	80	10	workspace	workspace	NOUN
fumecheng-3689	80	11	of	of	ADP
fumecheng-3689	80	12	the	the	DET
fumecheng-3689	80	13	3rpr	3rpr	NUM
fumecheng-3689	80	14	manipulator	manipulator	NOUN
fumecheng-3689	80	15	in	in	ADP
fumecheng-3689	80	16	the	the	DET
fumecheng-3689	80	17	catia	catia	NOUN
fumecheng-3689	80	18	.	.	PUNCT
fumecheng-3689	81	1	(	(	PUNCT
fumecheng-3689	81	2	a	a	X
fumecheng-3689	81	3	)	)	PUNCT
fumecheng-3689	81	4	(	(	PUNCT
fumecheng-3689	81	5	b	b	X
fumecheng-3689	81	6	)	)	PUNCT
fumecheng-3689	81	7	(	(	PUNCT
fumecheng-3689	81	8	c	c	X
fumecheng-3689	81	9	)	)	PUNCT
fumecheng-3689	81	10	fig	fig	NOUN
fumecheng-3689	81	11	.	.	PUNCT
fumecheng-3689	82	1	3	3	NUM
fumecheng-3689	82	2	steps	step	NOUN
fumecheng-3689	82	3	of	of	ADP
fumecheng-3689	82	4	the	the	DET
fumecheng-3689	82	5	workspace	workspace	NOUN
fumecheng-3689	82	6	determination	determination	NOUN
fumecheng-3689	82	7	of	of	ADP
fumecheng-3689	82	8	the	the	DET
fumecheng-3689	82	9	3	3	NUM
fumecheng-3689	82	10	-	-	PUNCT
fumecheng-3689	82	11	rpr	rpr	NOUN
fumecheng-3689	82	12	robot[15	robot[15	PROPN
fumecheng-3689	82	13	]	]	PUNCT
fumecheng-3689	82	14	workspace	workspace	NOUN
fumecheng-3689	82	15	analysis	analysis	NOUN
fumecheng-3689	82	16	and	and	CCONJ
fumecheng-3689	82	17	optimization	optimization	NOUN
fumecheng-3689	82	18	of	of	ADP
fumecheng-3689	82	19	the	the	DET
fumecheng-3689	82	20	parallel	parallel	ADJ
fumecheng-3689	82	21	robots	robot	NOUN
fumecheng-3689	82	22	based	base	VERB
fumecheng-3689	82	23	on	on	ADP
fumecheng-3689	82	24	computer	computer	NOUN
fumecheng-3689	82	25	-	-	PUNCT
fumecheng-3689	82	26	aided	aid	VERB
fumecheng-3689	82	27	design	design	NOUN
fumecheng-3689	82	28	approach	approach	NOUN
fumecheng-3689	82	29	83	83	NUM
fumecheng-3689	82	30	fig	fig	NOUN
fumecheng-3689	82	31	.	.	PUNCT
fumecheng-3689	82	32	3(a	3(a	NUM
fumecheng-3689	82	33	)	)	PUNCT
fumecheng-3689	82	34	depicts	depict	VERB
fumecheng-3689	82	35	the	the	DET
fumecheng-3689	82	36	first	first	ADJ
fumecheng-3689	82	37	step	step	NOUN
fumecheng-3689	82	38	;	;	PUNCT
fumecheng-3689	82	39	it	it	PRON
fumecheng-3689	82	40	consists	consist	VERB
fumecheng-3689	82	41	of	of	ADP
fumecheng-3689	82	42	creating	create	VERB
fumecheng-3689	82	43	three	three	NUM
fumecheng-3689	82	44	annular	annular	ADJ
fumecheng-3689	82	45	regions	region	NOUN
fumecheng-3689	82	46	in	in	ADP
fumecheng-3689	82	47	the	the	DET
fumecheng-3689	82	48	sketcher	sketcher	NOUN
fumecheng-3689	82	49	workbench	workbench	NOUN
fumecheng-3689	82	50	;	;	PUNCT
fumecheng-3689	82	51	then	then	ADV
fumecheng-3689	82	52	the	the	DET
fumecheng-3689	82	53	pad	pad	NOUN
fumecheng-3689	82	54	and	and	CCONJ
fumecheng-3689	82	55	pocket	pocket	NOUN
fumecheng-3689	82	56	commands	command	NOUN
fumecheng-3689	82	57	are	be	AUX
fumecheng-3689	82	58	applied	apply	VERB
fumecheng-3689	82	59	to	to	ADP
fumecheng-3689	82	60	the	the	DET
fumecheng-3689	82	61	drawing	drawing	NOUN
fumecheng-3689	82	62	with	with	ADP
fumecheng-3689	82	63	a	a	DET
fumecheng-3689	82	64	finite	finite	ADJ
fumecheng-3689	82	65	thickness	thickness	NOUN
fumecheng-3689	82	66	in	in	ADP
fumecheng-3689	82	67	the	the	DET
fumecheng-3689	82	68	part	part	NOUN
fumecheng-3689	82	69	design	design	NOUN
fumecheng-3689	82	70	workbench	workbench	NOUN
fumecheng-3689	82	71	.	.	PUNCT
fumecheng-3689	83	1	the	the	DET
fumecheng-3689	83	2	second	second	ADJ
fumecheng-3689	83	3	step	step	NOUN
fumecheng-3689	83	4	is	be	AUX
fumecheng-3689	83	5	performed	perform	VERB
fumecheng-3689	83	6	under	under	ADP
fumecheng-3689	83	7	the	the	DET
fumecheng-3689	83	8	part	part	NOUN
fumecheng-3689	83	9	design	design	NOUN
fumecheng-3689	83	10	workbench	workbench	NOUN
fumecheng-3689	83	11	;	;	PUNCT
fumecheng-3689	83	12	it	it	PRON
fumecheng-3689	83	13	consists	consist	VERB
fumecheng-3689	83	14	of	of	ADP
fumecheng-3689	83	15	applying	apply	VERB
fumecheng-3689	83	16	the	the	DET
fumecheng-3689	83	17	first	first	ADJ
fumecheng-3689	83	18	intersection	intersection	NOUN
fumecheng-3689	83	19	boolean	boolean	ADJ
fumecheng-3689	83	20	operation	operation	NOUN
fumecheng-3689	83	21	.	.	PUNCT
fumecheng-3689	84	1	fig	fig	NOUN
fumecheng-3689	84	2	.	.	PUNCT
fumecheng-3689	85	1	3(b	3(b	NUM
fumecheng-3689	85	2	)	)	PUNCT
fumecheng-3689	85	3	above	above	ADV
fumecheng-3689	85	4	shows	show	VERB
fumecheng-3689	85	5	the	the	DET
fumecheng-3689	85	6	obtained	obtain	VERB
fumecheng-3689	85	7	result	result	NOUN
fumecheng-3689	85	8	.	.	PUNCT
fumecheng-3689	86	1	the	the	DET
fumecheng-3689	86	2	final	final	ADJ
fumecheng-3689	86	3	step	step	NOUN
fumecheng-3689	86	4	to	to	PART
fumecheng-3689	86	5	determine	determine	VERB
fumecheng-3689	86	6	the	the	DET
fumecheng-3689	86	7	workspace	workspace	NOUN
fumecheng-3689	86	8	of	of	ADP
fumecheng-3689	86	9	the	the	DET
fumecheng-3689	86	10	3	3	NUM
fumecheng-3689	86	11	-	-	PUNCT
fumecheng-3689	86	12	rpr	rpr	NOUN
fumecheng-3689	86	13	is	be	AUX
fumecheng-3689	86	14	to	to	PART
fumecheng-3689	86	15	apply	apply	VERB
fumecheng-3689	86	16	a	a	DET
fumecheng-3689	86	17	second	second	ADJ
fumecheng-3689	86	18	intersection	intersection	NOUN
fumecheng-3689	86	19	boolean	boolean	ADJ
fumecheng-3689	86	20	operation	operation	NOUN
fumecheng-3689	86	21	on	on	ADP
fumecheng-3689	86	22	the	the	DET
fumecheng-3689	86	23	two	two	NUM
fumecheng-3689	86	24	remaining	remain	VERB
fumecheng-3689	86	25	regions	region	NOUN
fumecheng-3689	86	26	in	in	ADP
fumecheng-3689	86	27	the	the	DET
fumecheng-3689	86	28	second	second	ADJ
fumecheng-3689	86	29	step	step	NOUN
fumecheng-3689	86	30	.	.	PUNCT
fumecheng-3689	87	1	the	the	DET
fumecheng-3689	87	2	obtained	obtain	VERB
fumecheng-3689	87	3	shape	shape	NOUN
fumecheng-3689	87	4	corresponds	correspond	VERB
fumecheng-3689	87	5	to	to	ADP
fumecheng-3689	87	6	the	the	DET
fumecheng-3689	87	7	theoretical	theoretical	ADJ
fumecheng-3689	87	8	workspace	workspace	NOUN
fumecheng-3689	87	9	of	of	ADP
fumecheng-3689	87	10	the	the	DET
fumecheng-3689	87	11	mechanism	mechanism	NOUN
fumecheng-3689	87	12	shown	show	VERB
fumecheng-3689	87	13	in	in	ADP
fumecheng-3689	87	14	fig	fig	NOUN
fumecheng-3689	87	15	.	.	PUNCT
fumecheng-3689	88	1	3(c	3(c	NUM
fumecheng-3689	88	2	)	)	PUNCT
fumecheng-3689	88	3	.	.	PUNCT
fumecheng-3689	89	1	this	this	DET
fumecheng-3689	89	2	step	step	NOUN
fumecheng-3689	89	3	is	be	AUX
fumecheng-3689	89	4	also	also	ADV
fumecheng-3689	89	5	done	do	VERB
fumecheng-3689	89	6	in	in	ADP
fumecheng-3689	89	7	the	the	DET
fumecheng-3689	89	8	design	design	NOUN
fumecheng-3689	89	9	part	part	NOUN
fumecheng-3689	89	10	workbench	workbench	NOUN
fumecheng-3689	89	11	.	.	PUNCT
fumecheng-3689	90	1	the	the	DET
fumecheng-3689	90	2	area	area	NOUN
fumecheng-3689	90	3	of	of	ADP
fumecheng-3689	90	4	the	the	DET
fumecheng-3689	90	5	3d	3d	PROPN
fumecheng-3689	90	6	model	model	NOUN
fumecheng-3689	90	7	presented	present	VERB
fumecheng-3689	90	8	in	in	ADP
fumecheng-3689	90	9	fig	fig	NOUN
fumecheng-3689	90	10	.	.	PUNCT
fumecheng-3689	91	1	3(c	3(c	NUM
fumecheng-3689	91	2	)	)	PUNCT
fumecheng-3689	91	3	is	be	AUX
fumecheng-3689	91	4	calculated	calculate	VERB
fumecheng-3689	91	5	by	by	ADP
fumecheng-3689	91	6	using	use	VERB
fumecheng-3689	91	7	a	a	DET
fumecheng-3689	91	8	smart	smart	ADJ
fumecheng-3689	91	9	area	area	NOUN
fumecheng-3689	91	10	parameter	parameter	NOUN
fumecheng-3689	91	11	.	.	PUNCT
fumecheng-3689	92	1	since	since	SCONJ
fumecheng-3689	92	2	the	the	DET
fumecheng-3689	92	3	thickness	thickness	NOUN
fumecheng-3689	92	4	of	of	ADP
fumecheng-3689	92	5	this	this	DET
fumecheng-3689	92	6	3d	3d	NOUN
fumecheng-3689	92	7	model	model	NOUN
fumecheng-3689	92	8	is	be	AUX
fumecheng-3689	92	9	neglected	neglect	VERB
fumecheng-3689	92	10	,	,	PUNCT
fumecheng-3689	92	11	the	the	DET
fumecheng-3689	92	12	workspace	workspace	NOUN
fumecheng-3689	92	13	area	area	NOUN
fumecheng-3689	92	14	of	of	ADP
fumecheng-3689	92	15	the	the	DET
fumecheng-3689	92	16	3rpr	3rpr	NUM
fumecheng-3689	92	17	robot	robot	NOUN
fumecheng-3689	92	18	is	be	AUX
fumecheng-3689	92	19	obtained	obtain	VERB
fumecheng-3689	92	20	,	,	PUNCT
fumecheng-3689	92	21	dividing	divide	VERB
fumecheng-3689	92	22	by	by	ADP
fumecheng-3689	92	23	two	two	NUM
fumecheng-3689	92	24	,	,	PUNCT
fumecheng-3689	92	25	the	the	DET
fumecheng-3689	92	26	area	area	NOUN
fumecheng-3689	92	27	previously	previously	ADV
fumecheng-3689	92	28	calculated	calculate	VERB
fumecheng-3689	92	29	.	.	PUNCT
fumecheng-3689	93	1	the	the	DET
fumecheng-3689	93	2	design	design	NOUN
fumecheng-3689	93	3	parameters	parameter	NOUN
fumecheng-3689	93	4	used	use	VERB
fumecheng-3689	93	5	to	to	PART
fumecheng-3689	93	6	obtain	obtain	VERB
fumecheng-3689	93	7	this	this	DET
fumecheng-3689	93	8	workspace	workspace	NOUN
fumecheng-3689	93	9	are	be	AUX
fumecheng-3689	93	10	tabulated	tabulate	VERB
fumecheng-3689	93	11	in	in	ADP
fumecheng-3689	93	12	table	table	NOUN
fumecheng-3689	93	13	1	1	NUM
fumecheng-3689	93	14	:	:	PUNCT
fumecheng-3689	93	15	table	table	NOUN
fumecheng-3689	93	16	1	1	NUM
fumecheng-3689	93	17	design	design	NOUN
fumecheng-3689	93	18	parameters	parameter	NOUN
fumecheng-3689	93	19	of	of	ADP
fumecheng-3689	93	20	the	the	DET
fumecheng-3689	93	21	3	3	NUM
fumecheng-3689	93	22	-	-	PUNCT
fumecheng-3689	93	23	rpr	rpr	NOUN
fumecheng-3689	93	24	manipulator	manipulator	NOUN
fumecheng-3689	93	25	design	design	NOUN
fumecheng-3689	93	26	parameters	parameter	NOUN
fumecheng-3689	93	27	limb	limb	VERB
fumecheng-3689	93	28	1	1	NUM
fumecheng-3689	93	29	limb	limb	NOUN
fumecheng-3689	93	30	2	2	NUM
fumecheng-3689	93	31	limb	limb	NOUN
fumecheng-3689	93	32	3	3	NUM
fumecheng-3689	93	33	xci	xci	PROPN
fumecheng-3689	93	34	(	(	PUNCT
fumecheng-3689	93	35	mm	mm	PROPN
fumecheng-3689	93	36	)	)	PUNCT
fumecheng-3689	93	37	-188,632	-188,632	PROPN
fumecheng-3689	94	1	132,159	132,159	NUM
fumecheng-3689	94	2	56,473	56,473	NUM
fumecheng-3689	94	3	yci	yci	NOUN
fumecheng-3689	94	4	(	(	PUNCT
fumecheng-3689	94	5	mm	mm	INTJ
fumecheng-3689	94	6	)	)	PUNCT
fumecheng-3689	94	7	-43,697	-43,697	PUNCT
fumecheng-3689	94	8	-141,512	-141,512	PROPN
fumecheng-3689	94	9	185,209	185,209	NUM
fumecheng-3689	94	10	min	min	PROPN
fumecheng-3689	94	11	(	(	PUNCT
fumecheng-3689	94	12	mm	mm	NOUN
fumecheng-3689	94	13	)	)	PUNCT
fumecheng-3689	94	14	120	120	NUM
fumecheng-3689	94	15	max	max	X
fumecheng-3689	94	16	(	(	PUNCT
fumecheng-3689	94	17	mm	mm	INTJ
fumecheng-3689	94	18	)	)	PUNCT
fumecheng-3689	94	19	270	270	NUM
fumecheng-3689	94	20			ADJ
fumecheng-3689	94	21	(	(	PUNCT
fumecheng-3689	94	22	degrees	degree	NOUN
fumecheng-3689	94	23	)	)	PUNCT
fumecheng-3689	94	24	102	102	NUM
fumecheng-3689	94	25	area	area	NOUN
fumecheng-3689	94	26	(	(	PUNCT
fumecheng-3689	94	27	cm²	cm²	PROPN
fumecheng-3689	94	28	)	)	PUNCT
fumecheng-3689	94	29	197,02	197,02	NOUN
fumecheng-3689	94	30	for	for	ADP
fumecheng-3689	94	31	each	each	DET
fumecheng-3689	94	32	orientation	orientation	NOUN
fumecheng-3689	94	33			PROPN
fumecheng-3689	94	34	,	,	PUNCT
fumecheng-3689	94	35	the	the	DET
fumecheng-3689	94	36	workspace	workspace	NOUN
fumecheng-3689	94	37	of	of	ADP
fumecheng-3689	94	38	the	the	DET
fumecheng-3689	94	39	robot	robot	NOUN
fumecheng-3689	94	40	has	have	VERB
fumecheng-3689	94	41	different	different	ADJ
fumecheng-3689	94	42	shape	shape	NOUN
fumecheng-3689	94	43	and	and	CCONJ
fumecheng-3689	94	44	area	area	NOUN
fumecheng-3689	94	45	.	.	PUNCT
fumecheng-3689	95	1	table	table	NOUN
fumecheng-3689	95	2	2	2	NUM
fumecheng-3689	95	3	illustrates	illustrate	VERB
fumecheng-3689	95	4	the	the	DET
fumecheng-3689	95	5	workspace	workspace	NOUN
fumecheng-3689	95	6	of	of	ADP
fumecheng-3689	95	7	the	the	DET
fumecheng-3689	95	8	robot	robot	NOUN
fumecheng-3689	95	9	for	for	ADP
fumecheng-3689	95	10	few	few	ADJ
fumecheng-3689	95	11	orientations	orientation	NOUN
fumecheng-3689	95	12	of	of	ADP
fumecheng-3689	95	13	the	the	DET
fumecheng-3689	95	14	mobile	mobile	ADJ
fumecheng-3689	95	15	platform	platform	NOUN
fumecheng-3689	95	16	.	.	PUNCT
fumecheng-3689	96	1	table	table	NOUN
fumecheng-3689	96	2	2	2	NUM
fumecheng-3689	96	3	variation	variation	NOUN
fumecheng-3689	96	4	of	of	ADP
fumecheng-3689	96	5	the	the	DET
fumecheng-3689	96	6	workspace	workspace	NOUN
fumecheng-3689	96	7	with	with	ADP
fumecheng-3689	96	8	respect	respect	NOUN
fumecheng-3689	96	9	to	to	ADP
fumecheng-3689	96	10	the	the	DET
fumecheng-3689	96	11	orientation	orientation	NOUN
fumecheng-3689	96	12	of	of	ADP
fumecheng-3689	96	13	the	the	DET
fumecheng-3689	96	14	mobile	mobile	ADJ
fumecheng-3689	96	15	platform	platform	NOUN
fumecheng-3689	97	1	a=70,611	a=70,611	PROPN
fumecheng-3689	97	2	cm²	cm²	ADP
fumecheng-3689	97	3	a=156,077	a=156,077	PROPN
fumecheng-3689	97	4	cm²	cm²	ADP
fumecheng-3689	97	5	a=197,668	a=197,668	NOUN
fumecheng-3689	97	6	cm²	cm²	ADP
fumecheng-3689	97	7	a=144,380	a=144,380	NOUN
fumecheng-3689	97	8	cm²	cm²	ADP
fumecheng-3689	97	9	a=29,600	a=29,600	ADP
fumecheng-3689	97	10	cm²	cm²	NOUN
fumecheng-3689	97	11	a=22,411	a=22,411	PRON
fumecheng-3689	97	12	cm²	cm²	ADP
fumecheng-3689	97	13	3.2	3.2	NUM
fumecheng-3689	97	14	.	.	PUNCT
fumecheng-3689	98	1	workspace	workspace	NOUN
fumecheng-3689	98	2	of	of	ADP
fumecheng-3689	98	3	the	the	DET
fumecheng-3689	98	4	delta	delta	NOUN
fumecheng-3689	98	5	robot	robot	NOUN
fumecheng-3689	98	6	the	the	DET
fumecheng-3689	98	7	workspace	workspace	NOUN
fumecheng-3689	98	8	of	of	ADP
fumecheng-3689	98	9	the	the	DET
fumecheng-3689	98	10	delta	delta	NOUN
fumecheng-3689	98	11	parallel	parallel	NOUN
fumecheng-3689	98	12	robot	robot	NOUN
fumecheng-3689	98	13	is	be	AUX
fumecheng-3689	98	14	defined	define	VERB
fumecheng-3689	98	15	as	as	ADP
fumecheng-3689	98	16	a	a	DET
fumecheng-3689	98	17	three	three	NUM
fumecheng-3689	98	18	dimensional	dimensional	ADJ
fumecheng-3689	98	19	volume	volume	NOUN
fumecheng-3689	98	20	in	in	ADP
fumecheng-3689	98	21	the	the	DET
fumecheng-3689	98	22	cartesian	cartesian	ADJ
fumecheng-3689	98	23	space	space	NOUN
fumecheng-3689	98	24	;	;	PUNCT
fumecheng-3689	98	25	this	this	DET
fumecheng-3689	98	26	volume	volume	NOUN
fumecheng-3689	98	27	is	be	AUX
fumecheng-3689	98	28	reached	reach	VERB
fumecheng-3689	98	29	by	by	ADP
fumecheng-3689	98	30	a	a	DET
fumecheng-3689	98	31	point	point	NOUN
fumecheng-3689	98	32	on	on	ADP
fumecheng-3689	98	33	the	the	DET
fumecheng-3689	98	34	mobile	mobile	ADJ
fumecheng-3689	98	35	platform	platform	NOUN
fumecheng-3689	98	36	.	.	PUNCT
fumecheng-3689	99	1	the	the	DET
fumecheng-3689	99	2	84	84	NUM
fumecheng-3689	99	3	b.	b.	PROPN
fumecheng-3689	99	4	aboulissane	aboulissane	PROPN
fumecheng-3689	99	5	,	,	PUNCT
fumecheng-3689	99	6	l.	l.	PROPN
fumecheng-3689	99	7	el	el	PROPN
fumecheng-3689	99	8	bakkali	bakkali	PROPN
fumecheng-3689	99	9	,	,	PUNCT
fumecheng-3689	99	10	j.	j.	PROPN
fumecheng-3689	99	11	el	el	PROPN
fumecheng-3689	99	12	bahaoui	bahaoui	PROPN
fumecheng-3689	99	13	equations	equation	NOUN
fumecheng-3689	99	14	used	use	VERB
fumecheng-3689	99	15	to	to	PART
fumecheng-3689	99	16	determine	determine	VERB
fumecheng-3689	99	17	the	the	DET
fumecheng-3689	99	18	workspace	workspace	NOUN
fumecheng-3689	99	19	of	of	ADP
fumecheng-3689	99	20	a	a	DET
fumecheng-3689	99	21	parallel	parallel	ADJ
fumecheng-3689	99	22	robot	robot	NOUN
fumecheng-3689	99	23	are	be	AUX
fumecheng-3689	99	24	generally	generally	ADV
fumecheng-3689	99	25	complex	complex	ADJ
fumecheng-3689	99	26	to	to	PART
fumecheng-3689	99	27	solve	solve	VERB
fumecheng-3689	99	28	by	by	ADP
fumecheng-3689	99	29	using	use	VERB
fumecheng-3689	99	30	the	the	DET
fumecheng-3689	99	31	traditional	traditional	ADJ
fumecheng-3689	99	32	approaches	approach	NOUN
fumecheng-3689	99	33	.	.	PUNCT
fumecheng-3689	100	1	hence	hence	ADV
fumecheng-3689	100	2	,	,	PUNCT
fumecheng-3689	100	3	the	the	DET
fumecheng-3689	100	4	cad	cad	NOUN
fumecheng-3689	100	5	-	-	PUNCT
fumecheng-3689	100	6	based	base	VERB
fumecheng-3689	100	7	approach	approach	NOUN
fumecheng-3689	100	8	is	be	AUX
fumecheng-3689	100	9	used	use	VERB
fumecheng-3689	100	10	in	in	ADP
fumecheng-3689	100	11	this	this	DET
fumecheng-3689	100	12	work	work	NOUN
fumecheng-3689	100	13	to	to	PART
fumecheng-3689	100	14	determine	determine	VERB
fumecheng-3689	100	15	geometrically	geometrically	ADV
fumecheng-3689	100	16	the	the	DET
fumecheng-3689	100	17	workspace	workspace	NOUN
fumecheng-3689	100	18	of	of	ADP
fumecheng-3689	100	19	the	the	DET
fumecheng-3689	100	20	delta	delta	NOUN
fumecheng-3689	100	21	parallel	parallel	NOUN
fumecheng-3689	100	22	robot	robot	NOUN
fumecheng-3689	100	23	.	.	PUNCT
fumecheng-3689	101	1	the	the	DET
fumecheng-3689	101	2	parallel	parallel	ADJ
fumecheng-3689	101	3	robot	robot	NOUN
fumecheng-3689	101	4	workspace	workspace	NOUN
fumecheng-3689	101	5	robot	robot	NOUN
fumecheng-3689	101	6	can	can	AUX
fumecheng-3689	101	7	be	be	AUX
fumecheng-3689	101	8	quickly	quickly	ADV
fumecheng-3689	101	9	generated	generate	VERB
fumecheng-3689	101	10	as	as	ADP
fumecheng-3689	101	11	an	an	DET
fumecheng-3689	101	12	area	area	NOUN
fumecheng-3689	101	13	or	or	CCONJ
fumecheng-3689	101	14	a	a	DET
fumecheng-3689	101	15	volume	volume	NOUN
fumecheng-3689	101	16	using	use	VERB
fumecheng-3689	101	17	the	the	DET
fumecheng-3689	101	18	catia	catia	NOUN
fumecheng-3689	101	19	,	,	PUNCT
fumecheng-3689	101	20	then	then	ADV
fumecheng-3689	101	21	the	the	DET
fumecheng-3689	101	22	complex	complex	ADJ
fumecheng-3689	101	23	technique	technique	NOUN
fumecheng-3689	101	24	such	such	DET
fumecheng-3689	101	25	the	the	DET
fumecheng-3689	101	26	numerical	numerical	ADJ
fumecheng-3689	101	27	method	method	NOUN
fumecheng-3689	101	28	.	.	PUNCT
fumecheng-3689	102	1	discretization	discretization	NOUN
fumecheng-3689	102	2	based	base	VERB
fumecheng-3689	102	3	techniques	technique	NOUN
fumecheng-3689	102	4	produce	produce	VERB
fumecheng-3689	102	5	an	an	DET
fumecheng-3689	102	6	approximate	approximate	ADJ
fumecheng-3689	102	7	form	form	NOUN
fumecheng-3689	102	8	of	of	ADP
fumecheng-3689	102	9	a	a	DET
fumecheng-3689	102	10	low	low	ADJ
fumecheng-3689	102	11	quality	quality	NOUN
fumecheng-3689	102	12	workspace	workspace	NOUN
fumecheng-3689	102	13	.	.	PUNCT
fumecheng-3689	103	1	to	to	PART
fumecheng-3689	103	2	improve	improve	VERB
fumecheng-3689	103	3	it	it	PRON
fumecheng-3689	103	4	,	,	PUNCT
fumecheng-3689	103	5	it	it	PRON
fumecheng-3689	103	6	is	be	AUX
fumecheng-3689	103	7	necessary	necessary	ADJ
fumecheng-3689	103	8	to	to	PART
fumecheng-3689	103	9	use	use	VERB
fumecheng-3689	103	10	other	other	ADJ
fumecheng-3689	103	11	graphical	graphical	ADJ
fumecheng-3689	103	12	methods	method	NOUN
fumecheng-3689	103	13	.	.	PUNCT
fumecheng-3689	104	1	by	by	ADP
fumecheng-3689	104	2	implanting	implant	VERB
fumecheng-3689	104	3	the	the	DET
fumecheng-3689	104	4	problem	problem	NOUN
fumecheng-3689	104	5	of	of	ADP
fumecheng-3689	104	6	workspace	workspace	NOUN
fumecheng-3689	104	7	determination	determination	NOUN
fumecheng-3689	104	8	in	in	ADP
fumecheng-3689	104	9	a	a	DET
fumecheng-3689	104	10	cad	cad	NOUN
fumecheng-3689	104	11	software	software	NOUN
fumecheng-3689	104	12	,	,	PUNCT
fumecheng-3689	104	13	these	these	DET
fumecheng-3689	104	14	techniques	technique	NOUN
fumecheng-3689	104	15	will	will	AUX
fumecheng-3689	104	16	become	become	VERB
fumecheng-3689	104	17	more	more	ADV
fumecheng-3689	104	18	reachable	reachable	ADJ
fumecheng-3689	104	19	to	to	ADP
fumecheng-3689	104	20	industry	industry	NOUN
fumecheng-3689	104	21	and	and	CCONJ
fumecheng-3689	104	22	more	more	ADV
fumecheng-3689	104	23	precise	precise	ADJ
fumecheng-3689	104	24	.	.	PUNCT
fumecheng-3689	105	1	as	as	ADP
fumecheng-3689	105	2	the	the	DET
fumecheng-3689	105	3	first	first	ADJ
fumecheng-3689	105	4	step	step	NOUN
fumecheng-3689	105	5	,	,	PUNCT
fumecheng-3689	105	6	the	the	DET
fumecheng-3689	105	7	proposed	propose	VERB
fumecheng-3689	105	8	method	method	NOUN
fumecheng-3689	105	9	for	for	ADP
fumecheng-3689	105	10	workspace	workspace	NOUN
fumecheng-3689	105	11	determination	determination	NOUN
fumecheng-3689	105	12	of	of	ADP
fumecheng-3689	105	13	the	the	DET
fumecheng-3689	105	14	delta	delta	NOUN
fumecheng-3689	105	15	robot	robot	NOUN
fumecheng-3689	105	16	consists	consist	VERB
fumecheng-3689	105	17	in	in	ADP
fumecheng-3689	105	18	assuming	assume	VERB
fumecheng-3689	105	19	all	all	DET
fumecheng-3689	105	20	legs	leg	NOUN
fumecheng-3689	105	21	to	to	PART
fumecheng-3689	105	22	be	be	AUX
fumecheng-3689	105	23	independent	independent	ADJ
fumecheng-3689	105	24	serial	serial	ADJ
fumecheng-3689	105	25	arms	arm	NOUN
fumecheng-3689	105	26	having	have	VERB
fumecheng-3689	105	27	the	the	DET
fumecheng-3689	105	28	mobile	mobile	ADJ
fumecheng-3689	105	29	platform	platform	NOUN
fumecheng-3689	105	30	as	as	ADP
fumecheng-3689	105	31	tool	tool	NOUN
fumecheng-3689	105	32	center	center	NOUN
fumecheng-3689	105	33	point	point	NOUN
fumecheng-3689	105	34	.	.	PUNCT
fumecheng-3689	106	1	then	then	ADV
fumecheng-3689	106	2	,	,	PUNCT
fumecheng-3689	106	3	the	the	DET
fumecheng-3689	106	4	region	region	NOUN
fumecheng-3689	106	5	swept	sweep	VERB
fumecheng-3689	106	6	by	by	ADP
fumecheng-3689	106	7	the	the	DET
fumecheng-3689	106	8	tool	tool	NOUN
fumecheng-3689	106	9	center	center	NOUN
fumecheng-3689	106	10	point	point	NOUN
fumecheng-3689	106	11	of	of	ADP
fumecheng-3689	106	12	each	each	DET
fumecheng-3689	106	13	arm	arm	NOUN
fumecheng-3689	106	14	is	be	AUX
fumecheng-3689	106	15	determined	determine	VERB
fumecheng-3689	106	16	for	for	ADP
fumecheng-3689	106	17	a	a	DET
fumecheng-3689	106	18	given	give	VERB
fumecheng-3689	106	19	orientation	orientation	NOUN
fumecheng-3689	106	20	of	of	ADP
fumecheng-3689	106	21	this	this	DET
fumecheng-3689	106	22	point	point	NOUN
fumecheng-3689	106	23	.	.	PUNCT
fumecheng-3689	107	1	in	in	ADP
fumecheng-3689	107	2	[	[	X
fumecheng-3689	107	3	14	14	NUM
fumecheng-3689	107	4	]	]	PUNCT
fumecheng-3689	107	5	the	the	DET
fumecheng-3689	107	6	workspace	workspace	NOUN
fumecheng-3689	107	7	of	of	ADP
fumecheng-3689	107	8	the	the	DET
fumecheng-3689	107	9	delta	delta	NOUN
fumecheng-3689	107	10	robot	robot	NOUN
fumecheng-3689	107	11	is	be	AUX
fumecheng-3689	107	12	presented	present	VERB
fumecheng-3689	107	13	by	by	ADP
fumecheng-3689	107	14	following	follow	VERB
fumecheng-3689	107	15	eq	eq	ADP
fumecheng-3689	107	16	.	.	PUNCT
fumecheng-3689	108	1	(	(	PUNCT
fumecheng-3689	108	2	5	5	NUM
fumecheng-3689	108	3	):	):	SYM
fumecheng-3689	108	4	2	2	NUM
fumecheng-3689	108	5	2	2	NUM
fumecheng-3689	108	6	2	2	NUM
fumecheng-3689	108	7	2	2	NUM
fumecheng-3689	108	8	2	2	NUM
fumecheng-3689	108	9	2	2	NUM
fumecheng-3689	108	10	2	2	NUM
fumecheng-3689	108	11	2	2	NUM
fumecheng-3689	108	12	2	2	NUM
fumecheng-3689	108	13	1	1	NUM
fumecheng-3689	108	14	2	2	NUM
fumecheng-3689	108	15	1	1	NUM
fumecheng-3689	108	16	[	[	X
fumecheng-3689	108	17	(	(	PUNCT
fumecheng-3689	108	18	)	)	PUNCT
fumecheng-3689	108	19	]	]	PUNCT
fumecheng-3689	108	20	4	4	NUM
fumecheng-3689	108	21	[	[	X
fumecheng-3689	108	22	(	(	PUNCT
fumecheng-3689	108	23	)	)	PUNCT
fumecheng-3689	108	24	]	]	PUNCT
fumecheng-3689	108	25	t	t	X
fumecheng-3689	108	26	t	t	PROPN
fumecheng-3689	108	27	t	t	PROPN
fumecheng-3689	108	28	t	t	PROPN
fumecheng-3689	108	29	tx	tx	PROPN
fumecheng-3689	108	30	r	r	PROPN
fumecheng-3689	108	31	y	y	PROPN
fumecheng-3689	108	32	z	z	NOUN
fumecheng-3689	108	33	l	l	NOUN
fumecheng-3689	109	1	l	l	X
fumecheng-3689	109	2	l	l	NOUN
fumecheng-3689	109	3	x	x	PUNCT
fumecheng-3689	109	4	r	r	PROPN
fumecheng-3689	109	5	z	z	PROPN
fumecheng-3689	109	6			PROPN
fumecheng-3689	109	7			PUNCT
fumecheng-3689	109	8			VERB
fumecheng-3689	109	9			PROPN
fumecheng-3689	109	10			PROPN
fumecheng-3689	109	11			PROPN
fumecheng-3689	109	12			X
fumecheng-3689	109	13	(	(	PUNCT
fumecheng-3689	109	14	5	5	NUM
fumecheng-3689	109	15	)	)	PUNCT
fumecheng-3689	109	16	with	with	ADP
fumecheng-3689	109	17	r	r	NOUN
fumecheng-3689	109	18	r	r	NOUN
fumecheng-3689	109	19	r	r	NOUN
fumecheng-3689	109	20			ADJ
fumecheng-3689	109	21			PROPN
fumecheng-3689	109	22	and	and	CCONJ
fumecheng-3689	109	23	:	:	PUNCT
fumecheng-3689	109	24	cos	cos	PROPN
fumecheng-3689	109	25	sin	sin	PROPN
fumecheng-3689	109	26	sin	sin	PROPN
fumecheng-3689	109	27	cos	cos	PROPN
fumecheng-3689	109	28	t	t	PROPN
fumecheng-3689	110	1	i	i	PRON
fumecheng-3689	111	1	i	i	PRON
fumecheng-3689	111	2	t	t	VERB
fumecheng-3689	112	1	i	i	PRON
fumecheng-3689	113	1	i	i	PRON
fumecheng-3689	113	2	t	t	VERB
fumecheng-3689	113	3	x	x	PUNCT
fumecheng-3689	113	4	x	x	VERB
fumecheng-3689	114	1	y	y	NOUN
fumecheng-3689	114	2	y	y	PROPN
fumecheng-3689	114	3	x	x	SYM
fumecheng-3689	114	4	y	y	PROPN
fumecheng-3689	114	5	z	z	PROPN
fumecheng-3689	114	6	z	z	NOUN
fumecheng-3689	114	7			X
fumecheng-3689	114	8			X
fumecheng-3689	114	9			X
fumecheng-3689	114	10			X
fumecheng-3689	114	11			NUM
fumecheng-3689	114	12			NUM
fumecheng-3689	114	13			NUM
fumecheng-3689	114	14			PROPN
fumecheng-3689	114	15			PROPN
fumecheng-3689	114	16			VERB
fumecheng-3689	114	17			NUM
fumecheng-3689	114	18			NOUN
fumecheng-3689	114	19	(	(	PUNCT
fumecheng-3689	114	20	6	6	NUM
fumecheng-3689	114	21	)	)	PUNCT
fumecheng-3689	114	22	(	(	PUNCT
fumecheng-3689	114	23	a	a	X
fumecheng-3689	114	24	)	)	PUNCT
fumecheng-3689	114	25	(	(	PUNCT
fumecheng-3689	114	26	b	b	X
fumecheng-3689	114	27	)	)	PUNCT
fumecheng-3689	114	28	(	(	PUNCT
fumecheng-3689	114	29	c	c	X
fumecheng-3689	114	30	)	)	PUNCT
fumecheng-3689	114	31	(	(	PUNCT
fumecheng-3689	114	32	d	d	X
fumecheng-3689	114	33	)	)	PUNCT
fumecheng-3689	114	34	fig	fig	NOUN
fumecheng-3689	114	35	.	.	PUNCT
fumecheng-3689	115	1	4	4	NUM
fumecheng-3689	115	2	generation	generation	NOUN
fumecheng-3689	115	3	of	of	ADP
fumecheng-3689	115	4	the	the	DET
fumecheng-3689	115	5	workspace	workspace	NOUN
fumecheng-3689	115	6	for	for	ADP
fumecheng-3689	115	7	a	a	DET
fumecheng-3689	115	8	delta	delta	NOUN
fumecheng-3689	115	9	robot	robot	NOUN
fumecheng-3689	115	10	based	base	VERB
fumecheng-3689	115	11	on	on	ADP
fumecheng-3689	115	12	the	the	DET
fumecheng-3689	115	13	catia	catia	PROPN
fumecheng-3689	115	14	v5	v5	PROPN
fumecheng-3689	115	15	.	.	PUNCT
fumecheng-3689	116	1	(	(	PUNCT
fumecheng-3689	116	2	a	a	X
fumecheng-3689	116	3	)	)	PUNCT
fumecheng-3689	116	4	the	the	DET
fumecheng-3689	116	5	three	three	NUM
fumecheng-3689	116	6	torus	torus	NOUN
fumecheng-3689	116	7	intersect	intersect	ADJ
fumecheng-3689	116	8	;	;	PUNCT
fumecheng-3689	116	9	(	(	PUNCT
fumecheng-3689	116	10	b	b	X
fumecheng-3689	116	11	)	)	PUNCT
fumecheng-3689	116	12	first	first	ADJ
fumecheng-3689	116	13	intersection	intersection	NOUN
fumecheng-3689	116	14	boolean	boolean	ADJ
fumecheng-3689	116	15	operation	operation	NOUN
fumecheng-3689	116	16	;	;	PUNCT
fumecheng-3689	116	17	(	(	PUNCT
fumecheng-3689	116	18	c	c	X
fumecheng-3689	116	19	)	)	PUNCT
fumecheng-3689	116	20	second	second	ADJ
fumecheng-3689	116	21	intersection	intersection	NOUN
fumecheng-3689	116	22	;	;	PUNCT
fumecheng-3689	116	23	(	(	PUNCT
fumecheng-3689	116	24	d	d	X
fumecheng-3689	116	25	)	)	PUNCT
fumecheng-3689	116	26	the	the	DET
fumecheng-3689	116	27	workspace	workspace	NOUN
fumecheng-3689	116	28	of	of	ADP
fumecheng-3689	116	29	the	the	DET
fumecheng-3689	116	30	delta	delta	NOUN
fumecheng-3689	116	31	robot	robot	NOUN
fumecheng-3689	116	32	(	(	PUNCT
fumecheng-3689	116	33	z	z	NOUN
fumecheng-3689	116	34	<	<	X
fumecheng-3689	116	35	0	0	NUM
fumecheng-3689	116	36	)	)	PUNCT
fumecheng-3689	116	37	as	as	SCONJ
fumecheng-3689	116	38	shown	show	VERB
fumecheng-3689	116	39	in	in	ADP
fumecheng-3689	116	40	fig	fig	NOUN
fumecheng-3689	116	41	.	.	PUNCT
fumecheng-3689	117	1	4	4	NUM
fumecheng-3689	117	2	,	,	PUNCT
fumecheng-3689	117	3	the	the	DET
fumecheng-3689	117	4	workspace	workspace	NOUN
fumecheng-3689	117	5	of	of	ADP
fumecheng-3689	117	6	the	the	DET
fumecheng-3689	117	7	delta	delta	NOUN
fumecheng-3689	117	8	robot	robot	NOUN
fumecheng-3689	117	9	is	be	AUX
fumecheng-3689	117	10	based	base	VERB
fumecheng-3689	117	11	on	on	ADP
fumecheng-3689	117	12	three	three	NUM
fumecheng-3689	117	13	tori	tori	NOUN
fumecheng-3689	117	14	.	.	PUNCT
fumecheng-3689	118	1	the	the	DET
fumecheng-3689	118	2	first	first	ADJ
fumecheng-3689	118	3	step	step	NOUN
fumecheng-3689	118	4	consists	consist	VERB
fumecheng-3689	118	5	of	of	ADP
fumecheng-3689	118	6	drawing	draw	VERB
fumecheng-3689	118	7	a	a	DET
fumecheng-3689	118	8	circle	circle	NOUN
fumecheng-3689	118	9	with	with	ADP
fumecheng-3689	118	10	a	a	DET
fumecheng-3689	118	11	radius	radius	NOUN
fumecheng-3689	118	12	,	,	PUNCT
fumecheng-3689	118	13	and	and	CCONJ
fumecheng-3689	118	14	another	another	DET
fumecheng-3689	118	15	circle	circle	NOUN
fumecheng-3689	118	16	with	with	ADP
fumecheng-3689	118	17	a	a	DET
fumecheng-3689	118	18	radius	radius	NOUN
fumecheng-3689	118	19	passing	pass	VERB
fumecheng-3689	118	20	by	by	ADP
fumecheng-3689	118	21	the	the	DET
fumecheng-3689	118	22	center	center	NOUN
fumecheng-3689	118	23	of	of	ADP
fumecheng-3689	118	24	the	the	DET
fumecheng-3689	118	25	first	first	ADJ
fumecheng-3689	118	26	circle	circle	NOUN
fumecheng-3689	118	27	(	(	PUNCT
fumecheng-3689	118	28	fig	fig	NOUN
fumecheng-3689	118	29	.	.	PUNCT
fumecheng-3689	119	1	5	5	NUM
fumecheng-3689	119	2	)	)	PUNCT
fumecheng-3689	119	3	.	.	PUNCT
fumecheng-3689	120	1	each	each	DET
fumecheng-3689	120	2	limb	limb	NOUN
fumecheng-3689	120	3	of	of	ADP
fumecheng-3689	120	4	the	the	DET
fumecheng-3689	120	5	delta	delta	NOUN
fumecheng-3689	120	6	robot	robot	NOUN
fumecheng-3689	120	7	generates	generate	VERB
fumecheng-3689	120	8	a	a	DET
fumecheng-3689	120	9	torus	torus	NOUN
fumecheng-3689	120	10	,	,	PUNCT
fumecheng-3689	120	11	fig.4(a	fig.4(a	NOUN
fumecheng-3689	120	12	)	)	PUNCT
fumecheng-3689	120	13	depicts	depict	VERB
fumecheng-3689	120	14	the	the	DET
fumecheng-3689	120	15	intersection	intersection	NOUN
fumecheng-3689	120	16	of	of	ADP
fumecheng-3689	120	17	those	those	DET
fumecheng-3689	120	18	three	three	NUM
fumecheng-3689	120	19	volumes	volume	NOUN
fumecheng-3689	120	20	,	,	PUNCT
fumecheng-3689	120	21	and	and	CCONJ
fumecheng-3689	120	22	the	the	DET
fumecheng-3689	120	23	rest	rest	NOUN
fumecheng-3689	120	24	of	of	ADP
fumecheng-3689	120	25	the	the	DET
fumecheng-3689	120	26	figures	figure	NOUN
fumecheng-3689	120	27	shows	show	VERB
fumecheng-3689	120	28	the	the	DET
fumecheng-3689	120	29	intersection	intersection	NOUN
fumecheng-3689	120	30	boolean	boolean	ADJ
fumecheng-3689	120	31	operations	operation	NOUN
fumecheng-3689	120	32	with	with	ADP
fumecheng-3689	120	33	the	the	DET
fumecheng-3689	120	34	final	final	ADJ
fumecheng-3689	120	35	shape	shape	NOUN
fumecheng-3689	120	36	of	of	ADP
fumecheng-3689	120	37	the	the	DET
fumecheng-3689	120	38	workspace	workspace	NOUN
fumecheng-3689	120	39	of	of	ADP
fumecheng-3689	120	40	the	the	DET
fumecheng-3689	120	41	robot	robot	NOUN
fumecheng-3689	120	42	presented	present	VERB
fumecheng-3689	120	43	by	by	ADP
fumecheng-3689	120	44	fig	fig	NOUN
fumecheng-3689	120	45	.	.	PUNCT
fumecheng-3689	121	1	4(d	4(d	NUM
fumecheng-3689	121	2	)	)	PUNCT
fumecheng-3689	121	3	.	.	PUNCT
fumecheng-3689	122	1	fig	fig	NOUN
fumecheng-3689	122	2	.	.	PUNCT
fumecheng-3689	123	1	5	5	NUM
fumecheng-3689	123	2	torus	torus	NOUN
fumecheng-3689	123	3	in	in	ADP
fumecheng-3689	123	4	sketcher	sketcher	PROPN
fumecheng-3689	123	5	workbench	workbench	NOUN
fumecheng-3689	123	6	workspace	workspace	NOUN
fumecheng-3689	123	7	analysis	analysis	NOUN
fumecheng-3689	123	8	and	and	CCONJ
fumecheng-3689	123	9	optimization	optimization	NOUN
fumecheng-3689	123	10	of	of	ADP
fumecheng-3689	123	11	the	the	DET
fumecheng-3689	123	12	parallel	parallel	ADJ
fumecheng-3689	123	13	robots	robot	NOUN
fumecheng-3689	123	14	based	base	VERB
fumecheng-3689	123	15	on	on	ADP
fumecheng-3689	123	16	computer	computer	NOUN
fumecheng-3689	123	17	-	-	PUNCT
fumecheng-3689	123	18	aided	aid	VERB
fumecheng-3689	123	19	design	design	NOUN
fumecheng-3689	123	20	approach	approach	NOUN
fumecheng-3689	123	21	85	85	NUM
fumecheng-3689	123	22	3.3	3.3	NUM
fumecheng-3689	123	23	.	.	PUNCT
fumecheng-3689	124	1	workspace	workspace	NOUN
fumecheng-3689	124	2	analysis	analysis	NOUN
fumecheng-3689	124	3	of	of	ADP
fumecheng-3689	124	4	the	the	DET
fumecheng-3689	124	5	delta	delta	NOUN
fumecheng-3689	124	6	robot	robot	NOUN
fumecheng-3689	124	7	before	before	ADP
fumecheng-3689	124	8	starting	start	VERB
fumecheng-3689	124	9	the	the	DET
fumecheng-3689	124	10	optimization	optimization	NOUN
fumecheng-3689	124	11	problem	problem	NOUN
fumecheng-3689	124	12	,	,	PUNCT
fumecheng-3689	124	13	an	an	DET
fumecheng-3689	124	14	analysis	analysis	NOUN
fumecheng-3689	124	15	between	between	ADP
fumecheng-3689	124	16	the	the	DET
fumecheng-3689	124	17	reachable	reachable	ADJ
fumecheng-3689	124	18	workspace	workspace	NOUN
fumecheng-3689	124	19	and	and	CCONJ
fumecheng-3689	124	20	the	the	DET
fumecheng-3689	124	21	design	design	NOUN
fumecheng-3689	124	22	parameters	parameter	NOUN
fumecheng-3689	124	23	is	be	AUX
fumecheng-3689	124	24	required	require	VERB
fumecheng-3689	124	25	.	.	PUNCT
fumecheng-3689	125	1	we	we	PRON
fumecheng-3689	125	2	presented	present	VERB
fumecheng-3689	125	3	examples	example	NOUN
fumecheng-3689	125	4	for	for	ADP
fumecheng-3689	125	5	each	each	DET
fumecheng-3689	125	6	variable	variable	NOUN
fumecheng-3689	125	7	and	and	CCONJ
fumecheng-3689	125	8	,	,	PUNCT
fumecheng-3689	125	9	as	as	ADV
fumecheng-3689	125	10	well	well	ADV
fumecheng-3689	125	11	as	as	ADP
fumecheng-3689	125	12	the	the	DET
fumecheng-3689	125	13	resulting	result	VERB
fumecheng-3689	125	14	volume	volume	NOUN
fumecheng-3689	125	15	.	.	PUNCT
fumecheng-3689	126	1	first	first	ADV
fumecheng-3689	126	2	we	we	PRON
fumecheng-3689	126	3	fixed	fix	VERB
fumecheng-3689	126	4	r	r	NOUN
fumecheng-3689	126	5	=	=	SYM
fumecheng-3689	126	6	55	55	NUM
fumecheng-3689	126	7	mm	mm	NOUN
fumecheng-3689	126	8	,	,	PUNCT
fumecheng-3689	126	9	r	r	NOUN
fumecheng-3689	126	10	=	=	SYM
fumecheng-3689	126	11	30	30	NUM
fumecheng-3689	126	12	mm	mm	NOUN
fumecheng-3689	126	13	,	,	PUNCT
fumecheng-3689	126	14	and	and	CCONJ
fumecheng-3689	126	15	=	=	SYM
fumecheng-3689	126	16	100	100	NUM
fumecheng-3689	126	17	mm	mm	NOUN
fumecheng-3689	126	18	,	,	PUNCT
fumecheng-3689	126	19	then	then	ADV
fumecheng-3689	126	20	length	length	NOUN
fumecheng-3689	126	21	is	be	AUX
fumecheng-3689	126	22	varied	varied	ADJ
fumecheng-3689	126	23	from	from	ADP
fumecheng-3689	126	24	100	100	NUM
fumecheng-3689	126	25	mm	mm	NOUN
fumecheng-3689	126	26	to	to	ADP
fumecheng-3689	126	27	250	250	NUM
fumecheng-3689	126	28	mm	mm	NOUN
fumecheng-3689	126	29	.	.	PUNCT
fumecheng-3689	126	30	table	table	NOUN
fumecheng-3689	126	31	3	3	NUM
fumecheng-3689	126	32	shows	show	VERB
fumecheng-3689	126	33	the	the	DET
fumecheng-3689	126	34	boundaries	boundary	NOUN
fumecheng-3689	126	35	of	of	ADP
fumecheng-3689	126	36	the	the	DET
fumecheng-3689	126	37	reachable	reachable	ADJ
fumecheng-3689	126	38	workspace	workspace	NOUN
fumecheng-3689	126	39	for	for	ADP
fumecheng-3689	126	40	length	length	NOUN
fumecheng-3689	126	41	of	of	ADP
fumecheng-3689	126	42	100	100	NUM
fumecheng-3689	126	43	mm	mm	NOUN
fumecheng-3689	126	44	,	,	PUNCT
fumecheng-3689	126	45	150	150	NUM
fumecheng-3689	126	46	mm	mm	NOUN
fumecheng-3689	126	47	,	,	PUNCT
fumecheng-3689	126	48	200	200	NUM
fumecheng-3689	126	49	mm	mm	NOUN
fumecheng-3689	126	50	,	,	PUNCT
fumecheng-3689	126	51	and	and	CCONJ
fumecheng-3689	126	52	250	250	NUM
fumecheng-3689	126	53	mm	mm	NOUN
fumecheng-3689	126	54	.	.	PUNCT
fumecheng-3689	126	55	table	table	NOUN
fumecheng-3689	126	56	3	3	NUM
fumecheng-3689	126	57	workspace	workspace	NOUN
fumecheng-3689	126	58	shape	shape	NOUN
fumecheng-3689	126	59	versus	versus	ADP
fumecheng-3689	126	60	l2	l2	NOUN
fumecheng-3689	126	61	=	=	SYM
fumecheng-3689	126	62	100	100	NUM
fumecheng-3689	126	63	mm	mm	NOUN
fumecheng-3689	126	64	w	w	NOUN
fumecheng-3689	126	65	=	=	SYM
fumecheng-3689	126	66	4,765	4,765	NUM
fumecheng-3689	126	67	dm3	dm3	NOUN
fumecheng-3689	126	68	l2	l2	NOUN
fumecheng-3689	126	69	=	=	SYM
fumecheng-3689	126	70	150	150	NUM
fumecheng-3689	126	71	mm	mm	NOUN
fumecheng-3689	126	72	w	w	PROPN
fumecheng-3689	126	73	=	=	NOUN
fumecheng-3689	126	74	4,688	4,688	NUM
fumecheng-3689	126	75	dm3	dm3	NOUN
fumecheng-3689	126	76	l2	l2	NOUN
fumecheng-3689	126	77	=	=	PUNCT
fumecheng-3689	126	78	200	200	NUM
fumecheng-3689	126	79	mm	mm	NOUN
fumecheng-3689	126	80	w	w	PROPN
fumecheng-3689	126	81	=	=	PUNCT
fumecheng-3689	126	82	4,661	4,661	NUM
fumecheng-3689	126	83	dm3	dm3	NOUN
fumecheng-3689	126	84	l2	l2	NOUN
fumecheng-3689	126	85	=	=	PUNCT
fumecheng-3689	126	86	250	250	NUM
fumecheng-3689	126	87	mm	mm	NOUN
fumecheng-3689	126	88	w	w	NOUN
fumecheng-3689	127	1	=	=	NOUN
fumecheng-3689	127	2	4,647	4,647	NUM
fumecheng-3689	127	3	dm3	dm3	NOUN
fumecheng-3689	127	4	it	it	PRON
fumecheng-3689	127	5	can	can	AUX
fumecheng-3689	127	6	be	be	AUX
fumecheng-3689	127	7	seen	see	VERB
fumecheng-3689	127	8	from	from	ADP
fumecheng-3689	127	9	table	table	NOUN
fumecheng-3689	127	10	3	3	NUM
fumecheng-3689	127	11	that	that	SCONJ
fumecheng-3689	127	12	the	the	DET
fumecheng-3689	127	13	workspace	workspace	NOUN
fumecheng-3689	127	14	volume	volume	NOUN
fumecheng-3689	127	15	of	of	ADP
fumecheng-3689	127	16	the	the	DET
fumecheng-3689	127	17	delta	delta	NOUN
fumecheng-3689	127	18	robot	robot	NOUN
fumecheng-3689	127	19	increases	increase	VERB
fumecheng-3689	127	20	with	with	ADP
fumecheng-3689	127	21	reducing	reduce	VERB
fumecheng-3689	127	22	length	length	NOUN
fumecheng-3689	127	23	of	of	ADP
fumecheng-3689	127	24	the	the	DET
fumecheng-3689	127	25	forearm	forearm	NOUN
fumecheng-3689	127	26	.	.	PUNCT
fumecheng-3689	128	1	now	now	ADV
fumecheng-3689	128	2	,	,	PUNCT
fumecheng-3689	128	3	to	to	PART
fumecheng-3689	128	4	demonstrate	demonstrate	VERB
fumecheng-3689	128	5	the	the	DET
fumecheng-3689	128	6	effect	effect	NOUN
fumecheng-3689	128	7	of	of	ADP
fumecheng-3689	128	8	length	length	NOUN
fumecheng-3689	128	9	,	,	PUNCT
fumecheng-3689	128	10	forearm	forearm	NOUN
fumecheng-3689	128	11	is	be	AUX
fumecheng-3689	128	12	fixed	fix	VERB
fumecheng-3689	128	13	at	at	ADP
fumecheng-3689	128	14	250	250	NUM
fumecheng-3689	128	15	mm	mm	NOUN
fumecheng-3689	128	16	,	,	PUNCT
fumecheng-3689	128	17	r	r	NOUN
fumecheng-3689	128	18	=	=	SYM
fumecheng-3689	128	19	55	55	NUM
fumecheng-3689	128	20	mm	mm	NOUN
fumecheng-3689	128	21	,	,	PUNCT
fumecheng-3689	128	22	r	r	NOUN
fumecheng-3689	128	23	=	=	SYM
fumecheng-3689	128	24	30	30	NUM
fumecheng-3689	128	25	mm	mm	NOUN
fumecheng-3689	128	26	,	,	PUNCT
fumecheng-3689	128	27	and	and	CCONJ
fumecheng-3689	128	28	is	be	AUX
fumecheng-3689	128	29	varied	varied	ADJ
fumecheng-3689	128	30	from	from	ADP
fumecheng-3689	128	31	100	100	NUM
fumecheng-3689	128	32	mm	mm	NOUN
fumecheng-3689	128	33	to	to	ADP
fumecheng-3689	128	34	250	250	NUM
fumecheng-3689	128	35	mm	mm	NOUN
fumecheng-3689	128	36	.	.	PUNCT
fumecheng-3689	128	37	table	table	NOUN
fumecheng-3689	128	38	4	4	NUM
fumecheng-3689	128	39	workspace	workspace	NOUN
fumecheng-3689	128	40	shape	shape	NOUN
fumecheng-3689	128	41	versus	versus	ADP
fumecheng-3689	128	42	l1	l1	PROPN
fumecheng-3689	128	43	=	=	PROPN
fumecheng-3689	128	44	100	100	NUM
fumecheng-3689	128	45	mm	mm	NOUN
fumecheng-3689	128	46	w	w	NOUN
fumecheng-3689	128	47	=	=	SYM
fumecheng-3689	128	48	4,647	4,647	NUM
fumecheng-3689	128	49	dm3	dm3	NOUN
fumecheng-3689	128	50	l1	l1	PROPN
fumecheng-3689	128	51	=	=	PROPN
fumecheng-3689	128	52	150	150	NUM
fumecheng-3689	128	53	mm	mm	INTJ
fumecheng-3689	128	54	w	w	PROPN
fumecheng-3689	128	55	=	=	NOUN
fumecheng-3689	128	56	15,753	15,753	NUM
fumecheng-3689	128	57	dm3	dm3	NOUN
fumecheng-3689	128	58	l1	l1	PROPN
fumecheng-3689	128	59	=	=	PROPN
fumecheng-3689	128	60	200	200	NUM
fumecheng-3689	128	61	mm	mm	NOUN
fumecheng-3689	128	62	w	w	PROPN
fumecheng-3689	128	63	=	=	SYM
fumecheng-3689	128	64	37,637	37,637	NUM
fumecheng-3689	128	65	dm3	dm3	NOUN
fumecheng-3689	128	66	l1	l1	PROPN
fumecheng-3689	128	67	=	=	PROPN
fumecheng-3689	129	1	250	250	NUM
fumecheng-3689	129	2	mm	mm	NOUN
fumecheng-3689	129	3	w	w	NOUN
fumecheng-3689	129	4	=	=	NOUN
fumecheng-3689	129	5	75,040	75,040	NUM
fumecheng-3689	129	6	dm3	dm3	NOUN
fumecheng-3689	129	7	as	as	SCONJ
fumecheng-3689	129	8	shown	show	VERB
fumecheng-3689	129	9	in	in	ADP
fumecheng-3689	129	10	table	table	NOUN
fumecheng-3689	129	11	4	4	NUM
fumecheng-3689	129	12	,	,	PUNCT
fumecheng-3689	129	13	the	the	DET
fumecheng-3689	129	14	workspace	workspace	NOUN
fumecheng-3689	129	15	volume	volume	NOUN
fumecheng-3689	129	16	increases	increase	VERB
fumecheng-3689	129	17	considerably	considerably	ADV
fumecheng-3689	129	18	by	by	ADP
fumecheng-3689	129	19	increasing	increase	VERB
fumecheng-3689	129	20	the	the	DET
fumecheng-3689	129	21	length	length	NOUN
fumecheng-3689	129	22	.	.	PUNCT
fumecheng-3689	130	1	the	the	DET
fumecheng-3689	130	2	volume	volume	NOUN
fumecheng-3689	130	3	starts	start	VERB
fumecheng-3689	130	4	to	to	PART
fumecheng-3689	130	5	take	take	VERB
fumecheng-3689	130	6	a	a	DET
fumecheng-3689	130	7	cup	cup	NOUN
fumecheng-3689	130	8	-	-	PUNCT
fumecheng-3689	130	9	shape	shape	NOUN
fumecheng-3689	130	10	.	.	PUNCT
fumecheng-3689	131	1	4	4	X
fumecheng-3689	131	2	.	.	X
fumecheng-3689	131	3	optimization	optimization	NOUN
fumecheng-3689	131	4	problem	problem	NOUN
fumecheng-3689	131	5	in	in	ADP
fumecheng-3689	131	6	robotics	robotic	NOUN
fumecheng-3689	131	7	,	,	PUNCT
fumecheng-3689	131	8	the	the	DET
fumecheng-3689	131	9	designer	designer	NOUN
fumecheng-3689	131	10	uses	use	VERB
fumecheng-3689	131	11	numerous	numerous	ADJ
fumecheng-3689	131	12	indices	index	NOUN
fumecheng-3689	131	13	to	to	PART
fumecheng-3689	131	14	evaluate	evaluate	VERB
fumecheng-3689	131	15	the	the	DET
fumecheng-3689	131	16	performance	performance	NOUN
fumecheng-3689	131	17	of	of	ADP
fumecheng-3689	131	18	a	a	DET
fumecheng-3689	131	19	manipulator	manipulator	NOUN
fumecheng-3689	131	20	;	;	PUNCT
fumecheng-3689	131	21	among	among	ADP
fumecheng-3689	131	22	these	these	DET
fumecheng-3689	131	23	indices	index	NOUN
fumecheng-3689	131	24	,	,	PUNCT
fumecheng-3689	131	25	we	we	PRON
fumecheng-3689	131	26	can	can	AUX
fumecheng-3689	131	27	mention	mention	VERB
fumecheng-3689	131	28	the	the	DET
fumecheng-3689	131	29	workspace	workspace	NOUN
fumecheng-3689	131	30	that	that	PRON
fumecheng-3689	131	31	describes	describe	VERB
fumecheng-3689	131	32	the	the	DET
fumecheng-3689	131	33	potential	potential	ADJ
fumecheng-3689	131	34	robot	robot	NOUN
fumecheng-3689	131	35	utilization	utilization	NOUN
fumecheng-3689	131	36	.	.	PUNCT
fumecheng-3689	132	1	in	in	ADP
fumecheng-3689	132	2	this	this	DET
fumecheng-3689	132	3	work	work	NOUN
fumecheng-3689	132	4	,	,	PUNCT
fumecheng-3689	132	5	we	we	PRON
fumecheng-3689	132	6	are	be	AUX
fumecheng-3689	132	7	using	use	VERB
fumecheng-3689	132	8	the	the	DET
fumecheng-3689	132	9	reachable	reachable	ADJ
fumecheng-3689	132	10	workspace	workspace	NOUN
fumecheng-3689	132	11	as	as	ADP
fumecheng-3689	132	12	a	a	DET
fumecheng-3689	132	13	performance	performance	NOUN
fumecheng-3689	132	14	index	index	NOUN
fumecheng-3689	132	15	in	in	ADP
fumecheng-3689	132	16	order	order	NOUN
fumecheng-3689	132	17	to	to	PART
fumecheng-3689	132	18	optimize	optimize	VERB
fumecheng-3689	132	19	the	the	DET
fumecheng-3689	132	20	design	design	NOUN
fumecheng-3689	132	21	parameters	parameter	NOUN
fumecheng-3689	132	22	of	of	ADP
fumecheng-3689	132	23	the	the	DET
fumecheng-3689	132	24	delta	delta	NOUN
fumecheng-3689	132	25	robot	robot	NOUN
fumecheng-3689	132	26	.	.	PUNCT
fumecheng-3689	133	1	the	the	DET
fumecheng-3689	133	2	optimization	optimization	NOUN
fumecheng-3689	133	3	problem	problem	NOUN
fumecheng-3689	133	4	is	be	AUX
fumecheng-3689	133	5	formulated	formulate	VERB
fumecheng-3689	133	6	as	as	SCONJ
fumecheng-3689	133	7	follows	follow	VERB
fumecheng-3689	133	8	:	:	PUNCT
fumecheng-3689	133	9	2	2	NUM
fumecheng-3689	133	10	2	2	NUM
fumecheng-3689	133	11	,	,	PUNCT
fumecheng-3689	133	12	,	,	PUNCT
fumecheng-3689	133	13	min	min	NOUN
fumecheng-3689	133	14	2	2	NUM
fumecheng-3689	133	15	,	,	PUNCT
fumecheng-3689	133	16	2	2	NUM
fumecheng-3689	133	17	,	,	PUNCT
fumecheng-3689	133	18	,	,	PUNCT
fumecheng-3689	133	19	max	max	PROPN
fumecheng-3689	134	1	(	(	PUNCT
fumecheng-3689	134	2	)	)	PUNCT
fumecheng-3689	134	3	i	i	PRON
fumecheng-3689	134	4	i	i	PRON
fumecheng-3689	135	1	i	i	PRON
fumecheng-3689	135	2	maximize	maximize	VERB
fumecheng-3689	135	3	w	w	ADP
fumecheng-3689	135	4	subject	subject	NOUN
fumecheng-3689	135	5	to	to	ADP
fumecheng-3689	135	6			NUM
fumecheng-3689	135	7			NUM
fumecheng-3689	135	8			NUM
fumecheng-3689	135	9			NOUN
fumecheng-3689	135	10			NOUN
fumecheng-3689	135	11	(	(	PUNCT
fumecheng-3689	135	12	7	7	NUM
fumecheng-3689	135	13	)	)	PUNCT
fumecheng-3689	135	14	86	86	PROPN
fumecheng-3689	135	15	b.	b.	PROPN
fumecheng-3689	135	16	aboulissane	aboulissane	PROPN
fumecheng-3689	135	17	,	,	PUNCT
fumecheng-3689	135	18	l.	l.	PROPN
fumecheng-3689	135	19	el	el	PROPN
fumecheng-3689	135	20	bakkali	bakkali	PROPN
fumecheng-3689	135	21	,	,	PUNCT
fumecheng-3689	135	22	j.	j.	PROPN
fumecheng-3689	135	23	el	el	PROPN
fumecheng-3689	135	24	bahaoui	bahaoui	PROPN
fumecheng-3689	135	25	where	where	SCONJ
fumecheng-3689	135	26	w	w	NOUN
fumecheng-3689	135	27	is	be	AUX
fumecheng-3689	135	28	the	the	DET
fumecheng-3689	135	29	workspace	workspace	NOUN
fumecheng-3689	135	30	volume	volume	NOUN
fumecheng-3689	135	31	,	,	PUNCT
fumecheng-3689	135	32	and	and	CCONJ
fumecheng-3689	135	33	is	be	AUX
fumecheng-3689	135	34	the	the	DET
fumecheng-3689	135	35	vector	vector	NOUN
fumecheng-3689	135	36	defined	define	VERB
fumecheng-3689	135	37	by	by	ADP
fumecheng-3689	135	38	eq	eq	PROPN
fumecheng-3689	135	39	.	.	PUNCT
fumecheng-3689	136	1	(	(	PUNCT
fumecheng-3689	136	2	4	4	NUM
fumecheng-3689	136	3	)	)	PUNCT
fumecheng-3689	136	4	.	.	PUNCT
fumecheng-3689	137	1	the	the	DET
fumecheng-3689	137	2	main	main	ADJ
fumecheng-3689	137	3	purpose	purpose	NOUN
fumecheng-3689	137	4	of	of	ADP
fumecheng-3689	137	5	the	the	DET
fumecheng-3689	137	6	maximization	maximization	NOUN
fumecheng-3689	137	7	of	of	ADP
fumecheng-3689	137	8	the	the	DET
fumecheng-3689	137	9	workspace	workspace	NOUN
fumecheng-3689	137	10	is	be	AUX
fumecheng-3689	137	11	to	to	PART
fumecheng-3689	137	12	expand	expand	VERB
fumecheng-3689	137	13	the	the	DET
fumecheng-3689	137	14	capabilities	capability	NOUN
fumecheng-3689	137	15	of	of	ADP
fumecheng-3689	137	16	the	the	DET
fumecheng-3689	137	17	delta	delta	NOUN
fumecheng-3689	137	18	robot	robot	NOUN
fumecheng-3689	137	19	.	.	PUNCT
fumecheng-3689	138	1	the	the	DET
fumecheng-3689	138	2	parameters	parameter	NOUN
fumecheng-3689	138	3	that	that	PRON
fumecheng-3689	138	4	have	have	VERB
fumecheng-3689	138	5	an	an	DET
fumecheng-3689	138	6	effect	effect	NOUN
fumecheng-3689	138	7	on	on	ADP
fumecheng-3689	138	8	the	the	DET
fumecheng-3689	138	9	volume	volume	NOUN
fumecheng-3689	138	10	and	and	CCONJ
fumecheng-3689	138	11	the	the	DET
fumecheng-3689	138	12	shape	shape	NOUN
fumecheng-3689	138	13	of	of	ADP
fumecheng-3689	138	14	the	the	DET
fumecheng-3689	138	15	reachable	reachable	ADJ
fumecheng-3689	138	16	workspace	workspace	NOUN
fumecheng-3689	138	17	of	of	ADP
fumecheng-3689	138	18	the	the	DET
fumecheng-3689	138	19	manipulator	manipulator	NOUN
fumecheng-3689	138	20	are	be	AUX
fumecheng-3689	138	21	:	:	PUNCT
fumecheng-3689	138	22	and	and	CCONJ
fumecheng-3689	138	23	with	with	ADP
fumecheng-3689	138	24	(	(	PUNCT
fumecheng-3689	138	25	j=1,2,3	j=1,2,3	NUM
fumecheng-3689	138	26	)	)	PUNCT
fumecheng-3689	138	27	.	.	PUNCT
fumecheng-3689	139	1	the	the	DET
fumecheng-3689	139	2	parameterization	parameterization	NOUN
fumecheng-3689	139	3	used	use	VERB
fumecheng-3689	139	4	in	in	ADP
fumecheng-3689	139	5	the	the	DET
fumecheng-3689	139	6	catia	catia	PROPN
fumecheng-3689	139	7	software	software	PROPN
fumecheng-3689	139	8	is	be	AUX
fumecheng-3689	139	9	shown	show	VERB
fumecheng-3689	139	10	in	in	ADP
fumecheng-3689	139	11	fig	fig	NOUN
fumecheng-3689	139	12	.	.	PUNCT
fumecheng-3689	140	1	6	6	NUM
fumecheng-3689	140	2	:	:	PUNCT
fumecheng-3689	140	3	fig	fig	NOUN
fumecheng-3689	140	4	.	.	PUNCT
fumecheng-3689	141	1	6	6	NUM
fumecheng-3689	141	2	parameters	parameter	NOUN
fumecheng-3689	141	3	of	of	ADP
fumecheng-3689	141	4	the	the	DET
fumecheng-3689	141	5	delta	delta	NOUN
fumecheng-3689	141	6	robot	robot	NOUN
fumecheng-3689	141	7	on	on	ADP
fumecheng-3689	141	8	the	the	DET
fumecheng-3689	141	9	catia	catia	NOUN
fumecheng-3689	141	10	for	for	ADP
fumecheng-3689	141	11	this	this	DET
fumecheng-3689	141	12	optimization	optimization	NOUN
fumecheng-3689	141	13	problem	problem	NOUN
fumecheng-3689	141	14	,	,	PUNCT
fumecheng-3689	141	15	we	we	PRON
fumecheng-3689	141	16	used	use	VERB
fumecheng-3689	141	17	the	the	DET
fumecheng-3689	141	18	catia	catia	NOUN
fumecheng-3689	141	19	“	"	PUNCT
fumecheng-3689	141	20	product	product	NOUN
fumecheng-3689	141	21	engineering	engineering	NOUN
fumecheng-3689	141	22	optimizer	optimizer	NOUN
fumecheng-3689	141	23	”	"	PUNCT
fumecheng-3689	141	24	workbench	workbench	NOUN
fumecheng-3689	141	25	in	in	ADP
fumecheng-3689	141	26	which	which	PRON
fumecheng-3689	141	27	we	we	PRON
fumecheng-3689	141	28	can	can	AUX
fumecheng-3689	141	29	use	use	VERB
fumecheng-3689	141	30	different	different	ADJ
fumecheng-3689	141	31	algorithms	algorithm	NOUN
fumecheng-3689	141	32	such	such	ADJ
fumecheng-3689	141	33	as	as	ADP
fumecheng-3689	141	34	:	:	PUNCT
fumecheng-3689	141	35	conjugate	conjugate	ADJ
fumecheng-3689	141	36	gradient	gradient	NOUN
fumecheng-3689	141	37	method	method	NOUN
fumecheng-3689	141	38	(	(	PUNCT
fumecheng-3689	141	39	cg	cg	NOUN
fumecheng-3689	141	40	)	)	PUNCT
fumecheng-3689	141	41	a	a	DET
fumecheng-3689	141	42	local	local	ADJ
fumecheng-3689	141	43	algorithm	algorithm	NOUN
fumecheng-3689	141	44	and	and	CCONJ
fumecheng-3689	141	45	the	the	DET
fumecheng-3689	141	46	simulated	simulated	ADJ
fumecheng-3689	141	47	annealing	anneal	VERB
fumecheng-3689	141	48	(	(	PUNCT
fumecheng-3689	141	49	sa	sa	PROPN
fumecheng-3689	141	50	)	)	PUNCT
fumecheng-3689	141	51	a	a	DET
fumecheng-3689	141	52	global	global	ADJ
fumecheng-3689	141	53	algorithm	algorithm	NOUN
fumecheng-3689	141	54	.	.	PUNCT
fumecheng-3689	142	1	both	both	CCONJ
fumecheng-3689	142	2	the	the	DET
fumecheng-3689	142	3	methods	method	NOUN
fumecheng-3689	142	4	are	be	AUX
fumecheng-3689	142	5	employed	employ	VERB
fumecheng-3689	142	6	in	in	ADP
fumecheng-3689	142	7	our	our	PRON
fumecheng-3689	142	8	present	present	ADJ
fumecheng-3689	142	9	study	study	NOUN
fumecheng-3689	142	10	.	.	PUNCT
fumecheng-3689	143	1	the	the	DET
fumecheng-3689	143	2	simulated	simulated	ADJ
fumecheng-3689	143	3	annealing	annealing	NOUN
fumecheng-3689	143	4	is	be	AUX
fumecheng-3689	143	5	listed	list	VERB
fumecheng-3689	143	6	as	as	ADP
fumecheng-3689	143	7	the	the	DET
fumecheng-3689	143	8	oldest	old	ADJ
fumecheng-3689	143	9	algorithm	algorithm	NOUN
fumecheng-3689	143	10	among	among	ADP
fumecheng-3689	143	11	the	the	DET
fumecheng-3689	143	12	metaheuristics	metaheuristic	NOUN
fumecheng-3689	143	13	that	that	PRON
fumecheng-3689	143	14	had	have	VERB
fumecheng-3689	143	15	an	an	DET
fumecheng-3689	143	16	explicit	explicit	ADJ
fumecheng-3689	143	17	strategy	strategy	NOUN
fumecheng-3689	143	18	to	to	PART
fumecheng-3689	143	19	avoid	avoid	VERB
fumecheng-3689	143	20	local	local	ADJ
fumecheng-3689	143	21	minima	minima	NOUN
fumecheng-3689	143	22	;	;	PUNCT
fumecheng-3689	143	23	it	it	PRON
fumecheng-3689	143	24	can	can	AUX
fumecheng-3689	143	25	be	be	AUX
fumecheng-3689	143	26	applied	apply	VERB
fumecheng-3689	143	27	to	to	ADP
fumecheng-3689	143	28	the	the	DET
fumecheng-3689	143	29	majority	majority	NOUN
fumecheng-3689	143	30	of	of	ADP
fumecheng-3689	143	31	optimization	optimization	NOUN
fumecheng-3689	143	32	problems	problem	NOUN
fumecheng-3689	143	33	.	.	PUNCT
fumecheng-3689	144	1	the	the	DET
fumecheng-3689	144	2	behavior	behavior	NOUN
fumecheng-3689	144	3	of	of	ADP
fumecheng-3689	144	4	this	this	DET
fumecheng-3689	144	5	algorithm	algorithm	NOUN
fumecheng-3689	144	6	is	be	AUX
fumecheng-3689	144	7	strongly	strongly	ADV
fumecheng-3689	144	8	dependent	dependent	ADJ
fumecheng-3689	144	9	on	on	ADP
fumecheng-3689	144	10	the	the	DET
fumecheng-3689	144	11	problem	problem	NOUN
fumecheng-3689	144	12	addressed	address	VERB
fumecheng-3689	144	13	[	[	X
fumecheng-3689	144	14	19	19	NUM
fumecheng-3689	144	15	]	]	PUNCT
fumecheng-3689	144	16	.	.	PUNCT
fumecheng-3689	145	1	the	the	DET
fumecheng-3689	145	2	other	other	ADJ
fumecheng-3689	145	3	algorithm	algorithm	NOUN
fumecheng-3689	145	4	,	,	PUNCT
fumecheng-3689	145	5	which	which	PRON
fumecheng-3689	145	6	is	be	AUX
fumecheng-3689	145	7	the	the	DET
fumecheng-3689	145	8	conjugate	conjugate	ADJ
fumecheng-3689	145	9	gradient	gradient	NOUN
fumecheng-3689	145	10	,	,	PUNCT
fumecheng-3689	145	11	is	be	AUX
fumecheng-3689	145	12	a	a	DET
fumecheng-3689	145	13	mathematical	mathematical	ADJ
fumecheng-3689	145	14	approach	approach	NOUN
fumecheng-3689	145	15	used	use	VERB
fumecheng-3689	145	16	on	on	ADP
fumecheng-3689	145	17	both	both	CCONJ
fumecheng-3689	145	18	linear	linear	ADJ
fumecheng-3689	145	19	and	and	CCONJ
fumecheng-3689	145	20	non	non	ADJ
fumecheng-3689	145	21	-	-	ADJ
fumecheng-3689	145	22	linear	linear	ADJ
fumecheng-3689	145	23	systems	system	NOUN
fumecheng-3689	145	24	;	;	PUNCT
fumecheng-3689	145	25	this	this	DET
fumecheng-3689	145	26	approach	approach	NOUN
fumecheng-3689	145	27	can	can	AUX
fumecheng-3689	145	28	be	be	AUX
fumecheng-3689	145	29	used	use	VERB
fumecheng-3689	145	30	as	as	ADP
fumecheng-3689	145	31	an	an	DET
fumecheng-3689	145	32	iterative	iterative	NOUN
fumecheng-3689	145	33	algorithm	algorithm	NOUN
fumecheng-3689	145	34	and	and	CCONJ
fumecheng-3689	145	35	a	a	DET
fumecheng-3689	145	36	direct	direct	ADJ
fumecheng-3689	145	37	method	method	NOUN
fumecheng-3689	145	38	[	[	X
fumecheng-3689	145	39	20	20	NUM
fumecheng-3689	145	40	]	]	PUNCT
fumecheng-3689	145	41	.	.	PUNCT
fumecheng-3689	146	1	to	to	PART
fumecheng-3689	146	2	realize	realize	VERB
fumecheng-3689	146	3	this	this	DET
fumecheng-3689	146	4	optimization	optimization	NOUN
fumecheng-3689	146	5	,	,	PUNCT
fumecheng-3689	146	6	we	we	PRON
fumecheng-3689	146	7	choose	choose	VERB
fumecheng-3689	146	8	the	the	DET
fumecheng-3689	146	9	last	last	ADJ
fumecheng-3689	146	10	five	five	NUM
fumecheng-3689	146	11	parameters	parameter	NOUN
fumecheng-3689	146	12	that	that	PRON
fumecheng-3689	146	13	are	be	AUX
fumecheng-3689	146	14	shown	show	VERB
fumecheng-3689	146	15	in	in	ADP
fumecheng-3689	146	16	fig	fig	NOUN
fumecheng-3689	146	17	.	.	PUNCT
fumecheng-3689	147	1	6	6	NUM
fumecheng-3689	147	2	;	;	PUNCT
fumecheng-3689	147	3	we	we	PRON
fumecheng-3689	147	4	excluded	exclude	VERB
fumecheng-3689	147	5	the	the	DET
fumecheng-3689	147	6	angles	angle	NOUN
fumecheng-3689	147	7	representing	represent	VERB
fumecheng-3689	147	8	the	the	DET
fumecheng-3689	147	9	angular	angular	ADJ
fumecheng-3689	147	10	offset	offset	NOUN
fumecheng-3689	147	11	between	between	ADP
fumecheng-3689	147	12	different	different	ADJ
fumecheng-3689	147	13	kinematic	kinematic	ADJ
fumecheng-3689	147	14	chains	chain	NOUN
fumecheng-3689	147	15	.	.	PUNCT
fumecheng-3689	148	1	the	the	DET
fumecheng-3689	148	2	optimization	optimization	NOUN
fumecheng-3689	148	3	parameters	parameter	NOUN
fumecheng-3689	148	4	are	be	AUX
fumecheng-3689	148	5	usually	usually	ADV
fumecheng-3689	148	6	provided	provide	VERB
fumecheng-3689	148	7	with	with	ADP
fumecheng-3689	148	8	an	an	DET
fumecheng-3689	148	9	upper	upper	ADJ
fumecheng-3689	148	10	and	and	CCONJ
fumecheng-3689	148	11	lower	low	ADJ
fumecheng-3689	148	12	limit	limit	NOUN
fumecheng-3689	148	13	.	.	PUNCT
fumecheng-3689	149	1	the	the	DET
fumecheng-3689	149	2	main	main	ADJ
fumecheng-3689	149	3	goal	goal	NOUN
fumecheng-3689	149	4	of	of	ADP
fumecheng-3689	149	5	this	this	DET
fumecheng-3689	149	6	optimization	optimization	NOUN
fumecheng-3689	149	7	is	be	AUX
fumecheng-3689	149	8	to	to	PART
fumecheng-3689	149	9	maximize	maximize	VERB
fumecheng-3689	149	10	the	the	DET
fumecheng-3689	149	11	objective	objective	ADJ
fumecheng-3689	149	12	function	function	NOUN
fumecheng-3689	149	13	represented	represent	VERB
fumecheng-3689	149	14	by	by	ADP
fumecheng-3689	149	15	the	the	DET
fumecheng-3689	149	16	workspace	workspace	NOUN
fumecheng-3689	149	17	volume	volume	NOUN
fumecheng-3689	149	18	of	of	ADP
fumecheng-3689	149	19	the	the	DET
fumecheng-3689	149	20	delta	delta	NOUN
fumecheng-3689	149	21	robot	robot	NOUN
fumecheng-3689	149	22	,	,	PUNCT
fumecheng-3689	149	23	based	base	VERB
fumecheng-3689	149	24	on	on	ADP
fumecheng-3689	149	25	the	the	DET
fumecheng-3689	149	26	parameters	parameter	NOUN
fumecheng-3689	149	27	presented	present	VERB
fumecheng-3689	149	28	in	in	ADP
fumecheng-3689	149	29	table	table	NOUN
fumecheng-3689	149	30	5	5	NUM
fumecheng-3689	149	31	,	,	PUNCT
fumecheng-3689	149	32	which	which	PRON
fumecheng-3689	149	33	can	can	AUX
fumecheng-3689	149	34	describe	describe	VERB
fumecheng-3689	149	35	eq	eq	ADP
fumecheng-3689	149	36	.	.	PUNCT
fumecheng-3689	150	1	(	(	PUNCT
fumecheng-3689	150	2	7	7	NUM
fumecheng-3689	150	3	)	)	PUNCT
fumecheng-3689	150	4	.	.	PUNCT
fumecheng-3689	151	1	the	the	DET
fumecheng-3689	151	2	initial	initial	ADJ
fumecheng-3689	151	3	parameters	parameter	NOUN
fumecheng-3689	151	4	correspond	correspond	VERB
fumecheng-3689	151	5	to	to	ADP
fumecheng-3689	151	6	the	the	DET
fumecheng-3689	151	7	workspace	workspace	NOUN
fumecheng-3689	151	8	shown	show	VERB
fumecheng-3689	151	9	in	in	ADP
fumecheng-3689	151	10	table	table	NOUN
fumecheng-3689	151	11	6(a	6(a	NUM
fumecheng-3689	151	12	)	)	PUNCT
fumecheng-3689	151	13	with	with	ADP
fumecheng-3689	151	14	a	a	DET
fumecheng-3689	151	15	volume	volume	NOUN
fumecheng-3689	151	16	w	w	NOUN
fumecheng-3689	151	17	=	=	PUNCT
fumecheng-3689	151	18	4,765	4,765	NUM
fumecheng-3689	151	19	dm3	dm3	NOUN
fumecheng-3689	151	20	.	.	PUNCT
fumecheng-3689	152	1	the	the	DET
fumecheng-3689	152	2	first	first	ADJ
fumecheng-3689	152	3	optimization	optimization	NOUN
fumecheng-3689	152	4	is	be	AUX
fumecheng-3689	152	5	done	do	VERB
fumecheng-3689	152	6	using	use	VERB
fumecheng-3689	152	7	the	the	DET
fumecheng-3689	152	8	(	(	PUNCT
fumecheng-3689	152	9	sa	sa	NOUN
fumecheng-3689	152	10	)	)	PUNCT
fumecheng-3689	152	11	algorithm	algorithm	NOUN
fumecheng-3689	152	12	,	,	PUNCT
fumecheng-3689	152	13	optimized	optimize	VERB
fumecheng-3689	152	14	values	value	NOUN
fumecheng-3689	152	15	are	be	AUX
fumecheng-3689	152	16	tabulated	tabulate	VERB
fumecheng-3689	152	17	in	in	ADP
fumecheng-3689	152	18	table	table	NOUN
fumecheng-3689	152	19	5	5	NUM
fumecheng-3689	152	20	corresponding	correspond	VERB
fumecheng-3689	152	21	to	to	ADP
fumecheng-3689	152	22	the	the	DET
fumecheng-3689	152	23	workspace	workspace	NOUN
fumecheng-3689	152	24	summarized	summarize	VERB
fumecheng-3689	152	25	in	in	ADP
fumecheng-3689	152	26	table	table	NOUN
fumecheng-3689	152	27	6(b	6(b	NUM
fumecheng-3689	152	28	)	)	PUNCT
fumecheng-3689	152	29	with	with	ADP
fumecheng-3689	152	30	a	a	DET
fumecheng-3689	152	31	volume	volume	NOUN
fumecheng-3689	152	32	w	w	NOUN
fumecheng-3689	152	33	=	=	NOUN
fumecheng-3689	152	34	215,712	215,712	NUM
fumecheng-3689	152	35	dm3	dm3	NOUN
fumecheng-3689	152	36	.	.	PUNCT
fumecheng-3689	153	1	secondly	secondly	ADV
fumecheng-3689	153	2	,	,	PUNCT
fumecheng-3689	153	3	we	we	PRON
fumecheng-3689	153	4	applied	apply	VERB
fumecheng-3689	153	5	the	the	DET
fumecheng-3689	153	6	(	(	PUNCT
fumecheng-3689	153	7	cg	cg	NOUN
fumecheng-3689	153	8	)	)	PUNCT
fumecheng-3689	153	9	method	method	NOUN
fumecheng-3689	153	10	.	.	PUNCT
fumecheng-3689	153	11	table	table	NOUN
fumecheng-3689	153	12	6(c	6(c	NUM
fumecheng-3689	153	13	)	)	PUNCT
fumecheng-3689	153	14	shows	show	VERB
fumecheng-3689	153	15	the	the	DET
fumecheng-3689	153	16	shape	shape	NOUN
fumecheng-3689	153	17	of	of	ADP
fumecheng-3689	153	18	the	the	DET
fumecheng-3689	153	19	workspace	workspace	NOUN
fumecheng-3689	153	20	with	with	ADP
fumecheng-3689	153	21	a	a	DET
fumecheng-3689	153	22	volume	volume	NOUN
fumecheng-3689	153	23	w	w	NOUN
fumecheng-3689	153	24	=	=	NOUN
fumecheng-3689	153	25	110,265	110,265	NUM
fumecheng-3689	153	26	dm3	dm3	NOUN
fumecheng-3689	153	27	.	.	PUNCT
fumecheng-3689	154	1	this	this	DET
fumecheng-3689	154	2	workspace	workspace	NOUN
fumecheng-3689	154	3	is	be	AUX
fumecheng-3689	154	4	associated	associate	VERB
fumecheng-3689	154	5	with	with	ADP
fumecheng-3689	154	6	the	the	DET
fumecheng-3689	154	7	values	value	NOUN
fumecheng-3689	154	8	of	of	ADP
fumecheng-3689	154	9	the	the	DET
fumecheng-3689	154	10	design	design	NOUN
fumecheng-3689	154	11	parameters	parameter	NOUN
fumecheng-3689	154	12	presented	present	VERB
fumecheng-3689	154	13	also	also	ADV
fumecheng-3689	154	14	in	in	ADP
fumecheng-3689	154	15	table	table	NOUN
fumecheng-3689	154	16	5	5	NUM
fumecheng-3689	154	17	.	.	PUNCT
fumecheng-3689	154	18	workspace	workspace	NOUN
fumecheng-3689	154	19	analysis	analysis	NOUN
fumecheng-3689	154	20	and	and	CCONJ
fumecheng-3689	154	21	optimization	optimization	NOUN
fumecheng-3689	154	22	of	of	ADP
fumecheng-3689	154	23	the	the	DET
fumecheng-3689	154	24	parallel	parallel	ADJ
fumecheng-3689	154	25	robots	robot	NOUN
fumecheng-3689	154	26	based	base	VERB
fumecheng-3689	154	27	on	on	ADP
fumecheng-3689	154	28	computer	computer	NOUN
fumecheng-3689	154	29	-	-	PUNCT
fumecheng-3689	154	30	aided	aid	VERB
fumecheng-3689	154	31	design	design	NOUN
fumecheng-3689	154	32	approach	approach	NOUN
fumecheng-3689	154	33	87	87	NUM
fumecheng-3689	154	34	table	table	NOUN
fumecheng-3689	154	35	5	5	NUM
fumecheng-3689	154	36	optimization	optimization	NOUN
fumecheng-3689	154	37	results	result	NOUN
fumecheng-3689	154	38	design	design	NOUN
fumecheng-3689	154	39	parameters	parameter	NOUN
fumecheng-3689	154	40	initial	initial	ADJ
fumecheng-3689	154	41	values	value	NOUN
fumecheng-3689	154	42	simulated	simulate	VERB
fumecheng-3689	154	43	annealing	anneal	VERB
fumecheng-3689	154	44	conjugate	conjugate	ADJ
fumecheng-3689	154	45	gradient	gradient	NOUN
fumecheng-3689	154	46	r	r	NOUN
fumecheng-3689	154	47	(	(	PUNCT
fumecheng-3689	154	48	mm	mm	NOUN
fumecheng-3689	154	49	)	)	PUNCT
fumecheng-3689	154	50	30	30	NUM
fumecheng-3689	154	51	193,77	193,77	NOUN
fumecheng-3689	154	52	54,538	54,538	NUM
fumecheng-3689	154	53	r	r	NOUN
fumecheng-3689	154	54	(	(	PUNCT
fumecheng-3689	154	55	mm	mm	NOUN
fumecheng-3689	154	56	)	)	PUNCT
fumecheng-3689	154	57	55	55	NUM
fumecheng-3689	154	58	344,198	344,198	NUM
fumecheng-3689	154	59	120,308	120,308	NUM
fumecheng-3689	154	60	l1	l1	PROPN
fumecheng-3689	154	61	(	(	PUNCT
fumecheng-3689	154	62	mm	mm	PROPN
fumecheng-3689	154	63	)	)	PUNCT
fumecheng-3689	154	64	100	100	NUM
fumecheng-3689	154	65	350	350	NUM
fumecheng-3689	154	66	283,757	283,757	NUM
fumecheng-3689	154	67	l2	l2	NOUN
fumecheng-3689	154	68	(	(	PUNCT
fumecheng-3689	154	69	mm	mm	NOUN
fumecheng-3689	154	70	)	)	PUNCT
fumecheng-3689	154	71	100	100	NUM
fumecheng-3689	154	72	112,255	112,255	NUM
fumecheng-3689	154	73	250	250	NUM
fumecheng-3689	154	74	volume	volume	NOUN
fumecheng-3689	154	75	(	(	PUNCT
fumecheng-3689	154	76	dm3	dm3	NOUN
fumecheng-3689	154	77	)	)	PUNCT
fumecheng-3689	154	78	4,765	4,765	NUM
fumecheng-3689	154	79	215,712	215,712	NUM
fumecheng-3689	154	80	110,265	110,265	NUM
fumecheng-3689	154	81	table	table	NOUN
fumecheng-3689	154	82	6	6	NUM
fumecheng-3689	154	83	workspace	workspace	NOUN
fumecheng-3689	154	84	optimization	optimization	NOUN
fumecheng-3689	154	85	without	without	ADP
fumecheng-3689	154	86	optimization	optimization	NOUN
fumecheng-3689	154	87	(	(	PUNCT
fumecheng-3689	154	88	a	a	X
fumecheng-3689	154	89	)	)	PUNCT
fumecheng-3689	154	90	simulated	simulated	ADJ
fumecheng-3689	154	91	annealing	anneal	VERB
fumecheng-3689	154	92	algorithm	algorithm	NOUN
fumecheng-3689	154	93	(	(	PUNCT
fumecheng-3689	154	94	b	b	NOUN
fumecheng-3689	154	95	)	)	PUNCT
fumecheng-3689	154	96	conjugate	conjugate	ADJ
fumecheng-3689	154	97	gradient	gradient	ADJ
fumecheng-3689	154	98	algorithm	algorithm	NOUN
fumecheng-3689	154	99	(	(	PUNCT
fumecheng-3689	154	100	c	c	X
fumecheng-3689	154	101	)	)	PUNCT
fumecheng-3689	154	102	the	the	DET
fumecheng-3689	154	103	number	number	NOUN
fumecheng-3689	154	104	of	of	ADP
fumecheng-3689	154	105	iterations	iteration	NOUN
fumecheng-3689	154	106	made	make	VERB
fumecheng-3689	154	107	to	to	PART
fumecheng-3689	154	108	reach	reach	VERB
fumecheng-3689	154	109	the	the	DET
fumecheng-3689	154	110	objective	objective	NOUN
fumecheng-3689	154	111	is	be	AUX
fumecheng-3689	154	112	523	523	NUM
fumecheng-3689	154	113	for	for	ADP
fumecheng-3689	154	114	the	the	DET
fumecheng-3689	154	115	(	(	PUNCT
fumecheng-3689	154	116	sa	sa	NOUN
fumecheng-3689	154	117	)	)	PUNCT
fumecheng-3689	154	118	algorithm	algorithm	NOUN
fumecheng-3689	154	119	,	,	PUNCT
fumecheng-3689	154	120	and	and	CCONJ
fumecheng-3689	154	121	602	602	NUM
fumecheng-3689	154	122	for	for	ADP
fumecheng-3689	154	123	the	the	DET
fumecheng-3689	154	124	(	(	PUNCT
fumecheng-3689	154	125	cg	cg	NOUN
fumecheng-3689	154	126	)	)	PUNCT
fumecheng-3689	154	127	method	method	NOUN
fumecheng-3689	154	128	.	.	PUNCT
fumecheng-3689	155	1	the	the	DET
fumecheng-3689	155	2	time	time	NOUN
fumecheng-3689	155	3	needed	need	VERB
fumecheng-3689	155	4	to	to	PART
fumecheng-3689	155	5	achieve	achieve	VERB
fumecheng-3689	155	6	these	these	DET
fumecheng-3689	155	7	two	two	NUM
fumecheng-3689	155	8	optimizations	optimization	NOUN
fumecheng-3689	155	9	is	be	AUX
fumecheng-3689	155	10	about	about	ADV
fumecheng-3689	155	11	10	10	NUM
fumecheng-3689	155	12	minutes	minute	NOUN
fumecheng-3689	155	13	.	.	PUNCT
fumecheng-3689	156	1	the	the	DET
fumecheng-3689	156	2	simulations	simulation	NOUN
fumecheng-3689	156	3	were	be	AUX
fumecheng-3689	156	4	performed	perform	VERB
fumecheng-3689	156	5	on	on	ADP
fumecheng-3689	156	6	a	a	DET
fumecheng-3689	156	7	computer	computer	NOUN
fumecheng-3689	156	8	that	that	PRON
fumecheng-3689	156	9	has	have	VERB
fumecheng-3689	156	10	the	the	DET
fumecheng-3689	156	11	following	follow	VERB
fumecheng-3689	156	12	characteristics	characteristic	NOUN
fumecheng-3689	156	13	:	:	PUNCT
fumecheng-3689	156	14	cpu	cpu	NOUN
fumecheng-3689	156	15	@2.10ghz	@2.10ghz	NOUN
fumecheng-3689	156	16	,	,	PUNCT
fumecheng-3689	156	17	8.0	8.0	NUM
fumecheng-3689	156	18	gb	gb	NOUN
fumecheng-3689	156	19	ram	ram	NOUN
fumecheng-3689	156	20	.	.	PUNCT
fumecheng-3689	157	1	(	(	PUNCT
fumecheng-3689	157	2	a	a	X
fumecheng-3689	157	3	)	)	PUNCT
fumecheng-3689	157	4	(	(	PUNCT
fumecheng-3689	157	5	b	b	X
fumecheng-3689	157	6	)	)	PUNCT
fumecheng-3689	157	7	fig	fig	NOUN
fumecheng-3689	157	8	.	.	PUNCT
fumecheng-3689	158	1	7	7	NUM
fumecheng-3689	158	2	evolution	evolution	NOUN
fumecheng-3689	158	3	of	of	ADP
fumecheng-3689	158	4	the	the	DET
fumecheng-3689	158	5	design	design	NOUN
fumecheng-3689	158	6	parameters	parameter	NOUN
fumecheng-3689	158	7	for	for	ADP
fumecheng-3689	158	8	(	(	PUNCT
fumecheng-3689	158	9	a	a	PRON
fumecheng-3689	158	10	)	)	PUNCT
fumecheng-3689	158	11	sa	sa	NOUN
fumecheng-3689	158	12	algorithm	algorithm	NOUN
fumecheng-3689	158	13	;	;	PUNCT
fumecheng-3689	158	14	(	(	PUNCT
fumecheng-3689	158	15	b	b	X
fumecheng-3689	158	16	)	)	PUNCT
fumecheng-3689	158	17	cg	cg	NOUN
fumecheng-3689	158	18	method	method	NOUN
fumecheng-3689	158	19	88	88	NUM
fumecheng-3689	158	20	b.	b.	PROPN
fumecheng-3689	158	21	aboulissane	aboulissane	PROPN
fumecheng-3689	158	22	,	,	PUNCT
fumecheng-3689	158	23	l.	l.	PROPN
fumecheng-3689	158	24	el	el	PROPN
fumecheng-3689	158	25	bakkali	bakkali	PROPN
fumecheng-3689	158	26	,	,	PUNCT
fumecheng-3689	158	27	j.	j.	PROPN
fumecheng-3689	158	28	el	el	PROPN
fumecheng-3689	158	29	bahaoui	bahaoui	PROPN
fumecheng-3689	158	30	fig	fig	PROPN
fumecheng-3689	158	31	.	.	PUNCT
fumecheng-3689	159	1	7	7	NUM
fumecheng-3689	159	2	presents	present	VERB
fumecheng-3689	159	3	the	the	DET
fumecheng-3689	159	4	evolution	evolution	NOUN
fumecheng-3689	159	5	of	of	ADP
fumecheng-3689	159	6	the	the	DET
fumecheng-3689	159	7	design	design	NOUN
fumecheng-3689	159	8	variables	variable	NOUN
fumecheng-3689	159	9	for	for	ADP
fumecheng-3689	159	10	both	both	DET
fumecheng-3689	159	11	algorithms	algorithm	NOUN
fumecheng-3689	159	12	.	.	PUNCT
fumecheng-3689	160	1	from	from	ADP
fumecheng-3689	160	2	the	the	DET
fumecheng-3689	160	3	parametric	parametric	ADJ
fumecheng-3689	160	4	analysis	analysis	NOUN
fumecheng-3689	160	5	previously	previously	ADV
fumecheng-3689	160	6	presented	present	VERB
fumecheng-3689	160	7	in	in	ADP
fumecheng-3689	160	8	table	table	NOUN
fumecheng-3689	160	9	4	4	NUM
fumecheng-3689	160	10	and	and	CCONJ
fumecheng-3689	160	11	the	the	DET
fumecheng-3689	160	12	design	design	NOUN
fumecheng-3689	160	13	variables	variable	VERB
fumecheng-3689	160	14	evolution	evolution	NOUN
fumecheng-3689	160	15	shown	show	VERB
fumecheng-3689	160	16	in	in	ADP
fumecheng-3689	160	17	figs	fig	NOUN
fumecheng-3689	160	18	.	.	PUNCT
fumecheng-3689	161	1	7	7	NUM
fumecheng-3689	161	2	(	(	PUNCT
fumecheng-3689	161	3	a	a	NOUN
fumecheng-3689	161	4	)	)	PUNCT
fumecheng-3689	161	5	and	and	CCONJ
fumecheng-3689	161	6	(	(	PUNCT
fumecheng-3689	161	7	b	b	NOUN
fumecheng-3689	161	8	)	)	PUNCT
fumecheng-3689	161	9	,	,	PUNCT
fumecheng-3689	161	10	we	we	PRON
fumecheng-3689	161	11	can	can	AUX
fumecheng-3689	161	12	conclude	conclude	VERB
fumecheng-3689	161	13	that	that	PRON
fumecheng-3689	161	14	l1	l1	PROPN
fumecheng-3689	161	15	have	have	VERB
fumecheng-3689	161	16	a	a	DET
fumecheng-3689	161	17	significant	significant	ADJ
fumecheng-3689	161	18	impact	impact	NOUN
fumecheng-3689	161	19	on	on	ADP
fumecheng-3689	161	20	the	the	DET
fumecheng-3689	161	21	volume	volume	NOUN
fumecheng-3689	161	22	of	of	ADP
fumecheng-3689	161	23	the	the	DET
fumecheng-3689	161	24	workspace	workspace	NOUN
fumecheng-3689	161	25	.	.	PUNCT
fumecheng-3689	162	1	on	on	ADP
fumecheng-3689	162	2	the	the	DET
fumecheng-3689	162	3	other	other	ADJ
fumecheng-3689	162	4	hand	hand	NOUN
fumecheng-3689	162	5	,	,	PUNCT
fumecheng-3689	162	6	the	the	DET
fumecheng-3689	162	7	two	two	NUM
fumecheng-3689	162	8	algorithms	algorithm	NOUN
fumecheng-3689	162	9	applied	apply	VERB
fumecheng-3689	162	10	in	in	ADP
fumecheng-3689	162	11	this	this	DET
fumecheng-3689	162	12	study	study	NOUN
fumecheng-3689	162	13	have	have	AUX
fumecheng-3689	162	14	set	set	VERB
fumecheng-3689	162	15	the	the	DET
fumecheng-3689	162	16	l1	l1	PROPN
fumecheng-3689	162	17	variable	variable	NOUN
fumecheng-3689	162	18	to	to	ADP
fumecheng-3689	162	19	a	a	DET
fumecheng-3689	162	20	maximum	maximum	ADJ
fumecheng-3689	162	21	value	value	NOUN
fumecheng-3689	162	22	,	,	PUNCT
fumecheng-3689	162	23	while	while	SCONJ
fumecheng-3689	162	24	other	other	ADJ
fumecheng-3689	162	25	parameters	parameter	NOUN
fumecheng-3689	162	26	r	r	VERB
fumecheng-3689	162	27	,	,	PUNCT
fumecheng-3689	162	28	r	r	NOUN
fumecheng-3689	162	29	,	,	PUNCT
fumecheng-3689	162	30	and	and	CCONJ
fumecheng-3689	162	31	l2	l2	NOUN
fumecheng-3689	162	32	are	be	AUX
fumecheng-3689	162	33	showing	show	VERB
fumecheng-3689	162	34	a	a	DET
fumecheng-3689	162	35	variation	variation	NOUN
fumecheng-3689	162	36	in	in	ADP
fumecheng-3689	162	37	a	a	DET
fumecheng-3689	162	38	large	large	ADJ
fumecheng-3689	162	39	range	range	NOUN
fumecheng-3689	162	40	searching	search	VERB
fumecheng-3689	162	41	for	for	ADP
fumecheng-3689	162	42	a	a	DET
fumecheng-3689	162	43	maximum	maximum	ADJ
fumecheng-3689	162	44	volume	volume	NOUN
fumecheng-3689	162	45	of	of	ADP
fumecheng-3689	162	46	the	the	DET
fumecheng-3689	162	47	robot	robot	NOUN
fumecheng-3689	162	48	's	's	PART
fumecheng-3689	162	49	workspace	workspace	NOUN
fumecheng-3689	162	50	.	.	PUNCT
fumecheng-3689	163	1	fig	fig	NOUN
fumecheng-3689	163	2	.	.	PUNCT
fumecheng-3689	163	3	8	8	NUM
fumecheng-3689	163	4	provides	provide	VERB
fumecheng-3689	163	5	a	a	DET
fumecheng-3689	163	6	comparison	comparison	NOUN
fumecheng-3689	163	7	of	of	ADP
fumecheng-3689	163	8	the	the	DET
fumecheng-3689	163	9	convergence	convergence	NOUN
fumecheng-3689	163	10	rates	rate	NOUN
fumecheng-3689	163	11	of	of	ADP
fumecheng-3689	163	12	the	the	DET
fumecheng-3689	163	13	results	result	NOUN
fumecheng-3689	163	14	;	;	PUNCT
fumecheng-3689	163	15	it	it	PRON
fumecheng-3689	163	16	can	can	AUX
fumecheng-3689	163	17	be	be	AUX
fumecheng-3689	163	18	seen	see	VERB
fumecheng-3689	163	19	that	that	SCONJ
fumecheng-3689	163	20	the	the	DET
fumecheng-3689	163	21	performance	performance	NOUN
fumecheng-3689	163	22	of	of	ADP
fumecheng-3689	163	23	the	the	DET
fumecheng-3689	163	24	(	(	PUNCT
fumecheng-3689	163	25	sa	sa	NOUN
fumecheng-3689	163	26	)	)	PUNCT
fumecheng-3689	163	27	is	be	AUX
fumecheng-3689	163	28	more	more	ADV
fumecheng-3689	163	29	superior	superior	ADJ
fumecheng-3689	163	30	to	to	ADP
fumecheng-3689	163	31	that	that	PRON
fumecheng-3689	163	32	of	of	ADP
fumecheng-3689	163	33	(	(	PUNCT
fumecheng-3689	163	34	cg	cg	NOUN
fumecheng-3689	163	35	)	)	PUNCT
fumecheng-3689	163	36	method	method	NOUN
fumecheng-3689	163	37	due	due	ADP
fumecheng-3689	163	38	to	to	ADP
fumecheng-3689	163	39	the	the	DET
fumecheng-3689	163	40	good	good	ADJ
fumecheng-3689	163	41	speed	speed	NOUN
fumecheng-3689	163	42	of	of	ADP
fumecheng-3689	163	43	convergence	convergence	NOUN
fumecheng-3689	163	44	with	with	ADP
fumecheng-3689	163	45	few	few	ADJ
fumecheng-3689	163	46	generations	generation	NOUN
fumecheng-3689	163	47	,	,	PUNCT
fumecheng-3689	163	48	also	also	ADV
fumecheng-3689	163	49	,	,	PUNCT
fumecheng-3689	163	50	the	the	DET
fumecheng-3689	163	51	optimal	optimal	ADJ
fumecheng-3689	163	52	value	value	NOUN
fumecheng-3689	163	53	reached	reach	VERB
fumecheng-3689	163	54	by	by	ADP
fumecheng-3689	163	55	the	the	DET
fumecheng-3689	163	56	(	(	PUNCT
fumecheng-3689	163	57	sa	sa	NOUN
fumecheng-3689	163	58	)	)	PUNCT
fumecheng-3689	163	59	algorithm	algorithm	NOUN
fumecheng-3689	163	60	is	be	AUX
fumecheng-3689	163	61	greater	great	ADJ
fumecheng-3689	163	62	than	than	ADP
fumecheng-3689	163	63	that	that	PRON
fumecheng-3689	163	64	obtained	obtain	VERB
fumecheng-3689	163	65	by	by	ADP
fumecheng-3689	163	66	the	the	DET
fumecheng-3689	163	67	(	(	PUNCT
fumecheng-3689	163	68	gc	gc	PROPN
fumecheng-3689	163	69	)	)	PUNCT
fumecheng-3689	163	70	algorithm	algorithm	NOUN
fumecheng-3689	163	71	.	.	PUNCT
fumecheng-3689	164	1	fig	fig	NOUN
fumecheng-3689	164	2	.	.	PUNCT
fumecheng-3689	165	1	8	8	NUM
fumecheng-3689	165	2	comparison	comparison	NOUN
fumecheng-3689	165	3	of	of	ADP
fumecheng-3689	165	4	convergence	convergence	NOUN
fumecheng-3689	165	5	cost	cost	NOUN
fumecheng-3689	165	6	for	for	ADP
fumecheng-3689	165	7	sa	sa	PROPN
fumecheng-3689	165	8	and	and	CCONJ
fumecheng-3689	165	9	gc	gc	PROPN
fumecheng-3689	165	10	algorithms	algorithms	PROPN
fumecheng-3689	165	11	5	5	NUM
fumecheng-3689	165	12	.	.	PUNCT
fumecheng-3689	165	13	conclusion	conclusion	NOUN
fumecheng-3689	165	14	in	in	ADP
fumecheng-3689	165	15	this	this	DET
fumecheng-3689	165	16	paper	paper	NOUN
fumecheng-3689	165	17	,	,	PUNCT
fumecheng-3689	165	18	we	we	PRON
fumecheng-3689	165	19	have	have	AUX
fumecheng-3689	165	20	focused	focus	VERB
fumecheng-3689	165	21	on	on	ADP
fumecheng-3689	165	22	the	the	DET
fumecheng-3689	165	23	cad	cad	NOUN
fumecheng-3689	165	24	based	base	VERB
fumecheng-3689	165	25	technique	technique	NOUN
fumecheng-3689	165	26	to	to	PART
fumecheng-3689	165	27	determine	determine	VERB
fumecheng-3689	165	28	the	the	DET
fumecheng-3689	165	29	workspace	workspace	NOUN
fumecheng-3689	165	30	of	of	ADP
fumecheng-3689	165	31	planar	planar	ADJ
fumecheng-3689	165	32	and	and	CCONJ
fumecheng-3689	165	33	spatial	spatial	ADJ
fumecheng-3689	165	34	parallel	parallel	ADJ
fumecheng-3689	165	35	robots	robot	NOUN
fumecheng-3689	165	36	.	.	PUNCT
fumecheng-3689	166	1	this	this	DET
fumecheng-3689	166	2	study	study	NOUN
fumecheng-3689	166	3	is	be	AUX
fumecheng-3689	166	4	performed	perform	VERB
fumecheng-3689	166	5	on	on	ADP
fumecheng-3689	166	6	the	the	DET
fumecheng-3689	166	7	3	3	NUM
fumecheng-3689	166	8	-	-	PUNCT
fumecheng-3689	166	9	rpr	rpr	NOUN
fumecheng-3689	166	10	planar	planar	PROPN
fumecheng-3689	166	11	parallel	parallel	NOUN
fumecheng-3689	166	12	robot	robot	NOUN
fumecheng-3689	166	13	and	and	CCONJ
fumecheng-3689	166	14	the	the	DET
fumecheng-3689	166	15	delta	delta	NOUN
fumecheng-3689	166	16	robot	robot	NOUN
fumecheng-3689	166	17	.	.	PUNCT
fumecheng-3689	167	1	we	we	PRON
fumecheng-3689	167	2	considered	consider	VERB
fumecheng-3689	167	3	the	the	DET
fumecheng-3689	167	4	determination	determination	NOUN
fumecheng-3689	167	5	and	and	CCONJ
fumecheng-3689	167	6	the	the	DET
fumecheng-3689	167	7	characterization	characterization	NOUN
fumecheng-3689	167	8	of	of	ADP
fumecheng-3689	167	9	the	the	DET
fumecheng-3689	167	10	workspace	workspace	NOUN
fumecheng-3689	167	11	of	of	ADP
fumecheng-3689	167	12	the	the	DET
fumecheng-3689	167	13	two	two	NUM
fumecheng-3689	167	14	manipulators	manipulator	NOUN
fumecheng-3689	167	15	.	.	PUNCT
fumecheng-3689	168	1	for	for	ADP
fumecheng-3689	168	2	this	this	DET
fumecheng-3689	168	3	purpose	purpose	NOUN
fumecheng-3689	168	4	,	,	PUNCT
fumecheng-3689	168	5	we	we	PRON
fumecheng-3689	168	6	have	have	AUX
fumecheng-3689	168	7	applied	apply	VERB
fumecheng-3689	168	8	a	a	DET
fumecheng-3689	168	9	geometrical	geometrical	ADJ
fumecheng-3689	168	10	approach	approach	NOUN
fumecheng-3689	168	11	that	that	PRON
fumecheng-3689	168	12	has	have	AUX
fumecheng-3689	168	13	been	be	AUX
fumecheng-3689	168	14	implemented	implement	VERB
fumecheng-3689	168	15	in	in	ADP
fumecheng-3689	168	16	catia	catia	PROPN
fumecheng-3689	168	17	workbenches	workbench	NOUN
fumecheng-3689	168	18	.	.	PUNCT
fumecheng-3689	169	1	we	we	PRON
fumecheng-3689	169	2	put	put	VERB
fumecheng-3689	169	3	in	in	ADP
fumecheng-3689	169	4	evidence	evidence	NOUN
fumecheng-3689	169	5	the	the	DET
fumecheng-3689	169	6	effectiveness	effectiveness	NOUN
fumecheng-3689	169	7	of	of	ADP
fumecheng-3689	169	8	this	this	DET
fumecheng-3689	169	9	technique	technique	NOUN
fumecheng-3689	169	10	for	for	ADP
fumecheng-3689	169	11	the	the	DET
fumecheng-3689	169	12	workspace	workspace	NOUN
fumecheng-3689	169	13	optimization	optimization	NOUN
fumecheng-3689	169	14	of	of	ADP
fumecheng-3689	169	15	the	the	DET
fumecheng-3689	169	16	delta	delta	NOUN
fumecheng-3689	169	17	robot	robot	NOUN
fumecheng-3689	169	18	,	,	PUNCT
fumecheng-3689	169	19	taking	take	VERB
fumecheng-3689	169	20	into	into	ADP
fumecheng-3689	169	21	consideration	consideration	NOUN
fumecheng-3689	169	22	the	the	DET
fumecheng-3689	169	23	joint	joint	ADJ
fumecheng-3689	169	24	limits	limit	NOUN
fumecheng-3689	169	25	.	.	PUNCT
fumecheng-3689	170	1	two	two	NUM
fumecheng-3689	170	2	algorithms	algorithm	NOUN
fumecheng-3689	170	3	were	be	AUX
fumecheng-3689	170	4	applied	apply	VERB
fumecheng-3689	170	5	to	to	PART
fumecheng-3689	170	6	maximize	maximize	VERB
fumecheng-3689	170	7	the	the	DET
fumecheng-3689	170	8	workspace	workspace	NOUN
fumecheng-3689	170	9	of	of	ADP
fumecheng-3689	170	10	the	the	DET
fumecheng-3689	170	11	delta	delta	NOUN
fumecheng-3689	170	12	robot	robot	NOUN
fumecheng-3689	170	13	,	,	PUNCT
fumecheng-3689	170	14	the	the	DET
fumecheng-3689	170	15	simulated	simulate	VERB
fumecheng-3689	170	16	annealing	annealing	NOUN
fumecheng-3689	170	17	and	and	CCONJ
fumecheng-3689	170	18	the	the	DET
fumecheng-3689	170	19	conjugate	conjugate	ADJ
fumecheng-3689	170	20	gradient	gradient	ADJ
fumecheng-3689	170	21	algorithms	algorithm	NOUN
fumecheng-3689	170	22	.	.	PUNCT
fumecheng-3689	171	1	the	the	DET
fumecheng-3689	171	2	best	good	ADJ
fumecheng-3689	171	3	result	result	NOUN
fumecheng-3689	171	4	is	be	AUX
fumecheng-3689	171	5	related	relate	VERB
fumecheng-3689	171	6	to	to	ADP
fumecheng-3689	171	7	the	the	DET
fumecheng-3689	171	8	(	(	PUNCT
fumecheng-3689	171	9	sa	sa	NOUN
fumecheng-3689	171	10	)	)	PUNCT
fumecheng-3689	171	11	algorithm	algorithm	NOUN
fumecheng-3689	171	12	in	in	ADP
fumecheng-3689	171	13	terms	term	NOUN
fumecheng-3689	171	14	of	of	ADP
fumecheng-3689	171	15	convergence	convergence	NOUN
fumecheng-3689	171	16	speed	speed	NOUN
fumecheng-3689	171	17	and	and	CCONJ
fumecheng-3689	171	18	the	the	DET
fumecheng-3689	171	19	best	good	ADJ
fumecheng-3689	171	20	optimal	optimal	ADJ
fumecheng-3689	171	21	value	value	NOUN
fumecheng-3689	171	22	of	of	ADP
fumecheng-3689	171	23	the	the	DET
fumecheng-3689	171	24	workspace	workspace	NOUN
fumecheng-3689	171	25	volume	volume	NOUN
fumecheng-3689	171	26	.	.	PUNCT
fumecheng-3689	172	1	the	the	DET
fumecheng-3689	172	2	manipulators	manipulator	NOUN
fumecheng-3689	172	3	studied	study	VERB
fumecheng-3689	172	4	herein	herein	NOUN
fumecheng-3689	172	5	for	for	ADP
fumecheng-3689	172	6	the	the	DET
fumecheng-3689	172	7	workspace	workspace	NOUN
fumecheng-3689	172	8	analysis	analysis	NOUN
fumecheng-3689	172	9	and	and	CCONJ
fumecheng-3689	172	10	optimization	optimization	NOUN
fumecheng-3689	172	11	illustrate	illustrate	VERB
fumecheng-3689	172	12	the	the	DET
fumecheng-3689	172	13	efficiency	efficiency	NOUN
fumecheng-3689	172	14	and	and	CCONJ
fumecheng-3689	172	15	the	the	DET
fumecheng-3689	172	16	capability	capability	NOUN
fumecheng-3689	172	17	of	of	ADP
fumecheng-3689	172	18	the	the	DET
fumecheng-3689	172	19	graphical	graphical	ADJ
fumecheng-3689	172	20	methodology	methodology	NOUN
fumecheng-3689	172	21	for	for	ADP
fumecheng-3689	172	22	the	the	DET
fumecheng-3689	172	23	designers	designer	NOUN
fumecheng-3689	172	24	,	,	PUNCT
fumecheng-3689	172	25	to	to	PART
fumecheng-3689	172	26	avoid	avoid	VERB
fumecheng-3689	172	27	complex	complex	ADJ
fumecheng-3689	172	28	mathematical	mathematical	ADJ
fumecheng-3689	172	29	equations	equation	NOUN
fumecheng-3689	172	30	.	.	PUNCT
fumecheng-3689	173	1	workspace	workspace	NOUN
fumecheng-3689	173	2	analysis	analysis	NOUN
fumecheng-3689	173	3	and	and	CCONJ
fumecheng-3689	173	4	optimization	optimization	NOUN
fumecheng-3689	173	5	of	of	ADP
fumecheng-3689	173	6	the	the	DET
fumecheng-3689	173	7	parallel	parallel	ADJ
fumecheng-3689	173	8	robots	robot	NOUN
fumecheng-3689	173	9	based	base	VERB
fumecheng-3689	173	10	on	on	ADP
fumecheng-3689	173	11	computer	computer	NOUN
fumecheng-3689	173	12	-	-	PUNCT
fumecheng-3689	173	13	aided	aid	VERB
fumecheng-3689	173	14	design	design	NOUN
fumecheng-3689	173	15	approach	approach	NOUN
fumecheng-3689	173	16	89	89	NUM
fumecheng-3689	173	17	references	reference	NOUN
fumecheng-3689	173	18	1	1	NUM
fumecheng-3689	173	19	.	.	PUNCT
fumecheng-3689	173	20	gallant	gallant	NOUN
fumecheng-3689	173	21	,	,	PUNCT
fumecheng-3689	173	22	m.	m.	NOUN
fumecheng-3689	173	23	,	,	PUNCT
fumecheng-3689	173	24	boudreau	boudreau	PROPN
fumecheng-3689	173	25	,	,	PUNCT
fumecheng-3689	173	26	r.	r.	PROPN
fumecheng-3689	173	27	,	,	PUNCT
fumecheng-3689	173	28	2002	2002	NUM
fumecheng-3689	173	29	,	,	PUNCT
fumecheng-3689	173	30	the	the	DET
fumecheng-3689	173	31	synthesis	synthesis	NOUN
fumecheng-3689	173	32	of	of	ADP
fumecheng-3689	173	33	planar	planar	ADJ
fumecheng-3689	173	34	parallel	parallel	ADJ
fumecheng-3689	173	35	manipulators	manipulator	NOUN
fumecheng-3689	173	36	with	with	ADP
fumecheng-3689	173	37	prismatic	prismatic	ADJ
fumecheng-3689	173	38	joints	joint	NOUN
fumecheng-3689	173	39	for	for	ADP
fumecheng-3689	173	40	an	an	DET
fumecheng-3689	173	41	optimal	optimal	ADJ
fumecheng-3689	173	42	,	,	PUNCT
fumecheng-3689	173	43	singularity‐free	singularity‐free	ADJ
fumecheng-3689	173	44	workspace	workspace	NOUN
fumecheng-3689	173	45	,	,	PUNCT
fumecheng-3689	173	46	journal	journal	NOUN
fumecheng-3689	173	47	of	of	ADP
fumecheng-3689	173	48	robotic	robotic	ADJ
fumecheng-3689	173	49	systems	system	NOUN
fumecheng-3689	173	50	,	,	PUNCT
fumecheng-3689	173	51	19(1	19(1	NUM
fumecheng-3689	173	52	)	)	PUNCT
fumecheng-3689	173	53	,	,	PUNCT
fumecheng-3689	173	54	pp	pp	ADP
fumecheng-3689	173	55	.	.	PUNCT
fumecheng-3689	174	1	13	13	NUM
fumecheng-3689	174	2	-	-	SYM
fumecheng-3689	174	3	24	24	NUM
fumecheng-3689	174	4	.	.	PUNCT
fumecheng-3689	175	1	2	2	NUM
fumecheng-3689	175	2	.	.	X
fumecheng-3689	175	3	jiang	jiang	PROPN
fumecheng-3689	175	4	,	,	PUNCT
fumecheng-3689	175	5	q.	q.	PROPN
fumecheng-3689	175	6	,	,	PUNCT
fumecheng-3689	175	7	gosselin	gosselin	PROPN
fumecheng-3689	175	8	,	,	PUNCT
fumecheng-3689	175	9	c.m	c.m	PROPN
fumecheng-3689	175	10	.	.	PROPN
fumecheng-3689	175	11	,	,	PUNCT
fumecheng-3689	175	12	2006	2006	NUM
fumecheng-3689	175	13	,	,	PUNCT
fumecheng-3689	175	14	the	the	DET
fumecheng-3689	175	15	maximal	maximal	ADJ
fumecheng-3689	175	16	singularity	singularity	NOUN
fumecheng-3689	175	17	-	-	PUNCT
fumecheng-3689	175	18	free	free	ADJ
fumecheng-3689	175	19	workspace	workspace	NOUN
fumecheng-3689	175	20	of	of	ADP
fumecheng-3689	175	21	planar	planar	ADJ
fumecheng-3689	175	22	3	3	NUM
fumecheng-3689	175	23	-	-	PUNCT
fumecheng-3689	175	24	rpr	rpr	NOUN
fumecheng-3689	175	25	parallel	parallel	ADJ
fumecheng-3689	175	26	mechanisms	mechanism	NOUN
fumecheng-3689	175	27	,	,	PUNCT
fumecheng-3689	175	28	international	international	ADJ
fumecheng-3689	175	29	conference	conference	NOUN
fumecheng-3689	175	30	on	on	ADP
fumecheng-3689	175	31	mechatronics	mechatronic	NOUN
fumecheng-3689	175	32	and	and	CCONJ
fumecheng-3689	175	33	automation	automation	NOUN
fumecheng-3689	175	34	,	,	PUNCT
fumecheng-3689	175	35	pp	pp	ADP
fumecheng-3689	175	36	.	.	PUNCT
fumecheng-3689	176	1	142	142	NUM
fumecheng-3689	176	2	-	-	SYM
fumecheng-3689	176	3	146	146	NUM
fumecheng-3689	176	4	.	.	PUNCT
fumecheng-3689	177	1	3	3	X
fumecheng-3689	177	2	.	.	X
fumecheng-3689	177	3	jiang	jiang	PROPN
fumecheng-3689	177	4	,	,	PUNCT
fumecheng-3689	177	5	q.	q.	PROPN
fumecheng-3689	177	6	,	,	PUNCT
fumecheng-3689	177	7	gosselin	gosselin	PROPN
fumecheng-3689	177	8	,	,	PUNCT
fumecheng-3689	177	9	c.m	c.m	PROPN
fumecheng-3689	177	10	.	.	PROPN
fumecheng-3689	177	11	,	,	PUNCT
fumecheng-3689	177	12	2007	2007	NUM
fumecheng-3689	177	13	,	,	PUNCT
fumecheng-3689	177	14	geometric	geometric	ADJ
fumecheng-3689	177	15	optimization	optimization	NOUN
fumecheng-3689	177	16	of	of	ADP
fumecheng-3689	177	17	planar	planar	ADJ
fumecheng-3689	177	18	3	3	NUM
fumecheng-3689	177	19	-	-	PUNCT
fumecheng-3689	177	20	rpr	rpr	NOUN
fumecheng-3689	177	21	parallel	parallel	ADJ
fumecheng-3689	177	22	mechanisms	mechanism	NOUN
fumecheng-3689	177	23	,	,	PUNCT
fumecheng-3689	177	24	transactions	transaction	NOUN
fumecheng-3689	177	25	of	of	ADP
fumecheng-3689	177	26	the	the	DET
fumecheng-3689	177	27	canadian	canadian	ADJ
fumecheng-3689	177	28	society	society	NOUN
fumecheng-3689	177	29	for	for	ADP
fumecheng-3689	177	30	mechanical	mechanical	ADJ
fumecheng-3689	177	31	engineering	engineering	NOUN
fumecheng-3689	177	32	,	,	PUNCT
fumecheng-3689	177	33	31(4	31(4	NUM
fumecheng-3689	177	34	)	)	PUNCT
fumecheng-3689	177	35	,	,	PUNCT
fumecheng-3689	177	36	pp	pp	ADP
fumecheng-3689	177	37	.	.	PUNCT
fumecheng-3689	178	1	457	457	NUM
fumecheng-3689	178	2	-	-	SYM
fumecheng-3689	178	3	468	468	NUM
fumecheng-3689	178	4	.	.	NOUN
fumecheng-3689	179	1	4	4	NUM
fumecheng-3689	179	2	.	.	X
fumecheng-3689	179	3	yang	yang	PROPN
fumecheng-3689	179	4	,	,	PUNCT
fumecheng-3689	179	5	y.	y.	PROPN
fumecheng-3689	179	6	,	,	PUNCT
fumecheng-3689	179	7	o’brien	o’brien	PROPN
fumecheng-3689	179	8	,	,	PUNCT
fumecheng-3689	179	9	j.f	j.f	PROPN
fumecheng-3689	179	10	.	.	PROPN
fumecheng-3689	179	11	,	,	PUNCT
fumecheng-3689	179	12	2007	2007	NUM
fumecheng-3689	179	13	,	,	PUNCT
fumecheng-3689	179	14	a	a	DET
fumecheng-3689	179	15	case	case	NOUN
fumecheng-3689	179	16	study	study	NOUN
fumecheng-3689	179	17	of	of	ADP
fumecheng-3689	179	18	planar	planar	ADJ
fumecheng-3689	179	19	3	3	NUM
fumecheng-3689	179	20	-	-	PUNCT
fumecheng-3689	179	21	rpr	rpr	NOUN
fumecheng-3689	179	22	parallel	parallel	NOUN
fumecheng-3689	179	23	robot	robot	NOUN
fumecheng-3689	179	24	singularity	singularity	NOUN
fumecheng-3689	179	25	free	free	ADJ
fumecheng-3689	179	26	workspace	workspace	NOUN
fumecheng-3689	179	27	design	design	NOUN
fumecheng-3689	179	28	,	,	PUNCT
fumecheng-3689	179	29	international	international	ADJ
fumecheng-3689	179	30	conference	conference	NOUN
fumecheng-3689	179	31	on	on	ADP
fumecheng-3689	179	32	mechatronics	mechatronic	NOUN
fumecheng-3689	179	33	and	and	CCONJ
fumecheng-3689	179	34	automation	automation	NOUN
fumecheng-3689	179	35	,	,	PUNCT
fumecheng-3689	179	36	pp	pp	PROPN
fumecheng-3689	179	37	.	.	PUNCT
fumecheng-3689	179	38	1834–1838	1834–1838	NUM
fumecheng-3689	179	39	.	.	PUNCT
fumecheng-3689	180	1	5	5	X
fumecheng-3689	180	2	.	.	X
fumecheng-3689	180	3	di	di	PROPN
fumecheng-3689	180	4	gregorio	gregorio	PROPN
fumecheng-3689	180	5	,	,	PUNCT
fumecheng-3689	180	6	r.	r.	PROPN
fumecheng-3689	180	7	,	,	PUNCT
fumecheng-3689	180	8	zanforlin	zanforlin	PROPN
fumecheng-3689	180	9	,	,	PUNCT
fumecheng-3689	180	10	r.	r.	PROPN
fumecheng-3689	180	11	,	,	PUNCT
fumecheng-3689	180	12	2003	2003	NUM
fumecheng-3689	180	13	,	,	PUNCT
fumecheng-3689	180	14	workspace	workspace	NOUN
fumecheng-3689	180	15	analytic	analytic	ADJ
fumecheng-3689	180	16	determination	determination	NOUN
fumecheng-3689	180	17	of	of	ADP
fumecheng-3689	180	18	two	two	NUM
fumecheng-3689	180	19	similar	similar	ADJ
fumecheng-3689	180	20	translational	translational	ADJ
fumecheng-3689	180	21	parallel	parallel	ADJ
fumecheng-3689	180	22	manipulators	manipulator	NOUN
fumecheng-3689	180	23	,	,	PUNCT
fumecheng-3689	180	24	robotica	robotica	PROPN
fumecheng-3689	180	25	,	,	PUNCT
fumecheng-3689	180	26	21(5	21(5	NUM
fumecheng-3689	180	27	)	)	PUNCT
fumecheng-3689	180	28	,	,	PUNCT
fumecheng-3689	180	29	pp	pp	PROPN
fumecheng-3689	180	30	.	.	PUNCT
fumecheng-3689	181	1	555	555	NUM
fumecheng-3689	181	2	-	-	SYM
fumecheng-3689	181	3	566	566	NUM
fumecheng-3689	181	4	.	.	NOUN
fumecheng-3689	181	5	6	6	NUM
fumecheng-3689	181	6	.	.	X
fumecheng-3689	182	1	chablat	chablat	NOUN
fumecheng-3689	182	2	,	,	PUNCT
fumecheng-3689	182	3	d.	d.	PROPN
fumecheng-3689	182	4	,	,	PUNCT
fumecheng-3689	182	5	wenger	wenger	PROPN
fumecheng-3689	182	6	,	,	PUNCT
fumecheng-3689	182	7	p.	p.	PROPN
fumecheng-3689	182	8	,	,	PUNCT
fumecheng-3689	182	9	majou	majou	NOUN
fumecheng-3689	182	10	,	,	PUNCT
fumecheng-3689	182	11	f.	f.	PROPN
fumecheng-3689	182	12	,	,	PUNCT
fumecheng-3689	182	13	merlet	merlet	ADJ
fumecheng-3689	182	14	,	,	PUNCT
fumecheng-3689	182	15	j.p	j.p	PROPN
fumecheng-3689	182	16	.	.	PROPN
fumecheng-3689	182	17	,	,	PUNCT
fumecheng-3689	182	18	2004	2004	NUM
fumecheng-3689	182	19	,	,	PUNCT
fumecheng-3689	182	20	an	an	DET
fumecheng-3689	182	21	interval	interval	NOUN
fumecheng-3689	182	22	analysis	analysis	NOUN
fumecheng-3689	182	23	based	base	VERB
fumecheng-3689	182	24	study	study	NOUN
fumecheng-3689	182	25	for	for	ADP
fumecheng-3689	182	26	the	the	DET
fumecheng-3689	182	27	design	design	NOUN
fumecheng-3689	182	28	and	and	CCONJ
fumecheng-3689	182	29	the	the	DET
fumecheng-3689	182	30	comparison	comparison	NOUN
fumecheng-3689	182	31	of	of	ADP
fumecheng-3689	182	32	three	three	NUM
fumecheng-3689	182	33	-	-	PUNCT
fumecheng-3689	182	34	degrees	degree	NOUN
fumecheng-3689	182	35	-	-	PUNCT
fumecheng-3689	182	36	of	of	ADP
fumecheng-3689	182	37	-	-	PUNCT
fumecheng-3689	182	38	freedom	freedom	NOUN
fumecheng-3689	182	39	parallel	parallel	ADJ
fumecheng-3689	182	40	kinematic	kinematic	ADJ
fumecheng-3689	182	41	machines	machine	NOUN
fumecheng-3689	182	42	,	,	PUNCT
fumecheng-3689	182	43	the	the	DET
fumecheng-3689	182	44	international	international	ADJ
fumecheng-3689	182	45	journal	journal	NOUN
fumecheng-3689	182	46	of	of	ADP
fumecheng-3689	182	47	robotics	robotic	NOUN
fumecheng-3689	182	48	research	research	NOUN
fumecheng-3689	182	49	,	,	PUNCT
fumecheng-3689	182	50	23(6	23(6	NUM
fumecheng-3689	182	51	)	)	PUNCT
fumecheng-3689	182	52	,	,	PUNCT
fumecheng-3689	182	53	pp	pp	ADJ
fumecheng-3689	182	54	.	.	PUNCT
fumecheng-3689	183	1	615	615	NUM
fumecheng-3689	183	2	-	-	SYM
fumecheng-3689	183	3	624	624	NUM
fumecheng-3689	183	4	.	.	PUNCT
fumecheng-3689	184	1	7	7	X
fumecheng-3689	184	2	.	.	X
fumecheng-3689	184	3	chablat	chablat	NOUN
fumecheng-3689	184	4	,	,	PUNCT
fumecheng-3689	184	5	d.	d.	PROPN
fumecheng-3689	184	6	,	,	PUNCT
fumecheng-3689	184	7	wenger	wenger	PROPN
fumecheng-3689	184	8	,	,	PUNCT
fumecheng-3689	184	9	p.	p.	PROPN
fumecheng-3689	184	10	,	,	PUNCT
fumecheng-3689	184	11	merlet	merlet	ADJ
fumecheng-3689	184	12	,	,	PUNCT
fumecheng-3689	184	13	j.p	j.p	PROPN
fumecheng-3689	184	14	.	.	PROPN
fumecheng-3689	184	15	,	,	PUNCT
fumecheng-3689	184	16	2007	2007	NUM
fumecheng-3689	184	17	,	,	PUNCT
fumecheng-3689	184	18	a	a	DET
fumecheng-3689	184	19	comparative	comparative	ADJ
fumecheng-3689	184	20	study	study	NOUN
fumecheng-3689	184	21	between	between	ADP
fumecheng-3689	184	22	two	two	NUM
fumecheng-3689	184	23	three	three	NUM
fumecheng-3689	184	24	-	-	PUNCT
fumecheng-3689	184	25	dof	dof	NOUN
fumecheng-3689	184	26	parallel	parallel	NOUN
fumecheng-3689	184	27	kinematic	kinematic	NOUN
fumecheng-3689	184	28	machines	machine	NOUN
fumecheng-3689	184	29	using	use	VERB
fumecheng-3689	184	30	kinetostatic	kinetostatic	ADJ
fumecheng-3689	184	31	criteria	criterion	NOUN
fumecheng-3689	184	32	and	and	CCONJ
fumecheng-3689	184	33	interval	interval	NOUN
fumecheng-3689	184	34	analysis	analysis	NOUN
fumecheng-3689	184	35	,	,	PUNCT
fumecheng-3689	184	36	11th	11th	ADJ
fumecheng-3689	184	37	world	world	PROPN
fumecheng-3689	184	38	congress	congress	PROPN
fumecheng-3689	184	39	on	on	ADP
fumecheng-3689	184	40	theory	theory	NOUN
fumecheng-3689	184	41	of	of	ADP
fumecheng-3689	184	42	machines	machine	NOUN
fumecheng-3689	184	43	andmechanisms	andmechanism	NOUN
fumecheng-3689	184	44	,	,	PUNCT
fumecheng-3689	184	45	tianjin	tianjin	PROPN
fumecheng-3689	184	46	,	,	PUNCT
fumecheng-3689	184	47	april	april	PROPN
fumecheng-3689	184	48	,	,	PUNCT
fumecheng-3689	184	49	pp	pp	PROPN
fumecheng-3689	184	50	.	.	PUNCT
fumecheng-3689	185	1	1209–1213	1209–1213	NUM
fumecheng-3689	185	2	.	.	NOUN
fumecheng-3689	186	1	8	8	NUM
fumecheng-3689	186	2	.	.	X
fumecheng-3689	187	1	badescu	badescu	PROPN
fumecheng-3689	187	2	,	,	PUNCT
fumecheng-3689	187	3	m.	m.	NOUN
fumecheng-3689	187	4	,	,	PUNCT
fumecheng-3689	187	5	morman	morman	PROPN
fumecheng-3689	187	6	,	,	PUNCT
fumecheng-3689	187	7	j.	j.	PROPN
fumecheng-3689	187	8	,mavroidis	,mavroidis	PROPN
fumecheng-3689	187	9	,	,	PUNCT
fumecheng-3689	187	10	c.	c.	PROPN
fumecheng-3689	187	11	,	,	PUNCT
fumecheng-3689	187	12	2002	2002	NUM
fumecheng-3689	187	13	,	,	PUNCT
fumecheng-3689	187	14	workspace	workspace	NOUN
fumecheng-3689	187	15	optimization	optimization	NOUN
fumecheng-3689	187	16	of	of	ADP
fumecheng-3689	187	17	3	3	NUM
fumecheng-3689	187	18	-	-	PUNCT
fumecheng-3689	187	19	upu	upu	ADJ
fumecheng-3689	187	20	parallel	parallel	NOUN
fumecheng-3689	187	21	platforms	platform	NOUN
fumecheng-3689	187	22	with	with	ADP
fumecheng-3689	187	23	joint	joint	ADJ
fumecheng-3689	187	24	constraints	constraint	NOUN
fumecheng-3689	187	25	,	,	PUNCT
fumecheng-3689	187	26	in	in	ADP
fumecheng-3689	187	27	proceedings	proceeding	NOUN
fumecheng-3689	187	28	2002	2002	NUM
fumecheng-3689	187	29	ieee	ieee	PROPN
fumecheng-3689	187	30	international	international	ADJ
fumecheng-3689	187	31	conference	conference	NOUN
fumecheng-3689	187	32	on	on	ADP
fumecheng-3689	187	33	robotics	robotic	NOUN
fumecheng-3689	187	34	and	and	CCONJ
fumecheng-3689	187	35	automation	automation	NOUN
fumecheng-3689	187	36	,	,	PUNCT
fumecheng-3689	187	37	4	4	NUM
fumecheng-3689	187	38	,	,	PUNCT
fumecheng-3689	187	39	pp	pp	ADJ
fumecheng-3689	187	40	.	.	PUNCT
fumecheng-3689	188	1	3678	3678	NUM
fumecheng-3689	188	2	-	-	SYM
fumecheng-3689	188	3	3683	3683	NUM
fumecheng-3689	188	4	.	.	PUNCT
fumecheng-3689	189	1	9	9	NUM
fumecheng-3689	189	2	.	.	X
fumecheng-3689	189	3	zhao	zhao	PROPN
fumecheng-3689	189	4	,	,	PUNCT
fumecheng-3689	189	5	j.s	j.s	PROPN
fumecheng-3689	189	6	.	.	PROPN
fumecheng-3689	189	7	,	,	PUNCT
fumecheng-3689	189	8	chu	chu	PROPN
fumecheng-3689	189	9	,	,	PUNCT
fumecheng-3689	189	10	f.	f.	PROPN
fumecheng-3689	189	11	,	,	PUNCT
fumecheng-3689	189	12	feng	feng	PROPN
fumecheng-3689	189	13	,	,	PUNCT
fumecheng-3689	189	14	z.j	z.j	PROPN
fumecheng-3689	189	15	.	.	PROPN
fumecheng-3689	189	16	,	,	PUNCT
fumecheng-3689	189	17	2008	2008	NUM
fumecheng-3689	189	18	,	,	PUNCT
fumecheng-3689	189	19	symmetrical	symmetrical	ADJ
fumecheng-3689	189	20	characteristics	characteristic	NOUN
fumecheng-3689	189	21	of	of	ADP
fumecheng-3689	189	22	the	the	DET
fumecheng-3689	189	23	workspace	workspace	NOUN
fumecheng-3689	189	24	for	for	ADP
fumecheng-3689	189	25	spatial	spatial	ADJ
fumecheng-3689	189	26	parallel	parallel	ADJ
fumecheng-3689	189	27	mechanisms	mechanism	NOUN
fumecheng-3689	189	28	with	with	ADP
fumecheng-3689	189	29	symmetric	symmetric	ADJ
fumecheng-3689	189	30	structure	structure	NOUN
fumecheng-3689	189	31	,	,	PUNCT
fumecheng-3689	189	32	mechanism	mechanism	NOUN
fumecheng-3689	189	33	and	and	CCONJ
fumecheng-3689	189	34	machine	machine	NOUN
fumecheng-3689	189	35	theory	theory	NOUN
fumecheng-3689	189	36	,	,	PUNCT
fumecheng-3689	189	37	43(4	43(4	NOUN
fumecheng-3689	189	38	)	)	PUNCT
fumecheng-3689	189	39	,	,	PUNCT
fumecheng-3689	189	40	pp	pp	ADP
fumecheng-3689	189	41	.	.	PUNCT
fumecheng-3689	190	1	427	427	NUM
fumecheng-3689	190	2	-	-	SYM
fumecheng-3689	190	3	444	444	NUM
fumecheng-3689	190	4	.	.	NOUN
fumecheng-3689	191	1	10	10	NUM
fumecheng-3689	191	2	.	.	PUNCT
fumecheng-3689	192	1	gao	gao	PROPN
fumecheng-3689	192	2	,	,	PUNCT
fumecheng-3689	192	3	f.	f.	PROPN
fumecheng-3689	192	4	,	,	PUNCT
fumecheng-3689	192	5	liu	liu	PROPN
fumecheng-3689	192	6	,	,	PUNCT
fumecheng-3689	192	7	x.j	x.j	PROPN
fumecheng-3689	192	8	.	.	PROPN
fumecheng-3689	192	9	,	,	PUNCT
fumecheng-3689	192	10	chen	chen	PROPN
fumecheng-3689	192	11	,	,	PUNCT
fumecheng-3689	192	12	x.	x.	PROPN
fumecheng-3689	192	13	,	,	PUNCT
fumecheng-3689	192	14	2001	2001	NUM
fumecheng-3689	192	15	,	,	PUNCT
fumecheng-3689	192	16	the	the	DET
fumecheng-3689	192	17	relationships	relationship	NOUN
fumecheng-3689	192	18	between	between	ADP
fumecheng-3689	192	19	the	the	DET
fumecheng-3689	192	20	shapes	shape	NOUN
fumecheng-3689	192	21	of	of	ADP
fumecheng-3689	192	22	the	the	DET
fumecheng-3689	192	23	workspaces	workspace	NOUN
fumecheng-3689	192	24	and	and	CCONJ
fumecheng-3689	192	25	the	the	DET
fumecheng-3689	192	26	link	link	NOUN
fumecheng-3689	192	27	lengths	length	NOUN
fumecheng-3689	192	28	of	of	ADP
fumecheng-3689	192	29	3	3	NUM
fumecheng-3689	192	30	-	-	PUNCT
fumecheng-3689	192	31	dof	dof	ADJ
fumecheng-3689	192	32	symmetrical	symmetrical	ADJ
fumecheng-3689	192	33	planar	planar	ADJ
fumecheng-3689	192	34	parallel	parallel	ADJ
fumecheng-3689	192	35	manipulators	manipulator	NOUN
fumecheng-3689	192	36	,	,	PUNCT
fumecheng-3689	192	37	mechanism	mechanism	NOUN
fumecheng-3689	192	38	and	and	CCONJ
fumecheng-3689	192	39	machine	machine	NOUN
fumecheng-3689	192	40	theory	theory	NOUN
fumecheng-3689	192	41	,	,	PUNCT
fumecheng-3689	192	42	36(2	36(2	NUM
fumecheng-3689	192	43	)	)	PUNCT
fumecheng-3689	192	44	,	,	PUNCT
fumecheng-3689	192	45	pp	pp	PROPN
fumecheng-3689	192	46	.	.	PUNCT
fumecheng-3689	193	1	205	205	NUM
fumecheng-3689	193	2	-	-	SYM
fumecheng-3689	193	3	220	220	NUM
fumecheng-3689	193	4	.	.	PUNCT
fumecheng-3689	194	1	11	11	NUM
fumecheng-3689	194	2	.	.	PUNCT
fumecheng-3689	195	1	hay	hay	PROPN
fumecheng-3689	195	2	,	,	PUNCT
fumecheng-3689	195	3	a.m.	a.m.	ADV
fumecheng-3689	195	4	,	,	PUNCT
fumecheng-3689	195	5	snyman	snyman	NOUN
fumecheng-3689	195	6	,	,	PUNCT
fumecheng-3689	195	7	j.a	j.a	PROPN
fumecheng-3689	195	8	.	.	PROPN
fumecheng-3689	195	9	,	,	PUNCT
fumecheng-3689	195	10	2005	2005	NUM
fumecheng-3689	195	11	,	,	PUNCT
fumecheng-3689	195	12	a	a	DET
fumecheng-3689	195	13	multi	multi	ADJ
fumecheng-3689	195	14	-	-	ADJ
fumecheng-3689	195	15	level	level	ADJ
fumecheng-3689	195	16	optimization	optimization	NOUN
fumecheng-3689	195	17	methodology	methodology	NOUN
fumecheng-3689	195	18	for	for	ADP
fumecheng-3689	195	19	determining	determine	VERB
fumecheng-3689	195	20	the	the	DET
fumecheng-3689	195	21	dextrous	dextrous	ADJ
fumecheng-3689	195	22	workspaces	workspace	NOUN
fumecheng-3689	195	23	of	of	ADP
fumecheng-3689	195	24	planar	planar	ADJ
fumecheng-3689	195	25	parallel	parallel	ADJ
fumecheng-3689	195	26	manipulators	manipulator	NOUN
fumecheng-3689	195	27	,	,	PUNCT
fumecheng-3689	195	28	structural	structural	ADJ
fumecheng-3689	195	29	and	and	CCONJ
fumecheng-3689	195	30	multidisciplinary	multidisciplinary	ADJ
fumecheng-3689	195	31	optimization	optimization	NOUN
fumecheng-3689	195	32	,	,	PUNCT
fumecheng-3689	195	33	30(6	30(6	NUM
fumecheng-3689	195	34	)	)	PUNCT
fumecheng-3689	195	35	,	,	PUNCT
fumecheng-3689	195	36	pp	pp	PROPN
fumecheng-3689	195	37	.	.	PUNCT
fumecheng-3689	196	1	422	422	NUM
fumecheng-3689	196	2	-	-	SYM
fumecheng-3689	196	3	427	427	NUM
fumecheng-3689	196	4	.	.	PUNCT
fumecheng-3689	197	1	12	12	NUM
fumecheng-3689	197	2	.	.	PUNCT
fumecheng-3689	198	1	hay	hay	PROPN
fumecheng-3689	198	2	,	,	PUNCT
fumecheng-3689	198	3	a.m.	a.m.	ADV
fumecheng-3689	198	4	,	,	PUNCT
fumecheng-3689	198	5	snyman	snyman	NOUN
fumecheng-3689	198	6	,	,	PUNCT
fumecheng-3689	198	7	j.a	j.a	PROPN
fumecheng-3689	198	8	.	.	PROPN
fumecheng-3689	198	9	,	,	PUNCT
fumecheng-3689	198	10	2006	2006	NUM
fumecheng-3689	198	11	,	,	PUNCT
fumecheng-3689	198	12	optimal	optimal	ADJ
fumecheng-3689	198	13	synthesis	synthesis	NOUN
fumecheng-3689	198	14	for	for	ADP
fumecheng-3689	198	15	a	a	DET
fumecheng-3689	198	16	continuous	continuous	ADJ
fumecheng-3689	198	17	prescribed	prescribed	ADJ
fumecheng-3689	198	18	dexterity	dexterity	NOUN
fumecheng-3689	198	19	interval	interval	NOUN
fumecheng-3689	198	20	of	of	ADP
fumecheng-3689	198	21	a	a	DET
fumecheng-3689	198	22	3‐dof	3‐dof	NUM
fumecheng-3689	198	23	parallel	parallel	ADJ
fumecheng-3689	198	24	planar	planar	ADJ
fumecheng-3689	198	25	manipulator	manipulator	NOUN
fumecheng-3689	198	26	for	for	ADP
fumecheng-3689	198	27	different	different	ADJ
fumecheng-3689	198	28	prescribed	prescribed	ADJ
fumecheng-3689	198	29	output	output	NOUN
fumecheng-3689	198	30	workspaces	workspace	NOUN
fumecheng-3689	198	31	,	,	PUNCT
fumecheng-3689	198	32	international	international	ADJ
fumecheng-3689	198	33	journal	journal	NOUN
fumecheng-3689	198	34	for	for	ADP
fumecheng-3689	198	35	numerical	numerical	ADJ
fumecheng-3689	198	36	methods	method	NOUN
fumecheng-3689	198	37	in	in	ADP
fumecheng-3689	198	38	engineering	engineering	NOUN
fumecheng-3689	198	39	,	,	PUNCT
fumecheng-3689	198	40	68(1	68(1	NOUN
fumecheng-3689	198	41	)	)	PUNCT
fumecheng-3689	198	42	,	,	PUNCT
fumecheng-3689	198	43	pp	pp	ADP
fumecheng-3689	198	44	.	.	PUNCT
fumecheng-3689	199	1	1	1	NUM
fumecheng-3689	199	2	-	-	SYM
fumecheng-3689	199	3	12	12	NUM
fumecheng-3689	199	4	.	.	PUNCT
fumecheng-3689	200	1	13	13	NUM
fumecheng-3689	200	2	.	.	PUNCT
fumecheng-3689	201	1	boudreau	boudreau	PROPN
fumecheng-3689	201	2	,	,	PUNCT
fumecheng-3689	201	3	r.	r.	PROPN
fumecheng-3689	201	4	,	,	PUNCT
fumecheng-3689	201	5	gosselin	gosselin	PROPN
fumecheng-3689	201	6	,	,	PUNCT
fumecheng-3689	201	7	c.m	c.m	PROPN
fumecheng-3689	201	8	.	.	PROPN
fumecheng-3689	201	9	,	,	PUNCT
fumecheng-3689	201	10	1999	1999	NUM
fumecheng-3689	201	11	,	,	PUNCT
fumecheng-3689	201	12	the	the	DET
fumecheng-3689	201	13	synthesis	synthesis	NOUN
fumecheng-3689	201	14	of	of	ADP
fumecheng-3689	201	15	planar	planar	ADJ
fumecheng-3689	201	16	parallel	parallel	ADJ
fumecheng-3689	201	17	manipulators	manipulator	NOUN
fumecheng-3689	201	18	with	with	ADP
fumecheng-3689	201	19	a	a	DET
fumecheng-3689	201	20	genetic	genetic	ADJ
fumecheng-3689	201	21	algorithm	algorithm	NOUN
fumecheng-3689	201	22	,	,	PUNCT
fumecheng-3689	201	23	journal	journal	NOUN
fumecheng-3689	201	24	of	of	ADP
fumecheng-3689	201	25	mechanical	mechanical	ADJ
fumecheng-3689	201	26	design	design	NOUN
fumecheng-3689	201	27	,	,	PUNCT
fumecheng-3689	201	28	121(4	121(4	NUM
fumecheng-3689	201	29	)	)	PUNCT
fumecheng-3689	201	30	,	,	PUNCT
fumecheng-3689	201	31	pp	pp	ADP
fumecheng-3689	201	32	.	.	PUNCT
fumecheng-3689	202	1	533	533	NUM
fumecheng-3689	202	2	-	-	SYM
fumecheng-3689	202	3	537	537	NUM
fumecheng-3689	202	4	.	.	PUNCT
fumecheng-3689	203	1	14	14	NUM
fumecheng-3689	203	2	.	.	PUNCT
fumecheng-3689	204	1	laribi	laribi	NOUN
fumecheng-3689	204	2	,	,	PUNCT
fumecheng-3689	204	3	m.a	m.a	PROPN
fumecheng-3689	204	4	.	.	PROPN
fumecheng-3689	204	5	,	,	PUNCT
fumecheng-3689	204	6	romdhane	romdhane	PROPN
fumecheng-3689	204	7	,	,	PUNCT
fumecheng-3689	204	8	l.	l.	PROPN
fumecheng-3689	204	9	,	,	PUNCT
fumecheng-3689	204	10	zeghloul	zeghloul	PROPN
fumecheng-3689	204	11	,	,	PUNCT
fumecheng-3689	204	12	s.	s.	PROPN
fumecheng-3689	204	13	,	,	PUNCT
fumecheng-3689	204	14	2008	2008	NUM
fumecheng-3689	204	15	,	,	PUNCT
fumecheng-3689	204	16	advanced	advanced	ADJ
fumecheng-3689	204	17	synthesis	synthesis	NOUN
fumecheng-3689	204	18	of	of	ADP
fumecheng-3689	204	19	the	the	DET
fumecheng-3689	204	20	delta	delta	NOUN
fumecheng-3689	204	21	parallel	parallel	NOUN
fumecheng-3689	204	22	robot	robot	NOUN
fumecheng-3689	204	23	for	for	ADP
fumecheng-3689	204	24	a	a	DET
fumecheng-3689	204	25	specified	specified	ADJ
fumecheng-3689	204	26	workspace	workspace	NOUN
fumecheng-3689	204	27	,	,	PUNCT
fumecheng-3689	204	28	in	in	ADP
fumecheng-3689	204	29	parallel	parallel	ADJ
fumecheng-3689	204	30	manipulators	manipulator	NOUN
fumecheng-3689	204	31	,	,	PUNCT
fumecheng-3689	204	32	towards	towards	ADP
fumecheng-3689	204	33	new	new	ADJ
fumecheng-3689	204	34	applications	application	NOUN
fumecheng-3689	204	35	,	,	PUNCT
fumecheng-3689	204	36	intech	intech	PROPN
fumecheng-3689	204	37	open	open	ADJ
fumecheng-3689	204	38	.	.	PUNCT
fumecheng-3689	205	1	15	15	X
fumecheng-3689	205	2	.	.	X
fumecheng-3689	205	3	assad	assad	PROPN
fumecheng-3689	205	4	,	,	PUNCT
fumecheng-3689	205	5	k.a	k.a	PROPN
fumecheng-3689	205	6	.	.	PROPN
fumecheng-3689	205	7	,	,	PUNCT
fumecheng-3689	205	8	bouzgarrou	bouzgarrou	PROPN
fumecheng-3689	205	9	,	,	PUNCT
fumecheng-3689	205	10	b.c	b.c	PROPN
fumecheng-3689	205	11	.	.	PROPN
fumecheng-3689	205	12	,	,	PUNCT
fumecheng-3689	205	13	stan	stan	PROPN
fumecheng-3689	205	14	,	,	PUNCT
fumecheng-3689	205	15	s.d	s.d	PROPN
fumecheng-3689	205	16	.	.	PROPN
fumecheng-3689	205	17	,	,	PUNCT
fumecheng-3689	205	18	gogu	gogu	PROPN
fumecheng-3689	205	19	,	,	PUNCT
fumecheng-3689	205	20	g.	g.	PROPN
fumecheng-3689	205	21	,	,	PUNCT
fumecheng-3689	205	22	2010	2010	NUM
fumecheng-3689	205	23	,	,	PUNCT
fumecheng-3689	205	24	cad	cad	X
fumecheng-3689	205	25	based	base	VERB
fumecheng-3689	205	26	design	design	NOUN
fumecheng-3689	205	27	optimization	optimization	NOUN
fumecheng-3689	205	28	of	of	ADP
fumecheng-3689	205	29	planar	planar	ADJ
fumecheng-3689	205	30	parallel	parallel	ADJ
fumecheng-3689	205	31	manipulators	manipulator	NOUN
fumecheng-3689	205	32	,	,	PUNCT
fumecheng-3689	205	33	diffusion	diffusion	NOUN
fumecheng-3689	205	34	and	and	CCONJ
fumecheng-3689	205	35	defect	defect	NOUN
fumecheng-3689	205	36	data	datum	NOUN
fumecheng-3689	205	37	,	,	PUNCT
fumecheng-3689	205	38	solid	solid	ADJ
fumecheng-3689	205	39	state	state	NOUN
fumecheng-3689	205	40	data	datum	NOUN
fumecheng-3689	205	41	,	,	PUNCT
fumecheng-3689	205	42	part	part	NOUN
fumecheng-3689	205	43	b	b	PROPN
fumecheng-3689	205	44	,	,	PUNCT
fumecheng-3689	205	45	solid	solid	ADJ
fumecheng-3689	205	46	state	state	NOUN
fumecheng-3689	205	47	phenomena	phenomenon	NOUN
fumecheng-3689	205	48	,	,	PUNCT
fumecheng-3689	205	49	166	166	NUM
fumecheng-3689	205	50	,	,	PUNCT
fumecheng-3689	205	51	pp	pp	ADJ
fumecheng-3689	205	52	.	.	PUNCT
fumecheng-3689	206	1	33–38	33–38	NUM
fumecheng-3689	206	2	.	.	PUNCT
fumecheng-3689	207	1	16	16	NUM
fumecheng-3689	207	2	.	.	PUNCT
fumecheng-3689	208	1	bonev	bonev	PROPN
fumecheng-3689	208	2	,	,	PUNCT
fumecheng-3689	208	3	i.a	i.a	PROPN
fumecheng-3689	208	4	.	.	PROPN
fumecheng-3689	208	5	,	,	PUNCT
fumecheng-3689	208	6	ryu	ryu	PROPN
fumecheng-3689	208	7	,	,	PUNCT
fumecheng-3689	208	8	j.	j.	PROPN
fumecheng-3689	208	9	,	,	PUNCT
fumecheng-3689	208	10	2001	2001	NUM
fumecheng-3689	208	11	,	,	PUNCT
fumecheng-3689	208	12	a	a	DET
fumecheng-3689	208	13	geometrical	geometrical	ADJ
fumecheng-3689	208	14	method	method	NOUN
fumecheng-3689	208	15	for	for	ADP
fumecheng-3689	208	16	computing	compute	VERB
fumecheng-3689	208	17	the	the	DET
fumecheng-3689	208	18	constant	constant	ADJ
fumecheng-3689	208	19	-	-	PUNCT
fumecheng-3689	208	20	orientation	orientation	NOUN
fumecheng-3689	208	21	workspace	workspace	NOUN
fumecheng-3689	208	22	of	of	ADP
fumecheng-3689	208	23	6prrs	6prrs	NUM
fumecheng-3689	208	24	parallel	parallel	ADJ
fumecheng-3689	208	25	manipulators	manipulator	NOUN
fumecheng-3689	208	26	,	,	PUNCT
fumecheng-3689	208	27	mechanism	mechanism	NOUN
fumecheng-3689	208	28	and	and	CCONJ
fumecheng-3689	208	29	machine	machine	NOUN
fumecheng-3689	208	30	theory	theory	NOUN
fumecheng-3689	208	31	,	,	PUNCT
fumecheng-3689	208	32	36(1	36(1	NUM
fumecheng-3689	208	33	)	)	PUNCT
fumecheng-3689	208	34	,	,	PUNCT
fumecheng-3689	208	35	pp	pp	ADJ
fumecheng-3689	208	36	.	.	PUNCT
fumecheng-3689	209	1	1	1	NUM
fumecheng-3689	209	2	-	-	SYM
fumecheng-3689	209	3	13	13	NUM
fumecheng-3689	209	4	.	.	PUNCT
fumecheng-3689	210	1	17	17	NUM
fumecheng-3689	210	2	.	.	PUNCT
fumecheng-3689	211	1	gosselin	gosselin	PROPN
fumecheng-3689	211	2	,	,	PUNCT
fumecheng-3689	211	3	c.	c.	PROPN
fumecheng-3689	211	4	,	,	PUNCT
fumecheng-3689	211	5	1990	1990	NUM
fumecheng-3689	211	6	,	,	PUNCT
fumecheng-3689	211	7	determination	determination	NOUN
fumecheng-3689	211	8	of	of	ADP
fumecheng-3689	211	9	the	the	DET
fumecheng-3689	211	10	workspace	workspace	NOUN
fumecheng-3689	211	11	of	of	ADP
fumecheng-3689	211	12	6	6	NUM
fumecheng-3689	211	13	-	-	PUNCT
fumecheng-3689	211	14	dof	dof	NOUN
fumecheng-3689	211	15	parallel	parallel	NOUN
fumecheng-3689	211	16	manipulators	manipulator	NOUN
fumecheng-3689	211	17	,	,	PUNCT
fumecheng-3689	211	18	journal	journal	NOUN
fumecheng-3689	211	19	of	of	ADP
fumecheng-3689	211	20	mechanical	mechanical	ADJ
fumecheng-3689	211	21	design	design	NOUN
fumecheng-3689	211	22	,	,	PUNCT
fumecheng-3689	211	23	112(3	112(3	NUM
fumecheng-3689	211	24	)	)	PUNCT
fumecheng-3689	211	25	,	,	PUNCT
fumecheng-3689	211	26	pp	pp	ADJ
fumecheng-3689	211	27	.	.	PUNCT
fumecheng-3689	212	1	331	331	NUM
fumecheng-3689	212	2	-	-	SYM
fumecheng-3689	212	3	336	336	NUM
fumecheng-3689	212	4	.	.	PUNCT
fumecheng-3689	213	1	18	18	NUM
fumecheng-3689	213	2	.	.	X
fumecheng-3689	214	1	merlet	merlet	PROPN
fumecheng-3689	214	2	,	,	PUNCT
fumecheng-3689	214	3	j.p	j.p	PROPN
fumecheng-3689	214	4	.	.	PROPN
fumecheng-3689	214	5	,	,	PUNCT
fumecheng-3689	214	6	1995	1995	NUM
fumecheng-3689	214	7	,	,	PUNCT
fumecheng-3689	214	8	determination	determination	NOUN
fumecheng-3689	214	9	of	of	ADP
fumecheng-3689	214	10	the	the	DET
fumecheng-3689	214	11	orientation	orientation	NOUN
fumecheng-3689	214	12	workspace	workspace	NOUN
fumecheng-3689	214	13	of	of	ADP
fumecheng-3689	214	14	parallel	parallel	ADJ
fumecheng-3689	214	15	manipulators	manipulator	NOUN
fumecheng-3689	214	16	,	,	PUNCT
fumecheng-3689	214	17	journal	journal	NOUN
fumecheng-3689	214	18	of	of	ADP
fumecheng-3689	214	19	intelligent	intelligent	ADJ
fumecheng-3689	214	20	and	and	CCONJ
fumecheng-3689	214	21	robotic	robotic	ADJ
fumecheng-3689	214	22	systems	system	NOUN
fumecheng-3689	214	23	,	,	PUNCT
fumecheng-3689	214	24	13(2	13(2	NOUN
fumecheng-3689	214	25	)	)	PUNCT
fumecheng-3689	214	26	,	,	PUNCT
fumecheng-3689	214	27	pp	pp	ADJ
fumecheng-3689	214	28	.	.	PUNCT
fumecheng-3689	215	1	143	143	NUM
fumecheng-3689	215	2	-	-	SYM
fumecheng-3689	215	3	160	160	NUM
fumecheng-3689	215	4	.	.	NOUN
fumecheng-3689	216	1	19	19	NUM
fumecheng-3689	216	2	.	.	X
fumecheng-3689	217	1	kirkpatrick	kirkpatrick	PROPN
fumecheng-3689	217	2	,	,	PUNCT
fumecheng-3689	217	3	s.	s.	PROPN
fumecheng-3689	217	4	,	,	PUNCT
fumecheng-3689	217	5	gelatt	gelatt	PROPN
fumecheng-3689	217	6	,	,	PUNCT
fumecheng-3689	217	7	c.d	c.d	PROPN
fumecheng-3689	217	8	.	.	PROPN
fumecheng-3689	217	9	,	,	PUNCT
fumecheng-3689	217	10	vecchi	vecchi	PROPN
fumecheng-3689	217	11	,	,	PUNCT
fumecheng-3689	217	12	m.p	m.p	PROPN
fumecheng-3689	217	13	.	.	PROPN
fumecheng-3689	217	14	,	,	PUNCT
fumecheng-3689	217	15	1983	1983	NUM
fumecheng-3689	217	16	,	,	PUNCT
fumecheng-3689	217	17	optimization	optimization	NOUN
fumecheng-3689	217	18	by	by	ADP
fumecheng-3689	217	19	simulated	simulated	ADJ
fumecheng-3689	217	20	annealing	annealing	NOUN
fumecheng-3689	217	21	,	,	PUNCT
fumecheng-3689	217	22	science	science	NOUN
fumecheng-3689	217	23	,	,	PUNCT
fumecheng-3689	217	24	220(4598	220(4598	NUM
fumecheng-3689	217	25	)	)	PUNCT
fumecheng-3689	217	26	,	,	PUNCT
fumecheng-3689	217	27	pp	pp	ADV
fumecheng-3689	217	28	.	.	PUNCT
fumecheng-3689	218	1	671	671	NUM
fumecheng-3689	218	2	-	-	SYM
fumecheng-3689	218	3	680	680	NUM
fumecheng-3689	218	4	.	.	PROPN
fumecheng-3689	219	1	20	20	NUM
fumecheng-3689	219	2	.	.	PUNCT
fumecheng-3689	219	3	shewchuk	shewchuk	PROPN
fumecheng-3689	219	4	,	,	PUNCT
fumecheng-3689	219	5	j.r	j.r	PROPN
fumecheng-3689	219	6	.	.	PROPN
fumecheng-3689	219	7	,	,	PUNCT
fumecheng-3689	219	8	1994	1994	NUM
fumecheng-3689	219	9	,	,	PUNCT
fumecheng-3689	219	10	an	an	DET
fumecheng-3689	219	11	introduction	introduction	NOUN
fumecheng-3689	219	12	to	to	ADP
fumecheng-3689	219	13	the	the	DET
fumecheng-3689	219	14	conjugate	conjugate	ADJ
fumecheng-3689	219	15	gradient	gradient	NOUN
fumecheng-3689	219	16	method	method	NOUN
fumecheng-3689	219	17	without	without	ADP
fumecheng-3689	219	18	the	the	DET
fumecheng-3689	219	19	agonizing	agonizing	ADJ
fumecheng-3689	219	20	pain	pain	NOUN
fumecheng-3689	219	21	.	.	PUNCT
fumecheng-3689	220	1	21	21	NUM
fumecheng-3689	220	2	.	.	X
fumecheng-3689	220	3	aboulissane	aboulissane	PROPN
fumecheng-3689	220	4	,	,	PUNCT
fumecheng-3689	220	5	b.	b.	PROPN
fumecheng-3689	220	6	,	,	PUNCT
fumecheng-3689	220	7	el	el	PROPN
fumecheng-3689	220	8	haiek	haiek	PROPN
fumecheng-3689	220	9	,	,	PUNCT
fumecheng-3689	220	10	d.	d.	PROPN
fumecheng-3689	220	11	,	,	PUNCT
fumecheng-3689	220	12	el	el	PROPN
fumecheng-3689	220	13	bakkali	bakkali	PROPN
fumecheng-3689	220	14	,	,	PUNCT
fumecheng-3689	220	15	l.	l.	PROPN
fumecheng-3689	220	16	,	,	PUNCT
fumecheng-3689	220	17	el	el	PROPN
fumecheng-3689	220	18	bahaoui	bahaoui	PROPN
fumecheng-3689	220	19	,	,	PUNCT
fumecheng-3689	220	20	j.	j.	PROPN
fumecheng-3689	220	21	,	,	PUNCT
fumecheng-3689	220	22	2019	2019	NUM
fumecheng-3689	220	23	,	,	PUNCT
fumecheng-3689	220	24	on	on	ADP
fumecheng-3689	220	25	the	the	DET
fumecheng-3689	220	26	workspace	workspace	NOUN
fumecheng-3689	220	27	optimization	optimization	NOUN
fumecheng-3689	220	28	of	of	ADP
fumecheng-3689	220	29	parallel	parallel	ADJ
fumecheng-3689	220	30	robots	robot	NOUN
fumecheng-3689	220	31	based	base	VERB
fumecheng-3689	220	32	on	on	ADP
fumecheng-3689	220	33	cad	cad	PROPN
fumecheng-3689	220	34	approach	approach	NOUN
fumecheng-3689	220	35	,	,	PUNCT
fumecheng-3689	220	36	procedia	procedia	NOUN
fumecheng-3689	220	37	manufacturing	manufacturing	NOUN
fumecheng-3689	220	38	,	,	PUNCT
fumecheng-3689	220	39	32	32	NUM
fumecheng-3689	220	40	,	,	PUNCT
fumecheng-3689	220	41	pp	pp	ADJ
fumecheng-3689	220	42	.	.	PUNCT
fumecheng-3689	221	1	1085	1085	NUM
fumecheng-3689	221	2	-	-	SYM
fumecheng-3689	221	3	1092	1092	NUM
fumecheng-3689	221	4	.	.	PUNCT
fumecheng-3689	222	1	22	22	NUM
fumecheng-3689	222	2	.	.	PUNCT
fumecheng-3689	222	3	tsirogiannis	tsirogiannis	PROPN
fumecheng-3689	222	4	,	,	PUNCT
fumecheng-3689	222	5	e.	e.	PROPN
fumecheng-3689	222	6	,	,	PUNCT
fumecheng-3689	222	7	vosniakos	vosniakos	INTJ
fumecheng-3689	222	8	,	,	PUNCT
fumecheng-3689	222	9	g.c	g.c	PROPN
fumecheng-3689	222	10	.	.	PROPN
fumecheng-3689	222	11	,	,	PUNCT
fumecheng-3689	222	12	2019	2019	NUM
fumecheng-3689	222	13	,	,	PUNCT
fumecheng-3689	222	14	redesign	redesign	NOUN
fumecheng-3689	222	15	and	and	CCONJ
fumecheng-3689	222	16	topology	topology	NOUN
fumecheng-3689	222	17	optimization	optimization	NOUN
fumecheng-3689	222	18	of	of	ADP
fumecheng-3689	222	19	an	an	DET
fumecheng-3689	222	20	industrial	industrial	ADJ
fumecheng-3689	222	21	robot	robot	NOUN
fumecheng-3689	222	22	link	link	NOUN
fumecheng-3689	222	23	for	for	ADP
fumecheng-3689	222	24	additive	additive	ADJ
fumecheng-3689	222	25	manufacturing	manufacturing	NOUN
fumecheng-3689	222	26	,	,	PUNCT
fumecheng-3689	222	27	facta	facta	PROPN
fumecheng-3689	222	28	universitatis	universitatis	PROPN
fumecheng-3689	222	29	-	-	PUNCT
fumecheng-3689	222	30	series	series	NOUN
fumecheng-3689	222	31	mechanical	mechanical	ADJ
fumecheng-3689	222	32	engineering	engineering	NOUN
fumecheng-3689	222	33	,	,	PUNCT
fumecheng-3689	222	34	17(3	17(3	NUM
fumecheng-3689	222	35	)	)	PUNCT
fumecheng-3689	222	36	,	,	PUNCT
fumecheng-3689	222	37	pp	pp	ADJ
fumecheng-3689	222	38	.	.	PUNCT
fumecheng-3689	223	1	415	415	NUM
fumecheng-3689	223	2	-	-	SYM
fumecheng-3689	223	3	424	424	NUM
fumecheng-3689	223	4	.	.	PUNCT