id	sid	tid	token	lemma	pos
fumecheng-4951	1	1	facta	facta	PROPN
fumecheng-4951	1	2	universitatis	universitatis	PROPN
fumecheng-4951	1	3	series	series	NOUN
fumecheng-4951	1	4	:	:	PUNCT
fumecheng-4951	1	5	mechanical	mechanical	ADJ
fumecheng-4951	1	6	engineering	engineering	NOUN
fumecheng-4951	1	7	vol	vol	NOUN
fumecheng-4951	1	8	.	.	PROPN
fumecheng-4951	2	1	19	19	NUM
fumecheng-4951	2	2	,	,	PUNCT
fumecheng-4951	2	3	no	no	DET
fumecheng-4951	2	4	4	4	NUM
fumecheng-4951	2	5	,	,	PUNCT
fumecheng-4951	2	6	2021	2021	NUM
fumecheng-4951	2	7	,	,	PUNCT
fumecheng-4951	2	8	pp	pp	ADV
fumecheng-4951	2	9	.	.	PUNCT
fumecheng-4951	3	1	705	705	NUM
fumecheng-4951	3	2	718	718	NUM
fumecheng-4951	3	3	https://doi.org/10.22190/fume190225020j	https://doi.org/10.22190/fume190225020j	NOUN
fumecheng-4951	3	4	©	©	PROPN
fumecheng-4951	3	5	2021	2021	NUM
fumecheng-4951	3	6	by	by	ADP
fumecheng-4951	3	7	university	university	PROPN
fumecheng-4951	3	8	of	of	ADP
fumecheng-4951	3	9	niš	niš	PROPN
fumecheng-4951	3	10	,	,	PUNCT
fumecheng-4951	3	11	serbia	serbia	PROPN
fumecheng-4951	3	12	|	|	ADV
fumecheng-4951	3	13	creative	creative	ADJ
fumecheng-4951	3	14	commons	common	NOUN
fumecheng-4951	3	15	license	license	NOUN
fumecheng-4951	3	16	:	:	PUNCT
fumecheng-4951	3	17	cc	cc	VERB
fumecheng-4951	3	18	by	by	ADP
fumecheng-4951	3	19	-	-	PUNCT
fumecheng-4951	3	20	nc	nc	VERB
fumecheng-4951	3	21	-	-	PUNCT
fumecheng-4951	3	22	nd	nd	ADV
fumecheng-4951	3	23	original	original	ADJ
fumecheng-4951	3	24	scientific	scientific	ADJ
fumecheng-4951	3	25	paper	paper	NUM
fumecheng-4951	3	26	analysis	analysis	NOUN
fumecheng-4951	3	27	of	of	ADP
fumecheng-4951	3	28	the	the	DET
fumecheng-4951	3	29	influence	influence	NOUN
fumecheng-4951	3	30	of	of	ADP
fumecheng-4951	3	31	the	the	DET
fumecheng-4951	3	32	digging	dig	VERB
fumecheng-4951	3	33	position	position	NOUN
fumecheng-4951	3	34	on	on	ADP
fumecheng-4951	3	35	the	the	DET
fumecheng-4951	3	36	loading	loading	NOUN
fumecheng-4951	3	37	of	of	ADP
fumecheng-4951	3	38	the	the	DET
fumecheng-4951	3	39	slewing	slewing	NOUN
fumecheng-4951	3	40	platform	platform	NOUN
fumecheng-4951	3	41	bearing	bearing	NOUN
fumecheng-4951	3	42	in	in	ADP
fumecheng-4951	3	43	hydraulic	hydraulic	ADJ
fumecheng-4951	3	44	excavators	excavator	NOUN
fumecheng-4951	3	45	vesna	vesna	PROPN
fumecheng-4951	3	46	jovanović	jovanović	PROPN
fumecheng-4951	3	47	,	,	PUNCT
fumecheng-4951	3	48	dragoslav	dragoslav	ADJ
fumecheng-4951	3	49	janošević	janošević	PROPN
fumecheng-4951	3	50	,	,	PUNCT
fumecheng-4951	3	51	jovan	jovan	PROPN
fumecheng-4951	3	52	pavlović	pavlović	PROPN
fumecheng-4951	3	53	university	university	PROPN
fumecheng-4951	3	54	of	of	ADP
fumecheng-4951	3	55	niš	niš	PROPN
fumecheng-4951	3	56	,	,	PUNCT
fumecheng-4951	3	57	faculty	faculty	NOUN
fumecheng-4951	3	58	of	of	ADP
fumecheng-4951	3	59	mechanical	mechanical	ADJ
fumecheng-4951	3	60	engineering	engineering	NOUN
fumecheng-4951	3	61	,	,	PUNCT
fumecheng-4951	3	62	serbia	serbia	PROPN
fumecheng-4951	3	63	abstract	abstract	ADJ
fumecheng-4951	3	64	.	.	PUNCT
fumecheng-4951	4	1	the	the	DET
fumecheng-4951	4	2	paper	paper	NOUN
fumecheng-4951	4	3	defines	define	VERB
fumecheng-4951	4	4	the	the	DET
fumecheng-4951	4	5	general	general	ADJ
fumecheng-4951	4	6	mathematical	mathematical	ADJ
fumecheng-4951	4	7	model	model	NOUN
fumecheng-4951	4	8	of	of	ADP
fumecheng-4951	4	9	hydraulic	hydraulic	ADJ
fumecheng-4951	4	10	excavators	excavator	NOUN
fumecheng-4951	4	11	for	for	ADP
fumecheng-4951	4	12	determining	determine	VERB
fumecheng-4951	4	13	the	the	DET
fumecheng-4951	4	14	boundary	boundary	ADJ
fumecheng-4951	4	15	and	and	CCONJ
fumecheng-4951	4	16	possible	possible	ADJ
fumecheng-4951	4	17	digging	dig	VERB
fumecheng-4951	4	18	resistances	resistance	NOUN
fumecheng-4951	4	19	and	and	CCONJ
fumecheng-4951	4	20	equivalent	equivalent	ADJ
fumecheng-4951	4	21	loads	load	NOUN
fumecheng-4951	4	22	of	of	ADP
fumecheng-4951	4	23	the	the	DET
fumecheng-4951	4	24	axial	axial	ADJ
fumecheng-4951	4	25	bearing	bearing	NOUN
fumecheng-4951	4	26	of	of	ADP
fumecheng-4951	4	27	the	the	DET
fumecheng-4951	4	28	slewing	slewing	NOUN
fumecheng-4951	4	29	platform	platform	NOUN
fumecheng-4951	4	30	drive	drive	NOUN
fumecheng-4951	4	31	mechanism	mechanism	NOUN
fumecheng-4951	4	32	throughout	throughout	ADP
fumecheng-4951	4	33	the	the	DET
fumecheng-4951	4	34	excavator	excavator	NOUN
fumecheng-4951	4	35	’s	’s	PART
fumecheng-4951	4	36	working	working	NOUN
fumecheng-4951	4	37	area	area	NOUN
fumecheng-4951	4	38	.	.	PUNCT
fumecheng-4951	5	1	using	use	VERB
fumecheng-4951	5	2	a	a	DET
fumecheng-4951	5	3	developed	develop	VERB
fumecheng-4951	5	4	mathematical	mathematical	ADJ
fumecheng-4951	5	5	model	model	NOUN
fumecheng-4951	5	6	and	and	CCONJ
fumecheng-4951	5	7	program	program	NOUN
fumecheng-4951	5	8	,	,	PUNCT
fumecheng-4951	5	9	in	in	ADP
fumecheng-4951	5	10	the	the	DET
fumecheng-4951	5	11	case	case	NOUN
fumecheng-4951	5	12	of	of	ADP
fumecheng-4951	5	13	a	a	DET
fumecheng-4951	5	14	100000	100000	NUM
fumecheng-4951	5	15	kg	kg	NOUN
fumecheng-4951	5	16	hydraulic	hydraulic	ADJ
fumecheng-4951	5	17	excavator	excavator	NOUN
fumecheng-4951	5	18	with	with	ADP
fumecheng-4951	5	19	a	a	DET
fumecheng-4951	5	20	shovel	shovel	ADJ
fumecheng-4951	5	21	manipulator	manipulator	NOUN
fumecheng-4951	5	22	bucket	bucket	NOUN
fumecheng-4951	5	23	volume	volume	NOUN
fumecheng-4951	5	24	of	of	ADP
fumecheng-4951	5	25	6,5	6,5	NUM
fumecheng-4951	5	26	m3	m3	NOUN
fumecheng-4951	5	27	,	,	PUNCT
fumecheng-4951	5	28	a	a	DET
fumecheng-4951	5	29	detailed	detailed	ADJ
fumecheng-4951	5	30	analysis	analysis	NOUN
fumecheng-4951	5	31	was	be	AUX
fumecheng-4951	5	32	performed	perform	VERB
fumecheng-4951	5	33	to	to	PART
fumecheng-4951	5	34	examine	examine	VERB
fumecheng-4951	5	35	the	the	DET
fumecheng-4951	5	36	influence	influence	NOUN
fumecheng-4951	5	37	of	of	ADP
fumecheng-4951	5	38	the	the	DET
fumecheng-4951	5	39	position	position	NOUN
fumecheng-4951	5	40	and	and	CCONJ
fumecheng-4951	5	41	digging	dig	VERB
fumecheng-4951	5	42	resistance	resistance	NOUN
fumecheng-4951	5	43	on	on	ADP
fumecheng-4951	5	44	the	the	DET
fumecheng-4951	5	45	loading	loading	NOUN
fumecheng-4951	5	46	of	of	ADP
fumecheng-4951	5	47	the	the	DET
fumecheng-4951	5	48	axial	axial	ADJ
fumecheng-4951	5	49	bearing	bearing	NOUN
fumecheng-4951	5	50	of	of	ADP
fumecheng-4951	5	51	the	the	DET
fumecheng-4951	5	52	excavator	excavator	NOUN
fumecheng-4951	5	53	slewing	slewing	NOUN
fumecheng-4951	5	54	platform	platform	NOUN
fumecheng-4951	5	55	drive	drive	NOUN
fumecheng-4951	5	56	mechanism	mechanism	NOUN
fumecheng-4951	5	57	.	.	PUNCT
fumecheng-4951	6	1	the	the	DET
fumecheng-4951	6	2	results	result	NOUN
fumecheng-4951	6	3	of	of	ADP
fumecheng-4951	6	4	the	the	DET
fumecheng-4951	6	5	performed	perform	VERB
fumecheng-4951	6	6	analysis	analysis	NOUN
fumecheng-4951	6	7	show	show	VERB
fumecheng-4951	6	8	that	that	SCONJ
fumecheng-4951	6	9	the	the	DET
fumecheng-4951	6	10	equivalent	equivalent	ADJ
fumecheng-4951	6	11	loads	load	NOUN
fumecheng-4951	6	12	,	,	PUNCT
fumecheng-4951	6	13	relevant	relevant	ADJ
fumecheng-4951	6	14	for	for	ADP
fumecheng-4951	6	15	the	the	DET
fumecheng-4951	6	16	selection	selection	NOUN
fumecheng-4951	6	17	of	of	ADP
fumecheng-4951	6	18	axial	axial	ADJ
fumecheng-4951	6	19	bearing	bearing	NOUN
fumecheng-4951	6	20	of	of	ADP
fumecheng-4951	6	21	the	the	DET
fumecheng-4951	6	22	excavator	excavator	NOUN
fumecheng-4951	6	23	slewing	slewing	NOUN
fumecheng-4951	6	24	platform	platform	NOUN
fumecheng-4951	6	25	,	,	PUNCT
fumecheng-4951	6	26	occur	occur	VERB
fumecheng-4951	6	27	in	in	ADP
fumecheng-4951	6	28	the	the	DET
fumecheng-4951	6	29	zone	zone	NOUN
fumecheng-4951	6	30	of	of	ADP
fumecheng-4951	6	31	the	the	DET
fumecheng-4951	6	32	working	working	NOUN
fumecheng-4951	6	33	area	area	NOUN
fumecheng-4951	6	34	when	when	SCONJ
fumecheng-4951	6	35	the	the	DET
fumecheng-4951	6	36	kinematic	kinematic	ADJ
fumecheng-4951	6	37	chain	chain	NOUN
fumecheng-4951	6	38	of	of	ADP
fumecheng-4951	6	39	the	the	DET
fumecheng-4951	6	40	excavator	excavator	NOUN
fumecheng-4951	6	41	has	have	VERB
fumecheng-4951	6	42	positions	position	NOUN
fumecheng-4951	6	43	in	in	ADP
fumecheng-4951	6	44	which	which	PRON
fumecheng-4951	6	45	the	the	DET
fumecheng-4951	6	46	manipulator	manipulator	NOUN
fumecheng-4951	6	47	mechanisms	mechanism	NOUN
fumecheng-4951	6	48	have	have	AUX
fumecheng-4951	6	49	coordinated	coordinate	VERB
fumecheng-4951	6	50	interaction	interaction	NOUN
fumecheng-4951	6	51	when	when	SCONJ
fumecheng-4951	6	52	they	they	PRON
fumecheng-4951	6	53	can	can	AUX
fumecheng-4951	6	54	overcome	overcome	VERB
fumecheng-4951	6	55	the	the	DET
fumecheng-4951	6	56	greatest	great	ADJ
fumecheng-4951	6	57	resistance	resistance	NOUN
fumecheng-4951	6	58	forces	force	NOUN
fumecheng-4951	6	59	in	in	ADP
fumecheng-4951	6	60	the	the	DET
fumecheng-4951	6	61	stable	stable	ADJ
fumecheng-4951	6	62	operation	operation	NOUN
fumecheng-4951	6	63	of	of	ADP
fumecheng-4951	6	64	the	the	DET
fumecheng-4951	6	65	excavator	excavator	NOUN
fumecheng-4951	6	66	.	.	PUNCT
fumecheng-4951	7	1	key	key	ADJ
fumecheng-4951	7	2	words	word	NOUN
fumecheng-4951	7	3	:	:	PUNCT
fumecheng-4951	7	4	hydraulic	hydraulic	ADJ
fumecheng-4951	7	5	excavator	excavator	NOUN
fumecheng-4951	7	6	,	,	PUNCT
fumecheng-4951	7	7	slewing	slewing	NOUN
fumecheng-4951	7	8	platform	platform	NOUN
fumecheng-4951	7	9	,	,	PUNCT
fumecheng-4951	7	10	loading	loading	NOUN
fumecheng-4951	7	11	of	of	ADP
fumecheng-4951	7	12	axial	axial	ADJ
fumecheng-4951	7	13	bearing	bearing	NOUN
fumecheng-4951	7	14	1	1	NUM
fumecheng-4951	7	15	.	.	PUNCT
fumecheng-4951	7	16	introduction	introduction	NOUN
fumecheng-4951	7	17	in	in	ADP
fumecheng-4951	7	18	the	the	DET
fumecheng-4951	7	19	synthesis	synthesis	NOUN
fumecheng-4951	7	20	of	of	ADP
fumecheng-4951	7	21	the	the	DET
fumecheng-4951	7	22	slewing	slewing	NOUN
fumecheng-4951	7	23	platform	platform	NOUN
fumecheng-4951	7	24	drive	drive	NOUN
fumecheng-4951	7	25	mechanism	mechanism	NOUN
fumecheng-4951	7	26	of	of	ADP
fumecheng-4951	7	27	hydraulic	hydraulic	ADJ
fumecheng-4951	7	28	excavators	excavator	NOUN
fumecheng-4951	7	29	,	,	PUNCT
fumecheng-4951	7	30	one	one	NUM
fumecheng-4951	7	31	first	first	ADV
fumecheng-4951	7	32	chooses	choose	VERB
fumecheng-4951	7	33	the	the	DET
fumecheng-4951	7	34	axial	axial	ADJ
fumecheng-4951	7	35	bearing	bearing	NOUN
fumecheng-4951	7	36	,	,	PUNCT
fumecheng-4951	7	37	which	which	PRON
fumecheng-4951	7	38	attaches	attach	VERB
fumecheng-4951	7	39	the	the	DET
fumecheng-4951	7	40	slewing	slewing	NOUN
fumecheng-4951	7	41	platform	platform	NOUN
fumecheng-4951	7	42	to	to	ADP
fumecheng-4951	7	43	the	the	DET
fumecheng-4951	7	44	support	support	NOUN
fumecheng-4951	7	45	and	and	CCONJ
fumecheng-4951	7	46	movement	movement	NOUN
fumecheng-4951	7	47	mechanism	mechanism	NOUN
fumecheng-4951	7	48	of	of	ADP
fumecheng-4951	7	49	the	the	DET
fumecheng-4951	7	50	excavator	excavator	NOUN
fumecheng-4951	7	51	.	.	PUNCT
fumecheng-4951	8	1	the	the	DET
fumecheng-4951	8	2	choice	choice	NOUN
fumecheng-4951	8	3	of	of	ADP
fumecheng-4951	8	4	this	this	DET
fumecheng-4951	8	5	bearing	bearing	NOUN
fumecheng-4951	8	6	is	be	AUX
fumecheng-4951	8	7	very	very	ADV
fumecheng-4951	8	8	complex	complex	ADJ
fumecheng-4951	8	9	because	because	SCONJ
fumecheng-4951	8	10	the	the	DET
fumecheng-4951	8	11	excavator	excavator	NOUN
fumecheng-4951	8	12	performs	perform	VERB
fumecheng-4951	8	13	various	various	ADJ
fumecheng-4951	8	14	functions	function	NOUN
fumecheng-4951	8	15	in	in	ADP
fumecheng-4951	8	16	its	its	PRON
fumecheng-4951	8	17	working	working	NOUN
fumecheng-4951	8	18	area	area	NOUN
fumecheng-4951	8	19	with	with	ADP
fumecheng-4951	8	20	a	a	DET
fumecheng-4951	8	21	variety	variety	NOUN
fumecheng-4951	8	22	of	of	ADP
fumecheng-4951	8	23	different	different	ADJ
fumecheng-4951	8	24	positions	position	NOUN
fumecheng-4951	8	25	and	and	CCONJ
fumecheng-4951	8	26	in	in	ADP
fumecheng-4951	8	27	very	very	ADV
fumecheng-4951	8	28	different	different	ADJ
fumecheng-4951	8	29	working	working	NOUN
fumecheng-4951	8	30	conditions	condition	NOUN
fumecheng-4951	8	31	.	.	PUNCT
fumecheng-4951	9	1	the	the	DET
fumecheng-4951	9	2	recent	recent	ADJ
fumecheng-4951	9	3	research	research	NOUN
fumecheng-4951	9	4	on	on	ADP
fumecheng-4951	9	5	the	the	DET
fumecheng-4951	9	6	slewing	slewing	NOUN
fumecheng-4951	9	7	platform	platform	NOUN
fumecheng-4951	9	8	drive	drive	NOUN
fumecheng-4951	9	9	mechanisms	mechanism	NOUN
fumecheng-4951	9	10	of	of	ADP
fumecheng-4951	9	11	excavators	excavator	NOUN
fumecheng-4951	9	12	includes	include	VERB
fumecheng-4951	9	13	:	:	PUNCT
fumecheng-4951	9	14	development	development	NOUN
fumecheng-4951	9	15	of	of	ADP
fumecheng-4951	9	16	general	general	ADJ
fumecheng-4951	9	17	mathematical	mathematical	ADJ
fumecheng-4951	9	18	models	model	NOUN
fumecheng-4951	9	19	of	of	ADP
fumecheng-4951	9	20	excavator	excavator	NOUN
fumecheng-4951	9	21	[	[	X
fumecheng-4951	9	22	1	1	NUM
fumecheng-4951	9	23	-	-	SYM
fumecheng-4951	9	24	4	4	NUM
fumecheng-4951	9	25	]	]	PUNCT
fumecheng-4951	9	26	,	,	PUNCT
fumecheng-4951	9	27	analysis	analysis	NOUN
fumecheng-4951	9	28	of	of	ADP
fumecheng-4951	9	29	loading	loading	NOUN
fumecheng-4951	9	30	of	of	ADP
fumecheng-4951	9	31	large	large	ADJ
fumecheng-4951	9	32	diameter	diameter	NOUN
fumecheng-4951	9	33	axial	axial	ADJ
fumecheng-4951	9	34	bearings	bearing	NOUN
fumecheng-4951	9	35	[	[	X
fumecheng-4951	9	36	5	5	NUM
fumecheng-4951	9	37	-	-	SYM
fumecheng-4951	9	38	7	7	NUM
fumecheng-4951	9	39	]	]	PUNCT
fumecheng-4951	9	40	,	,	PUNCT
fumecheng-4951	9	41	the	the	DET
fumecheng-4951	9	42	study	study	NOUN
fumecheng-4951	9	43	of	of	ADP
fumecheng-4951	9	44	the	the	DET
fumecheng-4951	9	45	influence	influence	NOUN
fumecheng-4951	9	46	factors	factor	NOUN
fumecheng-4951	9	47	on	on	ADP
fumecheng-4951	9	48	the	the	DET
fumecheng-4951	9	49	bearing	bearing	NOUN
fumecheng-4951	9	50	loads	load	NOUN
fumecheng-4951	9	51	[	[	X
fumecheng-4951	9	52	8	8	NUM
fumecheng-4951	9	53	-	-	SYM
fumecheng-4951	9	54	11	11	NUM
fumecheng-4951	9	55	]	]	PUNCT
fumecheng-4951	9	56	,	,	PUNCT
fumecheng-4951	9	57	the	the	DET
fumecheng-4951	9	58	synthesis	synthesis	NOUN
fumecheng-4951	9	59	of	of	ADP
fumecheng-4951	9	60	the	the	DET
fumecheng-4951	9	61	slewing	slewing	NOUN
fumecheng-4951	9	62	platform	platform	NOUN
fumecheng-4951	9	63	drive	drive	NOUN
fumecheng-4951	9	64	mechanism	mechanism	NOUN
fumecheng-4951	9	65	[	[	X
fumecheng-4951	9	66	12	12	NUM
fumecheng-4951	9	67	]	]	PUNCT
fumecheng-4951	9	68	and	and	CCONJ
fumecheng-4951	9	69	the	the	DET
fumecheng-4951	9	70	development	development	NOUN
fumecheng-4951	9	71	of	of	ADP
fumecheng-4951	9	72	hybrid	hybrid	ADJ
fumecheng-4951	9	73	drives	drive	NOUN
fumecheng-4951	9	74	of	of	ADP
fumecheng-4951	9	75	the	the	DET
fumecheng-4951	9	76	slewing	slewing	NOUN
fumecheng-4951	9	77	platform	platform	NOUN
fumecheng-4951	9	78	drive	drive	NOUN
fumecheng-4951	9	79	mechanism	mechanism	NOUN
fumecheng-4951	9	80	which	which	PRON
fumecheng-4951	9	81	enables	enable	VERB
fumecheng-4951	9	82	the	the	DET
fumecheng-4951	9	83	energy	energy	NOUN
fumecheng-4951	9	84	recovery	recovery	NOUN
fumecheng-4951	9	85	that	that	PRON
fumecheng-4951	9	86	occurs	occur	VERB
fumecheng-4951	9	87	received	receive	VERB
fumecheng-4951	9	88	february	february	PROPN
fumecheng-4951	9	89	25	25	NUM
fumecheng-4951	9	90	,	,	PUNCT
fumecheng-4951	9	91	2019	2019	NUM
fumecheng-4951	9	92	/	/	SYM
fumecheng-4951	9	93	accepted	accept	VERB
fumecheng-4951	9	94	may	may	AUX
fumecheng-4951	9	95	05	05	NUM
fumecheng-4951	9	96	,	,	PUNCT
fumecheng-4951	9	97	2019	2019	NUM
fumecheng-4951	9	98	corresponding	correspond	VERB
fumecheng-4951	9	99	author	author	NOUN
fumecheng-4951	9	100	:	:	PUNCT
fumecheng-4951	9	101	vesna	vesna	PROPN
fumecheng-4951	9	102	jovanović	jovanović	PROPN
fumecheng-4951	9	103	university	university	PROPN
fumecheng-4951	9	104	of	of	ADP
fumecheng-4951	9	105	niš	niš	PROPN
fumecheng-4951	9	106	,	,	PUNCT
fumecheng-4951	9	107	faculty	faculty	NOUN
fumecheng-4951	9	108	of	of	ADP
fumecheng-4951	9	109	mechanical	mechanical	ADJ
fumecheng-4951	9	110	engineering	engineering	NOUN
fumecheng-4951	9	111	,	,	PUNCT
fumecheng-4951	9	112	serbia	serbia	PROPN
fumecheng-4951	9	113	,	,	PUNCT
fumecheng-4951	9	114	aleksandra	aleksandra	PROPN
fumecheng-4951	9	115	medvedeva	medvedeva	PROPN
fumecheng-4951	9	116	14	14	NUM
fumecheng-4951	9	117	,	,	PUNCT
fumecheng-4951	9	118	18000	18000	NUM
fumecheng-4951	9	119	niš	niš	NOUN
fumecheng-4951	9	120	,	,	PUNCT
fumecheng-4951	9	121	serbia	serbia	PROPN
fumecheng-4951	9	122	e	e	NOUN
fumecheng-4951	9	123	-	-	NOUN
fumecheng-4951	9	124	mail	mail	NOUN
fumecheng-4951	9	125	:	:	PUNCT
fumecheng-4951	10	1	vesna.jovanovic@masfak.ni.ac.rs	vesna.jovanovic@masfak.ni.ac.rs	X
fumecheng-4951	10	2	706	706	NUM
fumecheng-4951	10	3	v.	v.	ADP
fumecheng-4951	10	4	jovanović	jovanović	PROPN
fumecheng-4951	10	5	,	,	PUNCT
fumecheng-4951	10	6	d.	d.	PROPN
fumecheng-4951	10	7	janošević	janošević	PROPN
fumecheng-4951	10	8	,	,	PUNCT
fumecheng-4951	10	9	j.	j.	PROPN
fumecheng-4951	10	10	pavlović	pavlović	PROPN
fumecheng-4951	10	11	when	when	SCONJ
fumecheng-4951	10	12	the	the	DET
fumecheng-4951	10	13	platform	platform	NOUN
fumecheng-4951	10	14	slews	slew	NOUN
fumecheng-4951	10	15	[	[	X
fumecheng-4951	10	16	13	13	NUM
fumecheng-4951	10	17	-	-	SYM
fumecheng-4951	10	18	15	15	NUM
fumecheng-4951	10	19	]	]	PUNCT
fumecheng-4951	10	20	.	.	PUNCT
fumecheng-4951	11	1	within	within	ADP
fumecheng-4951	11	2	the	the	DET
fumecheng-4951	11	3	research	research	NOUN
fumecheng-4951	11	4	conducted	conduct	VERB
fumecheng-4951	11	5	by	by	ADP
fumecheng-4951	11	6	jovanović	jovanović	NOUN
fumecheng-4951	11	7	[	[	X
fumecheng-4951	11	8	12	12	NUM
fumecheng-4951	11	9	]	]	PUNCT
fumecheng-4951	11	10	,	,	PUNCT
fumecheng-4951	11	11	general	general	ADJ
fumecheng-4951	11	12	mathematical	mathematical	ADJ
fumecheng-4951	11	13	models	model	NOUN
fumecheng-4951	11	14	and	and	CCONJ
fumecheng-4951	11	15	programs	program	NOUN
fumecheng-4951	11	16	have	have	AUX
fumecheng-4951	11	17	been	be	AUX
fumecheng-4951	11	18	developed	develop	VERB
fumecheng-4951	11	19	for	for	ADP
fumecheng-4951	11	20	determining	determine	VERB
fumecheng-4951	11	21	the	the	DET
fumecheng-4951	11	22	spectra	spectra	NOUN
fumecheng-4951	11	23	of	of	ADP
fumecheng-4951	11	24	equivalent	equivalent	ADJ
fumecheng-4951	11	25	loads	load	NOUN
fumecheng-4951	11	26	of	of	ADP
fumecheng-4951	11	27	the	the	DET
fumecheng-4951	11	28	axial	axial	ADJ
fumecheng-4951	11	29	bearing	bearing	NOUN
fumecheng-4951	11	30	of	of	ADP
fumecheng-4951	11	31	the	the	DET
fumecheng-4951	11	32	slewing	slewing	NOUN
fumecheng-4951	11	33	platform	platform	NOUN
fumecheng-4951	11	34	drive	drive	NOUN
fumecheng-4951	11	35	mechanisms	mechanism	NOUN
fumecheng-4951	11	36	in	in	ADP
fumecheng-4951	11	37	the	the	DET
fumecheng-4951	11	38	entire	entire	ADJ
fumecheng-4951	11	39	working	work	VERB
fumecheng-4951	11	40	area	area	NOUN
fumecheng-4951	11	41	of	of	ADP
fumecheng-4951	11	42	hydraulic	hydraulic	ADJ
fumecheng-4951	11	43	excavators	excavator	NOUN
fumecheng-4951	11	44	.	.	PUNCT
fumecheng-4951	12	1	by	by	ADP
fumecheng-4951	12	2	comparing	compare	VERB
fumecheng-4951	12	3	the	the	DET
fumecheng-4951	12	4	load	load	NOUN
fumecheng-4951	12	5	spectra	spectra	NOUN
fumecheng-4951	12	6	with	with	ADP
fumecheng-4951	12	7	the	the	DET
fumecheng-4951	12	8	allowed	allow	VERB
fumecheng-4951	12	9	loads	load	NOUN
fumecheng-4951	12	10	,	,	PUNCT
fumecheng-4951	12	11	the	the	DET
fumecheng-4951	12	12	size	size	NOUN
fumecheng-4951	12	13	of	of	ADP
fumecheng-4951	12	14	the	the	DET
fumecheng-4951	12	15	axial	axial	ADJ
fumecheng-4951	12	16	bearing	bearing	NOUN
fumecheng-4951	12	17	can	can	AUX
fumecheng-4951	12	18	be	be	AUX
fumecheng-4951	12	19	reliably	reliably	ADV
fumecheng-4951	12	20	chosen	choose	VERB
fumecheng-4951	12	21	.	.	PUNCT
fumecheng-4951	13	1	this	this	DET
fumecheng-4951	13	2	paper	paper	NOUN
fumecheng-4951	13	3	presents	present	VERB
fumecheng-4951	13	4	the	the	DET
fumecheng-4951	13	5	research	research	NOUN
fumecheng-4951	13	6	results	result	NOUN
fumecheng-4951	13	7	that	that	PRON
fumecheng-4951	13	8	show	show	VERB
fumecheng-4951	13	9	in	in	ADP
fumecheng-4951	13	10	which	which	PRON
fumecheng-4951	13	11	working	work	VERB
fumecheng-4951	13	12	area	area	NOUN
fumecheng-4951	13	13	i.e.	i.e.	X
fumecheng-4951	13	14	the	the	DET
fumecheng-4951	13	15	position	position	NOUN
fumecheng-4951	13	16	of	of	ADP
fumecheng-4951	13	17	the	the	DET
fumecheng-4951	13	18	kinematic	kinematic	ADJ
fumecheng-4951	13	19	chain	chain	NOUN
fumecheng-4951	13	20	of	of	ADP
fumecheng-4951	13	21	the	the	DET
fumecheng-4951	13	22	excavator	excavator	NOUN
fumecheng-4951	13	23	,	,	PUNCT
fumecheng-4951	13	24	and	and	CCONJ
fumecheng-4951	13	25	under	under	ADP
fumecheng-4951	13	26	which	which	PRON
fumecheng-4951	13	27	conditions	condition	NOUN
fumecheng-4951	13	28	of	of	ADP
fumecheng-4951	13	29	operation	operation	NOUN
fumecheng-4951	13	30	the	the	DET
fumecheng-4951	13	31	resistance	resistance	NOUN
fumecheng-4951	13	32	of	of	ADP
fumecheng-4951	13	33	digging	digging	NOUN
fumecheng-4951	13	34	,	,	PUNCT
fumecheng-4951	13	35	the	the	DET
fumecheng-4951	13	36	equivalent	equivalent	ADJ
fumecheng-4951	13	37	loads	load	NOUN
fumecheng-4951	13	38	occur	occur	VERB
fumecheng-4951	13	39	in	in	ADP
fumecheng-4951	13	40	the	the	DET
fumecheng-4951	13	41	load	load	NOUN
fumecheng-4951	13	42	bearing	bear	VERB
fumecheng-4951	13	43	spectrum	spectrum	NOUN
fumecheng-4951	13	44	,	,	PUNCT
fumecheng-4951	13	45	for	for	ADP
fumecheng-4951	13	46	the	the	DET
fumecheng-4951	13	47	choice	choice	NOUN
fumecheng-4951	13	48	of	of	ADP
fumecheng-4951	13	49	the	the	DET
fumecheng-4951	13	50	size	size	NOUN
fumecheng-4951	13	51	of	of	ADP
fumecheng-4951	13	52	the	the	DET
fumecheng-4951	13	53	bearing	bearing	NOUN
fumecheng-4951	13	54	of	of	ADP
fumecheng-4951	13	55	the	the	DET
fumecheng-4951	13	56	slewing	slewing	NOUN
fumecheng-4951	13	57	platform	platform	NOUN
fumecheng-4951	13	58	drive	drive	NOUN
fumecheng-4951	13	59	mechanism	mechanism	NOUN
fumecheng-4951	13	60	.	.	PUNCT
fumecheng-4951	14	1	during	during	ADP
fumecheng-4951	14	2	the	the	DET
fumecheng-4951	14	3	research	research	NOUN
fumecheng-4951	14	4	,	,	PUNCT
fumecheng-4951	14	5	a	a	DET
fumecheng-4951	14	6	new	new	ADJ
fumecheng-4951	14	7	method	method	NOUN
fumecheng-4951	14	8	of	of	ADP
fumecheng-4951	14	9	analyzing	analyze	VERB
fumecheng-4951	14	10	the	the	DET
fumecheng-4951	14	11	loading	loading	NOUN
fumecheng-4951	14	12	of	of	ADP
fumecheng-4951	14	13	the	the	DET
fumecheng-4951	14	14	axial	axial	ADJ
fumecheng-4951	14	15	bearing	bearing	NOUN
fumecheng-4951	14	16	of	of	ADP
fumecheng-4951	14	17	the	the	DET
fumecheng-4951	14	18	slewing	slewing	NOUN
fumecheng-4951	14	19	platform	platform	NOUN
fumecheng-4951	14	20	of	of	ADP
fumecheng-4951	14	21	hydraulic	hydraulic	ADJ
fumecheng-4951	14	22	excavators	excavator	NOUN
fumecheng-4951	14	23	was	be	AUX
fumecheng-4951	14	24	used	use	VERB
fumecheng-4951	14	25	,	,	PUNCT
fumecheng-4951	14	26	using	use	VERB
fumecheng-4951	14	27	the	the	DET
fumecheng-4951	14	28	load	load	NOUN
fumecheng-4951	14	29	spectra	spectra	PROPN
fumecheng-4951	14	30	determined	determine	VERB
fumecheng-4951	14	31	for	for	ADP
fumecheng-4951	14	32	the	the	DET
fumecheng-4951	14	33	entire	entire	ADJ
fumecheng-4951	14	34	working	work	VERB
fumecheng-4951	14	35	area	area	NOUN
fumecheng-4951	14	36	of	of	ADP
fumecheng-4951	14	37	the	the	DET
fumecheng-4951	14	38	excavator	excavator	NOUN
fumecheng-4951	14	39	according	accord	VERB
fumecheng-4951	14	40	to	to	ADP
fumecheng-4951	14	41	the	the	DET
fumecheng-4951	14	42	boundary	boundary	ADJ
fumecheng-4951	14	43	forces	force	NOUN
fumecheng-4951	14	44	that	that	PRON
fumecheng-4951	14	45	can	can	AUX
fumecheng-4951	14	46	overcome	overcome	VERB
fumecheng-4951	14	47	the	the	DET
fumecheng-4951	14	48	drive	drive	ADJ
fumecheng-4951	14	49	mechanisms	mechanism	NOUN
fumecheng-4951	14	50	of	of	ADP
fumecheng-4951	14	51	the	the	DET
fumecheng-4951	14	52	excavator	excavator	NOUN
fumecheng-4951	14	53	and	and	CCONJ
fumecheng-4951	14	54	to	to	ADP
fumecheng-4951	14	55	the	the	DET
fumecheng-4951	14	56	boundary	boundary	ADJ
fumecheng-4951	14	57	forces	force	NOUN
fumecheng-4951	14	58	that	that	PRON
fumecheng-4951	14	59	allow	allow	VERB
fumecheng-4951	14	60	the	the	DET
fumecheng-4951	14	61	stability	stability	NOUN
fumecheng-4951	14	62	of	of	ADP
fumecheng-4951	14	63	the	the	DET
fumecheng-4951	14	64	excavator	excavator	NOUN
fumecheng-4951	14	65	.	.	PUNCT
fumecheng-4951	15	1	2	2	X
fumecheng-4951	15	2	.	.	X
fumecheng-4951	15	3	mathematical	mathematical	ADJ
fumecheng-4951	15	4	model	model	NOUN
fumecheng-4951	15	5	the	the	DET
fumecheng-4951	15	6	research	research	NOUN
fumecheng-4951	15	7	uses	use	VERB
fumecheng-4951	15	8	the	the	DET
fumecheng-4951	15	9	general	general	ADJ
fumecheng-4951	15	10	mathematical	mathematical	ADJ
fumecheng-4951	15	11	model	model	NOUN
fumecheng-4951	15	12	of	of	ADP
fumecheng-4951	15	13	the	the	DET
fumecheng-4951	15	14	excavator	excavator	NOUN
fumecheng-4951	15	15	developed	develop	VERB
fumecheng-4951	15	16	according	accord	VERB
fumecheng-4951	15	17	to	to	ADP
fumecheng-4951	15	18	the	the	DET
fumecheng-4951	15	19	physical	physical	ADJ
fumecheng-4951	15	20	model	model	NOUN
fumecheng-4951	15	21	of	of	ADP
fumecheng-4951	15	22	the	the	DET
fumecheng-4951	15	23	excavator	excavator	NOUN
fumecheng-4951	15	24	with	with	ADP
fumecheng-4951	15	25	the	the	DET
fumecheng-4951	15	26	support	support	NOUN
fumecheng-4951	15	27	and	and	CCONJ
fumecheng-4951	15	28	movement	movement	NOUN
fumecheng-4951	15	29	mechanism	mechanism	NOUN
fumecheng-4951	15	30	l1	l1	PROPN
fumecheng-4951	15	31	(	(	PUNCT
fumecheng-4951	15	32	fig	fig	NOUN
fumecheng-4951	15	33	.	.	PUNCT
fumecheng-4951	16	1	1a	1a	NOUN
fumecheng-4951	16	2	)	)	PUNCT
fumecheng-4951	16	3	,	,	PUNCT
fumecheng-4951	16	4	slewing	slew	VERB
fumecheng-4951	16	5	platform	platform	NOUN
fumecheng-4951	16	6	l2	l2	NOUN
fumecheng-4951	16	7	and	and	CCONJ
fumecheng-4951	16	8	the	the	DET
fumecheng-4951	16	9	manipulator	manipulator	NOUN
fumecheng-4951	16	10	with	with	ADP
fumecheng-4951	16	11	a	a	DET
fumecheng-4951	16	12	boom	boom	NOUN
fumecheng-4951	16	13	l3	l3	NOUN
fumecheng-4951	16	14	,	,	PUNCT
fumecheng-4951	16	15	stick	stick	PROPN
fumecheng-4951	16	16	l4	l4	PROPN
fumecheng-4951	16	17	and	and	CCONJ
fumecheng-4951	16	18	shovel	shovel	VERB
fumecheng-4951	16	19	bucket	bucket	NOUN
fumecheng-4951	16	20	l5	l5	NOUN
fumecheng-4951	16	21	.	.	PUNCT
fumecheng-4951	17	1	the	the	DET
fumecheng-4951	17	2	support	support	NOUN
fumecheng-4951	17	3	and	and	CCONJ
fumecheng-4951	17	4	movement	movement	NOUN
fumecheng-4951	17	5	mechanism	mechanism	NOUN
fumecheng-4951	17	6	and	and	CCONJ
fumecheng-4951	17	7	the	the	DET
fumecheng-4951	17	8	slewing	slewing	NOUN
fumecheng-4951	17	9	platform	platform	NOUN
fumecheng-4951	17	10	of	of	ADP
fumecheng-4951	17	11	the	the	DET
fumecheng-4951	17	12	excavator	excavator	NOUN
fumecheng-4951	17	13	are	be	AUX
fumecheng-4951	17	14	linked	link	VERB
fumecheng-4951	17	15	with	with	ADP
fumecheng-4951	17	16	a	a	DET
fumecheng-4951	17	17	slewing	slew	VERB
fumecheng-4951	17	18	joint	joint	NOUN
fumecheng-4951	17	19	in	in	ADP
fumecheng-4951	17	20	the	the	DET
fumecheng-4951	17	21	form	form	NOUN
fumecheng-4951	17	22	of	of	ADP
fumecheng-4951	17	23	an	an	DET
fumecheng-4951	17	24	axial	axial	ADJ
fumecheng-4951	17	25	bearing	bearing	NOUN
fumecheng-4951	17	26	.	.	PUNCT
fumecheng-4951	18	1	the	the	DET
fumecheng-4951	18	2	slewing	slew	VERB
fumecheng-4951	18	3	platform	platform	NOUN
fumecheng-4951	18	4	drive	drive	NOUN
fumecheng-4951	18	5	mechanism	mechanism	NOUN
fumecheng-4951	18	6	consists	consist	VERB
fumecheng-4951	18	7	of	of	ADP
fumecheng-4951	18	8	a	a	DET
fumecheng-4951	18	9	hydraulic	hydraulic	ADJ
fumecheng-4951	18	10	motor	motor	NOUN
fumecheng-4951	18	11	with	with	ADP
fumecheng-4951	18	12	a	a	DET
fumecheng-4951	18	13	planetary	planetary	ADJ
fumecheng-4951	18	14	gearbox	gearbox	NOUN
fumecheng-4951	18	15	with	with	ADP
fumecheng-4951	18	16	a	a	DET
fumecheng-4951	18	17	gear	gear	NOUN
fumecheng-4951	18	18	on	on	ADP
fumecheng-4951	18	19	the	the	DET
fumecheng-4951	18	20	output	output	NOUN
fumecheng-4951	18	21	shaft	shaft	NOUN
fumecheng-4951	18	22	coupled	couple	VERB
fumecheng-4951	18	23	with	with	ADP
fumecheng-4951	18	24	a	a	DET
fumecheng-4951	18	25	toothed	toothed	ADJ
fumecheng-4951	18	26	axial	axial	ADJ
fumecheng-4951	18	27	bearing	bearing	NOUN
fumecheng-4951	18	28	.	.	PUNCT
fumecheng-4951	19	1	the	the	DET
fumecheng-4951	19	2	actuators	actuator	NOUN
fumecheng-4951	19	3	of	of	ADP
fumecheng-4951	19	4	the	the	DET
fumecheng-4951	19	5	drive	drive	ADJ
fumecheng-4951	19	6	mechanisms	mechanism	NOUN
fumecheng-4951	19	7	of	of	ADP
fumecheng-4951	19	8	the	the	DET
fumecheng-4951	19	9	excavator	excavator	NOUN
fumecheng-4951	19	10	manipulator	manipulator	NOUN
fumecheng-4951	19	11	are	be	AUX
fumecheng-4951	19	12	two	two	NUM
fumecheng-4951	19	13	-	-	PUNCT
fumecheng-4951	19	14	way	way	NOUN
fumecheng-4951	19	15	hydraulic	hydraulic	ADJ
fumecheng-4951	19	16	cylinders	cylinder	NOUN
fumecheng-4951	19	17	of	of	ADP
fumecheng-4951	19	18	boom	boom	NOUN
fumecheng-4951	19	19	c3	c3	PROPN
fumecheng-4951	19	20	,	,	PUNCT
fumecheng-4951	19	21	stick	stick	NOUN
fumecheng-4951	19	22	c4	c4	NOUN
fumecheng-4951	19	23	and	and	CCONJ
fumecheng-4951	19	24	bucket	bucket	NOUN
fumecheng-4951	19	25	c5	c5	PROPN
fumecheng-4951	19	26	.	.	PUNCT
fumecheng-4951	20	1	the	the	DET
fumecheng-4951	20	2	numerical	numerical	ADJ
fumecheng-4951	20	3	and	and	CCONJ
fumecheng-4951	20	4	experimental	experimental	ADJ
fumecheng-4951	20	5	research	research	NOUN
fumecheng-4951	20	6	[	[	X
fumecheng-4951	20	7	12	12	NUM
fumecheng-4951	20	8	]	]	PUNCT
fumecheng-4951	20	9	of	of	ADP
fumecheng-4951	20	10	the	the	DET
fumecheng-4951	20	11	load	load	NOUN
fumecheng-4951	20	12	of	of	ADP
fumecheng-4951	20	13	the	the	DET
fumecheng-4951	20	14	axial	axial	ADJ
fumecheng-4951	20	15	bearing	bearing	NOUN
fumecheng-4951	20	16	of	of	ADP
fumecheng-4951	20	17	the	the	DET
fumecheng-4951	20	18	slewing	slewing	NOUN
fumecheng-4951	20	19	platform	platform	NOUN
fumecheng-4951	20	20	drive	drive	NOUN
fumecheng-4951	20	21	mechanism	mechanism	NOUN
fumecheng-4951	20	22	have	have	AUX
fumecheng-4951	20	23	shown	show	VERB
fumecheng-4951	20	24	that	that	SCONJ
fumecheng-4951	20	25	:	:	PUNCT
fumecheng-4951	20	26	a	a	X
fumecheng-4951	20	27	)	)	PUNCT
fumecheng-4951	20	28	the	the	DET
fumecheng-4951	20	29	greatest	great	ADJ
fumecheng-4951	20	30	axial	axial	ADJ
fumecheng-4951	20	31	bearing	bearing	NOUN
fumecheng-4951	20	32	loads	load	NOUN
fumecheng-4951	20	33	in	in	ADP
fumecheng-4951	20	34	the	the	DET
fumecheng-4951	20	35	digging	dig	VERB
fumecheng-4951	20	36	operation	operation	NOUN
fumecheng-4951	20	37	of	of	ADP
fumecheng-4951	20	38	the	the	DET
fumecheng-4951	20	39	excavator	excavator	NOUN
fumecheng-4951	20	40	and	and	CCONJ
fumecheng-4951	20	41	b	b	X
fumecheng-4951	20	42	)	)	PUNCT
fumecheng-4951	20	43	the	the	DET
fumecheng-4951	20	44	dynamic	dynamic	ADJ
fumecheng-4951	20	45	loads	load	NOUN
fumecheng-4951	20	46	of	of	ADP
fumecheng-4951	20	47	the	the	DET
fumecheng-4951	20	48	bearing	bearing	NOUN
fumecheng-4951	20	49	,	,	PUNCT
fumecheng-4951	20	50	caused	cause	VERB
fumecheng-4951	20	51	by	by	ADP
fumecheng-4951	20	52	the	the	DET
fumecheng-4951	20	53	moving	moving	NOUN
fumecheng-4951	20	54	of	of	ADP
fumecheng-4951	20	55	the	the	DET
fumecheng-4951	20	56	kinematic	kinematic	ADJ
fumecheng-4951	20	57	chain	chain	NOUN
fumecheng-4951	20	58	of	of	ADP
fumecheng-4951	20	59	the	the	DET
fumecheng-4951	20	60	excavator	excavator	NOUN
fumecheng-4951	20	61	in	in	ADP
fumecheng-4951	20	62	relation	relation	NOUN
fumecheng-4951	20	63	to	to	ADP
fumecheng-4951	20	64	the	the	DET
fumecheng-4951	20	65	static	static	ADJ
fumecheng-4951	20	66	loads	load	NOUN
fumecheng-4951	20	67	,	,	PUNCT
fumecheng-4951	20	68	are	be	AUX
fumecheng-4951	20	69	relatively	relatively	ADV
fumecheng-4951	20	70	small	small	ADJ
fumecheng-4951	20	71	bearing	bearing	NOUN
fumecheng-4951	20	72	in	in	ADP
fumecheng-4951	20	73	mind	mind	NOUN
fumecheng-4951	20	74	that	that	SCONJ
fumecheng-4951	20	75	the	the	DET
fumecheng-4951	20	76	digging	dig	VERB
fumecheng-4951	20	77	process	process	NOUN
fumecheng-4951	20	78	takes	take	VERB
fumecheng-4951	20	79	place	place	NOUN
fumecheng-4951	20	80	slowly	slowly	ADV
fumecheng-4951	20	81	.	.	PUNCT
fumecheng-4951	21	1	taking	take	VERB
fumecheng-4951	21	2	into	into	ADP
fumecheng-4951	21	3	account	account	NOUN
fumecheng-4951	21	4	the	the	DET
fumecheng-4951	21	5	results	result	NOUN
fumecheng-4951	21	6	of	of	ADP
fumecheng-4951	21	7	the	the	DET
fumecheng-4951	21	8	previous	previous	ADJ
fumecheng-4951	21	9	research	research	NOUN
fumecheng-4951	21	10	on	on	ADP
fumecheng-4951	21	11	the	the	DET
fumecheng-4951	21	12	loading	loading	NOUN
fumecheng-4951	21	13	of	of	ADP
fumecheng-4951	21	14	excavator	excavator	NOUN
fumecheng-4951	21	15	axial	axial	ADJ
fumecheng-4951	21	16	bearing	bearing	NOUN
fumecheng-4951	21	17	,	,	PUNCT
fumecheng-4951	21	18	a	a	DET
fumecheng-4951	21	19	mathematical	mathematical	ADJ
fumecheng-4951	21	20	model	model	NOUN
fumecheng-4951	21	21	of	of	ADP
fumecheng-4951	21	22	the	the	DET
fumecheng-4951	21	23	excavator	excavator	NOUN
fumecheng-4951	21	24	was	be	AUX
fumecheng-4951	21	25	developed	develop	VERB
fumecheng-4951	21	26	with	with	ADP
fumecheng-4951	21	27	the	the	DET
fumecheng-4951	21	28	following	follow	VERB
fumecheng-4951	21	29	assumptions	assumption	NOUN
fumecheng-4951	21	30	:	:	PUNCT
fumecheng-4951	21	31	1	1	X
fumecheng-4951	21	32	)	)	PUNCT
fumecheng-4951	21	33	the	the	DET
fumecheng-4951	21	34	support	support	NOUN
fumecheng-4951	21	35	surface	surface	NOUN
fumecheng-4951	21	36	and	and	CCONJ
fumecheng-4951	21	37	the	the	DET
fumecheng-4951	21	38	members	member	NOUN
fumecheng-4951	21	39	of	of	ADP
fumecheng-4951	21	40	the	the	DET
fumecheng-4951	21	41	kinematic	kinematic	ADJ
fumecheng-4951	21	42	chain	chain	NOUN
fumecheng-4951	21	43	of	of	ADP
fumecheng-4951	21	44	the	the	DET
fumecheng-4951	21	45	excavator	excavator	NOUN
fumecheng-4951	21	46	are	be	AUX
fumecheng-4951	21	47	modeled	model	VERB
fumecheng-4951	21	48	as	as	ADP
fumecheng-4951	21	49	rigid	rigid	ADJ
fumecheng-4951	21	50	bodies	body	NOUN
fumecheng-4951	21	51	;	;	PUNCT
fumecheng-4951	21	52	2	2	X
fumecheng-4951	21	53	)	)	PUNCT
fumecheng-4951	21	54	during	during	ADP
fumecheng-4951	21	55	the	the	DET
fumecheng-4951	21	56	manipulative	manipulative	ADJ
fumecheng-4951	21	57	task	task	NOUN
fumecheng-4951	21	58	the	the	DET
fumecheng-4951	21	59	excavator	excavator	NOUN
fumecheng-4951	21	60	is	be	AUX
fumecheng-4951	21	61	subjected	subject	VERB
fumecheng-4951	21	62	to	to	ADP
fumecheng-4951	21	63	external	external	ADJ
fumecheng-4951	21	64	(	(	PUNCT
fumecheng-4951	21	65	technological	technological	ADJ
fumecheng-4951	21	66	)	)	PUNCT
fumecheng-4951	21	67	forces	force	NOUN
fumecheng-4951	21	68	digging	dig	VERB
fumecheng-4951	21	69	resistance	resistance	NOUN
fumecheng-4951	21	70	w	w	NOUN
fumecheng-4951	21	71	and	and	CCONJ
fumecheng-4951	21	72	the	the	DET
fumecheng-4951	21	73	gravitational	gravitational	ADJ
fumecheng-4951	21	74	force	force	NOUN
fumecheng-4951	21	75	(	(	PUNCT
fumecheng-4951	21	76	weight	weight	NOUN
fumecheng-4951	21	77	)	)	PUNCT
fumecheng-4951	21	78	of	of	ADP
fumecheng-4951	21	79	:	:	PUNCT
fumecheng-4951	21	80	the	the	DET
fumecheng-4951	21	81	members	member	NOUN
fumecheng-4951	21	82	of	of	ADP
fumecheng-4951	21	83	the	the	DET
fumecheng-4951	21	84	kinematic	kinematic	ADJ
fumecheng-4951	21	85	chain	chain	NOUN
fumecheng-4951	21	86	,	,	PUNCT
fumecheng-4951	21	87	the	the	DET
fumecheng-4951	21	88	members	member	NOUN
fumecheng-4951	21	89	of	of	ADP
fumecheng-4951	21	90	the	the	DET
fumecheng-4951	21	91	drive	drive	NOUN
fumecheng-4951	21	92	system	system	NOUN
fumecheng-4951	21	93	and	and	CCONJ
fumecheng-4951	21	94	the	the	DET
fumecheng-4951	21	95	land	land	NOUN
fumecheng-4951	21	96	grabbed	grab	VERB
fumecheng-4951	21	97	by	by	ADP
fumecheng-4951	21	98	the	the	DET
fumecheng-4951	21	99	bucket	bucket	NOUN
fumecheng-4951	21	100	of	of	ADP
fumecheng-4951	21	101	the	the	DET
fumecheng-4951	21	102	excavator	excavator	NOUN
fumecheng-4951	21	103	;	;	PUNCT
fumecheng-4951	21	104	3	3	X
fumecheng-4951	21	105	)	)	PUNCT
fumecheng-4951	21	106	during	during	ADP
fumecheng-4951	21	107	the	the	DET
fumecheng-4951	21	108	digging	dig	VERB
fumecheng-4951	21	109	operation	operation	NOUN
fumecheng-4951	21	110	,	,	PUNCT
fumecheng-4951	21	111	the	the	DET
fumecheng-4951	21	112	kinematic	kinematic	ADJ
fumecheng-4951	21	113	chain	chain	NOUN
fumecheng-4951	21	114	of	of	ADP
fumecheng-4951	21	115	the	the	DET
fumecheng-4951	21	116	excavator	excavator	NOUN
fumecheng-4951	21	117	with	with	ADP
fumecheng-4951	21	118	a	a	DET
fumecheng-4951	21	119	planar	planar	ADJ
fumecheng-4951	21	120	configuration	configuration	NOUN
fumecheng-4951	21	121	is	be	AUX
fumecheng-4951	21	122	viewed	view	VERB
fumecheng-4951	21	123	as	as	ADP
fumecheng-4951	21	124	an	an	DET
fumecheng-4951	21	125	open	open	ADJ
fumecheng-4951	21	126	configuration	configuration	NOUN
fumecheng-4951	21	127	chain	chain	NOUN
fumecheng-4951	21	128	whose	whose	DET
fumecheng-4951	21	129	last	last	ADJ
fumecheng-4951	21	130	member	member	NOUN
fumecheng-4951	21	131	–	–	PUNCT
fumecheng-4951	21	132	the	the	DET
fumecheng-4951	21	133	bucket	bucket	NOUN
fumecheng-4951	21	134	,	,	PUNCT
fumecheng-4951	21	135	is	be	AUX
fumecheng-4951	21	136	subjected	subject	VERB
fumecheng-4951	21	137	to	to	ADP
fumecheng-4951	21	138	the	the	DET
fumecheng-4951	21	139	possible	possible	ADJ
fumecheng-4951	21	140	digging	dig	VERB
fumecheng-4951	21	141	resistance	resistance	NOUN
fumecheng-4951	21	142	at	at	ADP
fumecheng-4951	21	143	the	the	DET
fumecheng-4951	21	144	cutting	cut	VERB
fumecheng-4951	21	145	edge	edge	NOUN
fumecheng-4951	21	146	of	of	ADP
fumecheng-4951	21	147	the	the	DET
fumecheng-4951	21	148	bucket	bucket	NOUN
fumecheng-4951	22	1	[	[	X
fumecheng-4951	22	2	16	16	NUM
fumecheng-4951	22	3	]	]	PUNCT
fumecheng-4951	22	4	.	.	PUNCT
fumecheng-4951	23	1	in	in	ADP
fumecheng-4951	23	2	analyzing	analyze	VERB
fumecheng-4951	23	3	the	the	DET
fumecheng-4951	23	4	loading	loading	NOUN
fumecheng-4951	23	5	of	of	ADP
fumecheng-4951	23	6	the	the	DET
fumecheng-4951	23	7	axial	axial	ADJ
fumecheng-4951	23	8	bearing	bearing	NOUN
fumecheng-4951	23	9	of	of	ADP
fumecheng-4951	23	10	the	the	DET
fumecheng-4951	23	11	slewing	slewing	NOUN
fumecheng-4951	23	12	platform	platform	NOUN
fumecheng-4951	23	13	drive	drive	NOUN
fumecheng-4951	23	14	mechanism	mechanism	NOUN
fumecheng-4951	23	15	,	,	PUNCT
fumecheng-4951	23	16	the	the	DET
fumecheng-4951	23	17	parameters	parameter	NOUN
fumecheng-4951	23	18	of	of	ADP
fumecheng-4951	23	19	the	the	DET
fumecheng-4951	23	20	kinematic	kinematic	ADJ
fumecheng-4951	23	21	chain	chain	NOUN
fumecheng-4951	23	22	members	member	NOUN
fumecheng-4951	23	23	and	and	CCONJ
fumecheng-4951	23	24	the	the	DET
fumecheng-4951	23	25	parameters	parameter	NOUN
fumecheng-4951	23	26	of	of	ADP
fumecheng-4951	23	27	the	the	DET
fumecheng-4951	23	28	drive	drive	ADJ
fumecheng-4951	23	29	mechanisms	mechanism	NOUN
fumecheng-4951	23	30	of	of	ADP
fumecheng-4951	23	31	the	the	DET
fumecheng-4951	23	32	excavator	excavator	NOUN
fumecheng-4951	23	33	are	be	AUX
fumecheng-4951	23	34	known	know	VERB
fumecheng-4951	23	35	.	.	PUNCT
fumecheng-4951	24	1	2.1	2.1	NUM
fumecheng-4951	24	2	.	.	PUNCT
fumecheng-4951	25	1	the	the	DET
fumecheng-4951	25	2	space	space	NOUN
fumecheng-4951	25	3	of	of	ADP
fumecheng-4951	25	4	the	the	DET
fumecheng-4951	25	5	excavator	excavator	NOUN
fumecheng-4951	25	6	model	model	VERB
fumecheng-4951	25	7	the	the	DET
fumecheng-4951	25	8	space	space	NOUN
fumecheng-4951	25	9	of	of	ADP
fumecheng-4951	25	10	the	the	DET
fumecheng-4951	25	11	excavator	excavator	NOUN
fumecheng-4951	25	12	model	model	NOUN
fumecheng-4951	25	13	is	be	AUX
fumecheng-4951	25	14	determined	determine	VERB
fumecheng-4951	25	15	by	by	ADP
fumecheng-4951	25	16	absolute	absolute	ADJ
fumecheng-4951	25	17	coordinate	coordinate	NOUN
fumecheng-4951	25	18	system	system	NOUN
fumecheng-4951	25	19	oxyz	oxyz	VERB
fumecheng-4951	25	20	with	with	ADP
fumecheng-4951	25	21	unit	unit	NOUN
fumecheng-4951	25	22	vectors	vector	NOUN
fumecheng-4951	25	23	k	k	PROPN
fumecheng-4951	25	24	,	,	PUNCT
fumecheng-4951	25	25	j	j	PROPN
fumecheng-4951	25	26	,	,	PUNCT
fumecheng-4951	25	27	i	i	PRON
fumecheng-4951	25	28			ADV
fumecheng-4951	25	29	along	along	ADP
fumecheng-4951	25	30	coordinate	coordinate	NOUN
fumecheng-4951	25	31	axes	axis	NOUN
fumecheng-4951	25	32	ox	ox	NOUN
fumecheng-4951	25	33	,	,	PUNCT
fumecheng-4951	25	34	oy	oy	NOUN
fumecheng-4951	25	35	and	and	CCONJ
fumecheng-4951	25	36	oz	oz	NOUN
fumecheng-4951	25	37	.	.	PUNCT
fumecheng-4951	26	1	the	the	DET
fumecheng-4951	26	2	excavator	excavator	NOUN
fumecheng-4951	26	3	support	support	NOUN
fumecheng-4951	26	4	analysis	analysis	NOUN
fumecheng-4951	26	5	of	of	ADP
fumecheng-4951	26	6	the	the	DET
fumecheng-4951	26	7	influence	influence	NOUN
fumecheng-4951	26	8	of	of	ADP
fumecheng-4951	26	9	the	the	DET
fumecheng-4951	26	10	digging	dig	VERB
fumecheng-4951	26	11	position	position	NOUN
fumecheng-4951	26	12	on	on	ADP
fumecheng-4951	26	13	the	the	DET
fumecheng-4951	26	14	loading	loading	NOUN
fumecheng-4951	26	15	of	of	ADP
fumecheng-4951	26	16	the	the	DET
fumecheng-4951	26	17	slewing	slewing	NOUN
fumecheng-4951	26	18	platform	platform	NOUN
fumecheng-4951	26	19	bearing	bearing	NOUN
fumecheng-4951	26	20	…	…	PUNCT
fumecheng-4951	26	21	707	707	NUM
fumecheng-4951	26	22	surface	surface	NOUN
fumecheng-4951	26	23	lies	lie	VERB
fumecheng-4951	26	24	in	in	ADP
fumecheng-4951	26	25	the	the	DET
fumecheng-4951	26	26	horizontal	horizontal	ADJ
fumecheng-4951	26	27	axis	axis	NOUN
fumecheng-4951	26	28	of	of	ADP
fumecheng-4951	26	29	the	the	DET
fumecheng-4951	26	30	oxz	oxz	NOUN
fumecheng-4951	26	31	absolute	absolute	ADJ
fumecheng-4951	26	32	coordinate	coordinate	NOUN
fumecheng-4951	26	33	system	system	NOUN
fumecheng-4951	26	34	,	,	PUNCT
fumecheng-4951	26	35	while	while	SCONJ
fumecheng-4951	26	36	vertical	vertical	ADJ
fumecheng-4951	26	37	axis	axis	NOUN
fumecheng-4951	26	38	oy	oy	NOUN
fumecheng-4951	26	39	of	of	ADP
fumecheng-4951	26	40	the	the	DET
fumecheng-4951	26	41	same	same	ADJ
fumecheng-4951	26	42	system	system	NOUN
fumecheng-4951	26	43	falls	fall	VERB
fumecheng-4951	26	44	on	on	ADP
fumecheng-4951	26	45	the	the	DET
fumecheng-4951	26	46	axis	axis	NOUN
fumecheng-4951	26	47	of	of	ADP
fumecheng-4951	26	48	the	the	DET
fumecheng-4951	26	49	support	support	NOUN
fumecheng-4951	26	50	and	and	CCONJ
fumecheng-4951	26	51	movement	movement	NOUN
fumecheng-4951	26	52	member	member	NOUN
fumecheng-4951	26	53	-	-	PUNCT
fumecheng-4951	26	54	slewing	slew	VERB
fumecheng-4951	26	55	member	member	NOUN
fumecheng-4951	26	56	kinematic	kinematic	ADJ
fumecheng-4951	26	57	pair	pair	NOUN
fumecheng-4951	26	58	when	when	SCONJ
fumecheng-4951	26	59	the	the	DET
fumecheng-4951	26	60	excavator	excavator	NOUN
fumecheng-4951	26	61	is	be	AUX
fumecheng-4951	26	62	positioned	position	VERB
fumecheng-4951	26	63	on	on	ADP
fumecheng-4951	26	64	the	the	DET
fumecheng-4951	26	65	horizontal	horizontal	ADJ
fumecheng-4951	26	66	surface	surface	NOUN
fumecheng-4951	26	67	.	.	PUNCT
fumecheng-4951	27	1	the	the	DET
fumecheng-4951	27	2	internal	internal	ADJ
fumecheng-4951	27	3	(	(	PUNCT
fumecheng-4951	27	4	generalized	generalized	ADJ
fumecheng-4951	27	5	)	)	PUNCT
fumecheng-4951	27	6	coordinates	coordinate	NOUN
fumecheng-4951	27	7	of	of	ADP
fumecheng-4951	27	8	the	the	DET
fumecheng-4951	27	9	mathematical	mathematical	ADJ
fumecheng-4951	27	10	model	model	NOUN
fumecheng-4951	27	11	of	of	ADP
fumecheng-4951	27	12	the	the	DET
fumecheng-4951	27	13	kinematic	kinematic	ADJ
fumecheng-4951	27	14	chain	chain	NOUN
fumecheng-4951	27	15	of	of	ADP
fumecheng-4951	27	16	the	the	DET
fumecheng-4951	27	17	excavator	excavator	NOUN
fumecheng-4951	27	18	are	be	AUX
fumecheng-4951	27	19	angles	angle	NOUN
fumecheng-4951	27	20	θi	θi	X
fumecheng-4951	27	21	(	(	PUNCT
fumecheng-4951	27	22	fig	fig	NOUN
fumecheng-4951	27	23	.	.	PUNCT
fumecheng-4951	28	1	1a	1a	NOUN
fumecheng-4951	28	2	)	)	PUNCT
fumecheng-4951	28	3	of	of	ADP
fumecheng-4951	28	4	the	the	DET
fumecheng-4951	28	5	relative	relative	ADJ
fumecheng-4951	28	6	position	position	NOUN
fumecheng-4951	28	7	of	of	ADP
fumecheng-4951	28	8	member	member	NOUN
fumecheng-4951	28	9	li	li	PROPN
fumecheng-4951	28	10	in	in	ADP
fumecheng-4951	28	11	relation	relation	NOUN
fumecheng-4951	28	12	to	to	ADP
fumecheng-4951	28	13	previous	previous	ADJ
fumecheng-4951	28	14	member	member	NOUN
fumecheng-4951	28	15	li-1	li-1	VERB
fumecheng-4951	28	16	at	at	ADP
fumecheng-4951	28	17	rotation	rotation	NOUN
fumecheng-4951	28	18	around	around	ADP
fumecheng-4951	28	19	the	the	DET
fumecheng-4951	28	20	axis	axis	NOUN
fumecheng-4951	28	21	of	of	ADP
fumecheng-4951	28	22	joint	joint	ADJ
fumecheng-4951	28	23	oi	oi	PROPN
fumecheng-4951	28	24	.	.	PROPN
fumecheng-4951	28	25	fig	fig	NOUN
fumecheng-4951	28	26	.	.	PUNCT
fumecheng-4951	29	1	1	1	NUM
fumecheng-4951	29	2	axial	axial	ADJ
fumecheng-4951	29	3	bearing	bearing	NOUN
fumecheng-4951	29	4	load	load	NOUN
fumecheng-4951	29	5	:	:	PUNCT
fumecheng-4951	29	6	a	a	X
fumecheng-4951	29	7	)	)	PUNCT
fumecheng-4951	29	8	mathematical	mathematical	ADJ
fumecheng-4951	29	9	model	model	NOUN
fumecheng-4951	29	10	of	of	ADP
fumecheng-4951	29	11	excavator	excavator	NOUN
fumecheng-4951	29	12	with	with	ADP
fumecheng-4951	29	13	a	a	DET
fumecheng-4951	29	14	loading	loading	NOUN
fumecheng-4951	29	15	manipulator	manipulator	NOUN
fumecheng-4951	29	16	,	,	PUNCT
fumecheng-4951	29	17	b	b	NOUN
fumecheng-4951	29	18	)	)	PUNCT
fumecheng-4951	29	19	load	load	NOUN
fumecheng-4951	29	20	of	of	ADP
fumecheng-4951	29	21	slewing	slew	VERB
fumecheng-4951	29	22	platform	platform	NOUN
fumecheng-4951	29	23	drive	drive	NOUN
fumecheng-4951	29	24	mechanism	mechanism	NOUN
fumecheng-4951	29	25	by	by	ADP
fumecheng-4951	29	26	changing	change	VERB
fumecheng-4951	29	27	length	length	NOUN
fumecheng-4951	29	28	ci	ci	NOUN
fumecheng-4951	29	29	of	of	ADP
fumecheng-4951	29	30	the	the	DET
fumecheng-4951	29	31	hydraulic	hydraulic	ADJ
fumecheng-4951	29	32	cylinders	cylinder	NOUN
fumecheng-4951	29	33	of	of	ADP
fumecheng-4951	29	34	the	the	DET
fumecheng-4951	29	35	drive	drive	ADJ
fumecheng-4951	29	36	mechanisms	mechanism	NOUN
fumecheng-4951	29	37	in	in	ADP
fumecheng-4951	29	38	the	the	DET
fumecheng-4951	29	39	interval	interval	NOUN
fumecheng-4951	29	40	of	of	ADP
fumecheng-4951	29	41	limit	limit	NOUN
fumecheng-4951	29	42	values	value	NOUN
fumecheng-4951	29	43	ci	ci	NOUN
fumecheng-4951	30	1	=	=	PUNCT
fumecheng-4951	31	1	[	[	X
fumecheng-4951	31	2	cip	cip	NOUN
fumecheng-4951	31	3	,	,	PUNCT
fumecheng-4951	31	4	cck	cck	NOUN
fumecheng-4951	31	5	]	]	X
fumecheng-4951	31	6	,	,	PUNCT
fumecheng-4951	31	7	generalized	generalized	ADJ
fumecheng-4951	31	8	coordinates	coordinate	NOUN
fumecheng-4951	31	9	θi	θi	ADP
fumecheng-4951	31	10	are	be	AUX
fumecheng-4951	31	11	changed	change	VERB
fumecheng-4951	31	12	in	in	ADP
fumecheng-4951	31	13	interval	interval	NOUN
fumecheng-4951	31	14	θi	θi	NOUN
fumecheng-4951	32	1	=	=	PUNCT
fumecheng-4951	33	1	[	[	X
fumecheng-4951	33	2	θip	θip	NOUN
fumecheng-4951	33	3	,	,	PUNCT
fumecheng-4951	33	4	θik	θik	PROPN
fumecheng-4951	33	5	]	]	X
fumecheng-4951	33	6	,	,	PUNCT
fumecheng-4951	33	7	where	where	SCONJ
fumecheng-4951	33	8	θip	θip	NOUN
fumecheng-4951	33	9	is	be	AUX
fumecheng-4951	33	10	the	the	DET
fumecheng-4951	33	11	initial	initial	ADJ
fumecheng-4951	33	12	and	and	CCONJ
fumecheng-4951	33	13	θik	θik	NOUN
fumecheng-4951	33	14	is	be	AUX
fumecheng-4951	33	15	the	the	DET
fumecheng-4951	33	16	final	final	ADJ
fumecheng-4951	33	17	angle	angle	NOUN
fumecheng-4951	33	18	of	of	ADP
fumecheng-4951	33	19	the	the	DET
fumecheng-4951	33	20	relative	relative	ADJ
fumecheng-4951	33	21	position	position	NOUN
fumecheng-4951	33	22	of	of	ADP
fumecheng-4951	33	23	member	member	NOUN
fumecheng-4951	33	24	li	li	PROPN
fumecheng-4951	33	25	to	to	ADP
fumecheng-4951	33	26	previous	previous	ADJ
fumecheng-4951	33	27	member	member	NOUN
fumecheng-4951	33	28	li-1	li-1	NOUN
fumecheng-4951	33	29	.	.	PUNCT
fumecheng-4951	34	1	the	the	DET
fumecheng-4951	34	2	relative	relative	ADJ
fumecheng-4951	34	3	angle	angle	NOUN
fumecheng-4951	34	4	of	of	ADP
fumecheng-4951	34	5	movement	movement	NOUN
fumecheng-4951	34	6	θio	θio	NOUN
fumecheng-4951	34	7	of	of	ADP
fumecheng-4951	34	8	member	member	PROPN
fumecheng-4951	34	9	li	li	PROPN
fumecheng-4951	34	10	in	in	ADP
fumecheng-4951	34	11	relation	relation	NOUN
fumecheng-4951	34	12	to	to	ADP
fumecheng-4951	34	13	previous	previous	ADJ
fumecheng-4951	34	14	member	member	NOUN
fumecheng-4951	34	15	li-1	li-1	PUNCT
fumecheng-4951	34	16	is	be	AUX
fumecheng-4951	34	17	expressed	express	VERB
fumecheng-4951	34	18	by	by	ADP
fumecheng-4951	34	19	the	the	DET
fumecheng-4951	34	20	difference	difference	NOUN
fumecheng-4951	34	21	:	:	PUNCT
fumecheng-4951	34	22	a	a	X
fumecheng-4951	34	23	)	)	PUNCT
fumecheng-4951	34	24	b	b	NOUN
fumecheng-4951	34	25	)	)	PUNCT
fumecheng-4951	34	26	708	708	NUM
fumecheng-4951	34	27	v.	v.	ADP
fumecheng-4951	34	28	jovanović	jovanović	PROPN
fumecheng-4951	34	29	,	,	PUNCT
fumecheng-4951	34	30	d.	d.	PROPN
fumecheng-4951	34	31	janošević	janošević	PROPN
fumecheng-4951	34	32	,	,	PUNCT
fumecheng-4951	34	33	j.	j.	PROPN
fumecheng-4951	34	34	pavlović	pavlović	PROPN
fumecheng-4951	34	35	ipikio	ipikio	VERB
fumecheng-4951	34	36			SYM
fumecheng-4951	34	37	−=	−=	X
fumecheng-4951	34	38	(	(	PUNCT
fumecheng-4951	34	39	1	1	NUM
fumecheng-4951	34	40	)	)	PUNCT
fumecheng-4951	34	41	the	the	DET
fumecheng-4951	34	42	position	position	NOUN
fumecheng-4951	34	43	of	of	ADP
fumecheng-4951	34	44	member	member	NOUN
fumecheng-4951	34	45	li	li	PROPN
fumecheng-4951	34	46	in	in	ADP
fumecheng-4951	34	47	relation	relation	NOUN
fumecheng-4951	34	48	to	to	ADP
fumecheng-4951	34	49	the	the	DET
fumecheng-4951	34	50	horizontal	horizontal	ADJ
fumecheng-4951	34	51	oxz	oxz	NOUN
fumecheng-4951	34	52	plane	plane	NOUN
fumecheng-4951	34	53	of	of	ADP
fumecheng-4951	34	54	the	the	DET
fumecheng-4951	34	55	absolute	absolute	ADJ
fumecheng-4951	34	56	coordinate	coordinate	NOUN
fumecheng-4951	34	57	system	system	NOUN
fumecheng-4951	34	58	is	be	AUX
fumecheng-4951	34	59	determined	determine	VERB
fumecheng-4951	34	60	by	by	ADP
fumecheng-4951	34	61	the	the	DET
fumecheng-4951	34	62	angle	angle	NOUN
fumecheng-4951	34	63	:	:	PUNCT
fumecheng-4951	34	64	5,4,3i	5,4,3i	NUM
fumecheng-4951	34	65	i	i	NOUN
fumecheng-4951	34	66	3i	3i	VERB
fumecheng-4951	34	67	ii	ii	NOUN
fumecheng-4951	34	68	=	=	NOUN
fumecheng-4951	34	69	=	=	NOUN
fumecheng-4951	34	70	=	=	X
fumecheng-4951	34	71			X
fumecheng-4951	34	72	(	(	PUNCT
fumecheng-4951	34	73	2	2	NUM
fumecheng-4951	34	74	)	)	PUNCT
fumecheng-4951	34	75	vectors	vector	NOUN
fumecheng-4951	34	76	:	:	PUNCT
fumecheng-4951	34	77	ir	ir	PROPN
fumecheng-4951	34	78			ADP
fumecheng-4951	34	79	the	the	DET
fumecheng-4951	34	80	center	center	NOUN
fumecheng-4951	34	81	of	of	ADP
fumecheng-4951	34	82	joint	joint	ADJ
fumecheng-4951	34	83	oi	oi	PROPN
fumecheng-4951	34	84	,	,	PUNCT
fumecheng-4951	34	85	tir	tir	PROPN
fumecheng-4951	34	86			ADP
fumecheng-4951	34	87	the	the	DET
fumecheng-4951	34	88	center	center	NOUN
fumecheng-4951	34	89	of	of	ADP
fumecheng-4951	34	90	masses	masse	NOUN
fumecheng-4951	34	91	of	of	ADP
fumecheng-4951	34	92	the	the	DET
fumecheng-4951	34	93	kinematic	kinematic	ADJ
fumecheng-4951	34	94	chain	chain	NOUN
fumecheng-4951	34	95	members	member	NOUN
fumecheng-4951	34	96	and	and	CCONJ
fumecheng-4951	34	97	wr	wr	PROPN
fumecheng-4951	34	98			ADP
fumecheng-4951	34	99	the	the	DET
fumecheng-4951	34	100	center	center	NOUN
fumecheng-4951	34	101	of	of	ADP
fumecheng-4951	34	102	the	the	DET
fumecheng-4951	34	103	cutting	cut	VERB
fumecheng-4951	34	104	edge	edge	NOUN
fumecheng-4951	34	105	of	of	ADP
fumecheng-4951	34	106	the	the	DET
fumecheng-4951	34	107	bucket	bucket	NOUN
fumecheng-4951	34	108	,	,	PUNCT
fumecheng-4951	34	109	are	be	AUX
fumecheng-4951	34	110	defined	define	VERB
fumecheng-4951	34	111	,	,	PUNCT
fumecheng-4951	34	112	in	in	ADP
fumecheng-4951	34	113	the	the	DET
fumecheng-4951	34	114	absolute	absolute	ADJ
fumecheng-4951	34	115	coordinate	coordinate	NOUN
fumecheng-4951	34	116	system	system	NOUN
fumecheng-4951	34	117	,	,	PUNCT
fumecheng-4951	34	118	by	by	ADP
fumecheng-4951	34	119	the	the	DET
fumecheng-4951	34	120	equations	equation	NOUN
fumecheng-4951	34	121	:	:	PUNCT
fumecheng-4951	34	122	5,4,3,2ia	5,4,3,2ia	NUM
fumecheng-4951	34	123	1i	1i	NOUN
fumecheng-4951	34	124	1i	1i	NUM
fumecheng-4951	34	125	iioi	iioi	NOUN
fumecheng-4951	34	126	=	=	X
fumecheng-4951	34	127	=	=	X
fumecheng-4951	34	128	−	−	PROPN
fumecheng-4951	34	129	=	=	SYM
fumecheng-4951	34	130	sr	sr	PROPN
fumecheng-4951	34	131			ADV
fumecheng-4951	34	132	(	(	PUNCT
fumecheng-4951	34	133	3	3	NUM
fumecheng-4951	34	134	)	)	PUNCT
fumecheng-4951	34	135	where	where	SCONJ
fumecheng-4951	34	136	:	:	PUNCT
fumecheng-4951	34	137	aio	aio	X
fumecheng-4951	34	138	–	–	PUNCT
fumecheng-4951	34	139	the	the	DET
fumecheng-4951	34	140	transfer	transfer	NOUN
fumecheng-4951	34	141	matrix	matrix	NOUN
fumecheng-4951	34	142	used	use	VERB
fumecheng-4951	34	143	to	to	PART
fumecheng-4951	34	144	transfer	transfer	VERB
fumecheng-4951	34	145	the	the	DET
fumecheng-4951	34	146	vector	vector	NOUN
fumecheng-4951	34	147	quantities	quantity	NOUN
fumecheng-4951	34	148	from	from	ADP
fumecheng-4951	34	149	local	local	ADJ
fumecheng-4951	34	150	coordinate	coordinate	NOUN
fumecheng-4951	34	151	system	system	NOUN
fumecheng-4951	34	152	oi	oi	INTJ
fumecheng-4951	34	153	xi	xi	PROPN
fumecheng-4951	34	154	yi	yi	PROPN
fumecheng-4951	34	155	zi	zi	PROPN
fumecheng-4951	34	156	of	of	ADP
fumecheng-4951	34	157	member	member	PROPN
fumecheng-4951	34	158	li	li	PROPN
fumecheng-4951	34	159	to	to	ADP
fumecheng-4951	34	160	absolute	absolute	ADJ
fumecheng-4951	34	161	coordinate	coordinate	NOUN
fumecheng-4951	34	162	system	system	NOUN
fumecheng-4951	34	163	oxyz	oxyz	VERB
fumecheng-4951	34	164	2.2	2.2	NUM
fumecheng-4951	34	165	.	.	PUNCT
fumecheng-4951	35	1	axial	axial	ADJ
fumecheng-4951	35	2	bearing	bearing	NOUN
fumecheng-4951	35	3	load	load	NOUN
fumecheng-4951	35	4	according	accord	VERB
fumecheng-4951	35	5	to	to	ADP
fumecheng-4951	35	6	the	the	DET
fumecheng-4951	35	7	defined	define	VERB
fumecheng-4951	35	8	mathematical	mathematical	ADJ
fumecheng-4951	35	9	model	model	NOUN
fumecheng-4951	35	10	,	,	PUNCT
fumecheng-4951	35	11	force	force	VERB
fumecheng-4951	35	12	f2	f2	ADJ
fumecheng-4951	35	13	and	and	CCONJ
fumecheng-4951	35	14	moment	moment	NOUN
fumecheng-4951	35	15	m2	m2	PROPN
fumecheng-4951	35	16	of	of	ADP
fumecheng-4951	35	17	the	the	DET
fumecheng-4951	35	18	load	load	NOUN
fumecheng-4951	35	19	of	of	ADP
fumecheng-4951	35	20	the	the	DET
fumecheng-4951	35	21	axial	axial	ADJ
fumecheng-4951	35	22	bearing	bearing	NOUN
fumecheng-4951	35	23	of	of	ADP
fumecheng-4951	35	24	the	the	DET
fumecheng-4951	35	25	excavator	excavator	NOUN
fumecheng-4951	35	26	slewing	slew	VERB
fumecheng-4951	35	27	platform	platform	NOUN
fumecheng-4951	35	28	drive	drive	NOUN
fumecheng-4951	35	29	mechanism	mechanism	NOUN
fumecheng-4951	35	30	are	be	AUX
fumecheng-4951	35	31	determined	determine	VERB
fumecheng-4951	35	32	by	by	ADP
fumecheng-4951	35	33	the	the	DET
fumecheng-4951	35	34	equations	equation	NOUN
fumecheng-4951	35	35	[	[	X
fumecheng-4951	35	36	12	12	NUM
fumecheng-4951	35	37	,	,	PUNCT
fumecheng-4951	35	38	16	16	NUM
fumecheng-4951	35	39	]	]	PUNCT
fumecheng-4951	35	40	:	:	PUNCT
fumecheng-4951	35	41	m2c	m2c	PUNCT
fumecheng-4951	35	42	5	5	NUM
fumecheng-4951	35	43	3i	3i	NOUN
fumecheng-4951	35	44	ci	ci	NOUN
fumecheng-4951	35	45	5	5	NUM
fumecheng-4951	35	46	2i	2i	NOUN
fumecheng-4951	35	47	i02	i02	NOUN
fumecheng-4951	35	48	mm	mm	NOUN
fumecheng-4951	35	49	wfggf	wfggf	VERB
fumecheng-4951	36	1	+	+	PROPN
fumecheng-4951	36	2	+	+	PROPN
fumecheng-4951	36	3	+	+	NOUN
fumecheng-4951	36	4	=	=	X
fumecheng-4951	36	5			X
fumecheng-4951	37	1	=	=	NOUN
fumecheng-4951	37	2	=	=	SYM
fumecheng-4951	37	3	(	(	PUNCT
fumecheng-4951	37	4	4	4	NUM
fumecheng-4951	37	5	)	)	PUNCT
fumecheng-4951	37	6	(	(	PUNCT
fumecheng-4951	37	7	)	)	PUNCT
fumecheng-4951	37	8	(	(	PUNCT
fumecheng-4951	37	9	)	)	PUNCT
fumecheng-4951	37	10	(	(	PUNCT
fumecheng-4951	37	11	)	)	PUNCT
fumecheng-4951	37	12	(	(	PUNCT
fumecheng-4951	37	13	)	)	PUNCT
fumecheng-4951	37	14	(	(	PUNCT
fumecheng-4951	37	15	)	)	PUNCT
fumecheng-4951	37	16	m2w	m2w	NOUN
fumecheng-4951	37	17	5	5	NUM
fumecheng-4951	37	18	3i	3i	NOUN
fumecheng-4951	37	19	2ctici	2ctici	NUM
fumecheng-4951	37	20	5	5	NUM
fumecheng-4951	37	21	2i	2i	NOUN
fumecheng-4951	37	22	2tii02	2tii02	NUM
fumecheng-4951	37	23	mm	mm	NOUN
fumecheng-4951	37	24	wrrgrrgrrm	wrrgrrgrrm	NOUN
fumecheng-4951	37	25	−+−+−=	−+−+−=	PROPN
fumecheng-4951	37	26			ADV
fumecheng-4951	37	27	=	=	NOUN
fumecheng-4951	37	28	=	=	SYM
fumecheng-4951	37	29	(	(	PUNCT
fumecheng-4951	37	30	5	5	NUM
fumecheng-4951	37	31	)	)	PUNCT
fumecheng-4951	37	32	where	where	SCONJ
fumecheng-4951	37	33	:	:	PUNCT
fumecheng-4951	37	34	mi	mi	PROPN
fumecheng-4951	37	35	member	member	PROPN
fumecheng-4951	37	36	mass	mass	PROPN
fumecheng-4951	37	37	,	,	PUNCT
fumecheng-4951	37	38	mci	mci	PROPN
fumecheng-4951	37	39	mass	mass	NOUN
fumecheng-4951	37	40	of	of	ADP
fumecheng-4951	37	41	the	the	DET
fumecheng-4951	37	42	actuators	actuator	NOUN
fumecheng-4951	37	43	of	of	ADP
fumecheng-4951	37	44	the	the	DET
fumecheng-4951	37	45	manipulator	manipulator	NOUN
fumecheng-4951	37	46	drive	drive	NOUN
fumecheng-4951	37	47	mechanisms	mechanism	NOUN
fumecheng-4951	37	48	,	,	PUNCT
fumecheng-4951	37	49	fc2	fc2	PROPN
fumecheng-4951	37	50	reaction	reaction	NOUN
fumecheng-4951	37	51	force	force	NOUN
fumecheng-4951	37	52	of	of	ADP
fumecheng-4951	37	53	the	the	DET
fumecheng-4951	37	54	slewing	slewing	NOUN
fumecheng-4951	37	55	platform	platform	NOUN
fumecheng-4951	37	56	,	,	PUNCT
fumecheng-4951	37	57	and	and	CCONJ
fumecheng-4951	37	58	wm	wm	ADP
fumecheng-4951	37	59	possible	possible	ADJ
fumecheng-4951	37	60	force	force	NOUN
fumecheng-4951	37	61	of	of	ADP
fumecheng-4951	37	62	digging	dig	VERB
fumecheng-4951	37	63	resistance	resistance	NOUN
fumecheng-4951	37	64	.	.	PUNCT
fumecheng-4951	38	1	the	the	DET
fumecheng-4951	38	2	reaction	reaction	NOUN
fumecheng-4951	38	3	force	force	NOUN
fumecheng-4951	38	4	of	of	ADP
fumecheng-4951	38	5	the	the	DET
fumecheng-4951	38	6	slewing	slewing	NOUN
fumecheng-4951	38	7	platform	platform	NOUN
fumecheng-4951	38	8	drive	drive	NOUN
fumecheng-4951	38	9	mechanism	mechanism	NOUN
fumecheng-4951	38	10	with	with	ADP
fumecheng-4951	38	11	one	one	NUM
fumecheng-4951	38	12	slewing	slewing	NOUN
fumecheng-4951	38	13	drive	drive	NOUN
fumecheng-4951	38	14	is	be	AUX
fumecheng-4951	38	15	determined	determine	VERB
fumecheng-4951	38	16	by	by	ADP
fumecheng-4951	38	17	the	the	DET
fumecheng-4951	38	18	equation	equation	NOUN
fumecheng-4951	38	19	(	(	PUNCT
fumecheng-4951	38	20	fig	fig	NOUN
fumecheng-4951	38	21	.	.	PUNCT
fumecheng-4951	39	1	1b	1b	NUM
fumecheng-4951	39	2	)	)	PUNCT
fumecheng-4951	39	3	:	:	PUNCT
fumecheng-4951	39	4	(	(	PUNCT
fumecheng-4951	39	5	)	)	PUNCT
fumecheng-4951	39	6	(	(	PUNCT
fumecheng-4951	39	7	)	)	PUNCT
fumecheng-4951	39	8			NOUN
fumecheng-4951	39	9	kifc2	kifc2	NOUN
fumecheng-4951	39	10	2222	2222	NUM
fumecheng-4951	39	11	2425	2425	NUM
fumecheng-4951	39	12	y2	y2	PROPN
fumecheng-4951	39	13	cossin	cossin	NOUN
fumecheng-4951	39	14	dd	dd	NOUN
fumecheng-4951	39	15	m2	m2	PROPN
fumecheng-4951	39	16			PROPN
fumecheng-4951	40	1	+	+	PROPN
fumecheng-4951	40	2	−+	−+	PROPN
fumecheng-4951	40	3	−	−	NOUN
fumecheng-4951	40	4	=	=	SYM
fumecheng-4951	40	5	(	(	PUNCT
fumecheng-4951	40	6	6	6	NUM
fumecheng-4951	40	7	)	)	PUNCT
fumecheng-4951	41	1	where	where	SCONJ
fumecheng-4951	41	2	:	:	PUNCT
fumecheng-4951	41	3	m2y	m2y	PROPN
fumecheng-4951	41	4	moment	moment	NOUN
fumecheng-4951	41	5	of	of	ADP
fumecheng-4951	41	6	the	the	DET
fumecheng-4951	41	7	slewing	slewing	NOUN
fumecheng-4951	41	8	platform	platform	NOUN
fumecheng-4951	41	9	drive	drive	NOUN
fumecheng-4951	41	10	,	,	PUNCT
fumecheng-4951	41	11	α2	α2	ADJ
fumecheng-4951	41	12	position	position	NOUN
fumecheng-4951	41	13	angle	angle	NOUN
fumecheng-4951	41	14	of	of	ADP
fumecheng-4951	41	15	the	the	DET
fumecheng-4951	41	16	platform	platform	NOUN
fumecheng-4951	41	17	drive	drive	NOUN
fumecheng-4951	41	18	,	,	PUNCT
fumecheng-4951	41	19	θ2	θ2	ADP
fumecheng-4951	41	20	platform	platform	NOUN
fumecheng-4951	41	21	slewing	slewing	NOUN
fumecheng-4951	41	22	angle	angle	NOUN
fumecheng-4951	41	23	,	,	PUNCT
fumecheng-4951	41	24	d25	d25	ADJ
fumecheng-4951	41	25	diameter	diameter	NOUN
fumecheng-4951	41	26	of	of	ADP
fumecheng-4951	41	27	the	the	DET
fumecheng-4951	41	28	toothed	toothed	ADJ
fumecheng-4951	41	29	ring	ring	NOUN
fumecheng-4951	41	30	of	of	ADP
fumecheng-4951	41	31	the	the	DET
fumecheng-4951	41	32	axial	axial	ADJ
fumecheng-4951	41	33	bearing	bearing	NOUN
fumecheng-4951	41	34	of	of	ADP
fumecheng-4951	41	35	the	the	DET
fumecheng-4951	41	36	platform	platform	NOUN
fumecheng-4951	41	37	,	,	PUNCT
fumecheng-4951	41	38	d24	d24	VERB
fumecheng-4951	41	39	gear	gear	NOUN
fumecheng-4951	41	40	diameter	diameter	NOUN
fumecheng-4951	41	41	on	on	ADP
fumecheng-4951	41	42	the	the	DET
fumecheng-4951	41	43	drive	drive	ADJ
fumecheng-4951	41	44	output	output	NOUN
fumecheng-4951	41	45	shaft	shaft	NOUN
fumecheng-4951	41	46	.	.	PUNCT
fumecheng-4951	42	1	the	the	DET
fumecheng-4951	42	2	resulting	result	VERB
fumecheng-4951	42	3	force	force	NOUN
fumecheng-4951	42	4	of	of	ADP
fumecheng-4951	42	5	possible	possible	ADJ
fumecheng-4951	42	6	digging	dig	VERB
fumecheng-4951	42	7	resistance	resistance	NOUN
fumecheng-4951	42	8	wm	wm	PROPN
fumecheng-4951	42	9	(	(	PUNCT
fumecheng-4951	42	10	fig	fig	NOUN
fumecheng-4951	42	11	.	.	PUNCT
fumecheng-4951	43	1	1a	1a	NOUN
fumecheng-4951	43	2	)	)	PUNCT
fumecheng-4951	43	3	acts	act	VERB
fumecheng-4951	43	4	on	on	ADP
fumecheng-4951	43	5	the	the	DET
fumecheng-4951	43	6	cutting	cut	VERB
fumecheng-4951	43	7	edge	edge	NOUN
fumecheng-4951	43	8	of	of	ADP
fumecheng-4951	43	9	the	the	DET
fumecheng-4951	43	10	bucket	bucket	NOUN
fumecheng-4951	43	11	and	and	CCONJ
fumecheng-4951	43	12	comprises	comprise	VERB
fumecheng-4951	43	13	component	component	NOUN
fumecheng-4951	43	14	wxym	wxym	NOUN
fumecheng-4951	43	15	normal	normal	ADJ
fumecheng-4951	43	16	to	to	ADP
fumecheng-4951	43	17	the	the	DET
fumecheng-4951	43	18	cutting	cutting	NOUN
fumecheng-4951	43	19	edge	edge	NOUN
fumecheng-4951	43	20	and	and	CCONJ
fumecheng-4951	43	21	lateral	lateral	ADJ
fumecheng-4951	43	22	component	component	NOUN
fumecheng-4951	43	23	wzm	wzm	ADV
fumecheng-4951	43	24	collinear	collinear	ADJ
fumecheng-4951	43	25	with	with	ADP
fumecheng-4951	43	26	the	the	DET
fumecheng-4951	43	27	cutting	cut	VERB
fumecheng-4951	43	28	edge	edge	NOUN
fumecheng-4951	43	29	of	of	ADP
fumecheng-4951	43	30	the	the	DET
fumecheng-4951	43	31	bucket	bucket	NOUN
fumecheng-4951	43	32	:	:	PUNCT
fumecheng-4951	43	33	2	2	NUM
fumecheng-4951	43	34	zm	zm	PROPN
fumecheng-4951	43	35	2	2	NUM
fumecheng-4951	43	36	xymm	xymm	NOUN
fumecheng-4951	43	37	ww	ww	PROPN
fumecheng-4951	44	1	+	+	PROPN
fumecheng-4951	44	2	=	=	PROPN
fumecheng-4951	44	3	w	w	X
fumecheng-4951	44	4	(	(	PUNCT
fumecheng-4951	44	5	7	7	NUM
fumecheng-4951	44	6	)	)	PUNCT
fumecheng-4951	44	7	whose	whose	DET
fumecheng-4951	44	8	direction	direction	NOUN
fumecheng-4951	44	9	is	be	AUX
fumecheng-4951	44	10	determined	determine	VERB
fumecheng-4951	44	11	by	by	ADP
fumecheng-4951	44	12	the	the	DET
fumecheng-4951	44	13	unit	unit	NOUN
fumecheng-4951	44	14	vector	vector	NOUN
fumecheng-4951	44	15	:	:	PUNCT
fumecheng-4951	44	16	analysis	analysis	NOUN
fumecheng-4951	44	17	of	of	ADP
fumecheng-4951	44	18	the	the	DET
fumecheng-4951	44	19	influence	influence	NOUN
fumecheng-4951	44	20	of	of	ADP
fumecheng-4951	44	21	the	the	DET
fumecheng-4951	44	22	digging	dig	VERB
fumecheng-4951	44	23	position	position	NOUN
fumecheng-4951	44	24	on	on	ADP
fumecheng-4951	44	25	the	the	DET
fumecheng-4951	44	26	loading	loading	NOUN
fumecheng-4951	44	27	of	of	ADP
fumecheng-4951	44	28	the	the	DET
fumecheng-4951	44	29	slewing	slewing	NOUN
fumecheng-4951	44	30	platform	platform	NOUN
fumecheng-4951	44	31	bearing	bearing	NOUN
fumecheng-4951	44	32	…	…	PUNCT
fumecheng-4951	44	33	709	709	NUM
fumecheng-4951	44	34	(	(	PUNCT
fumecheng-4951	44	35	)	)	PUNCT
fumecheng-4951	44	36	(	(	PUNCT
fumecheng-4951	44	37	)	)	PUNCT
fumecheng-4951	44	38	k	k	NOUN
fumecheng-4951	44	39	jiw	jiw	ADJ
fumecheng-4951	44	40	2wm2wmw	2wm2wmw	NUM
fumecheng-4951	44	41	wwm2w2wwmm	wwm2w2wwmm	PROPN
fumecheng-4951	44	42	cossinsincos	cossinsinco	NOUN
fumecheng-4951	44	43	sinsinsincoscoscosort	sinsinsincoscoscosort	VERB
fumecheng-4951	44	44			ADV
fumecheng-4951	44	45			PUNCT
fumecheng-4951	45	1	+	+	PROPN
fumecheng-4951	45	2	+	+	X
fumecheng-4951	45	3	+	+	ADJ
fumecheng-4951	45	4	+	+	ADJ
fumecheng-4951	45	5	−=	−=	X
fumecheng-4951	45	6	cos	cos	PROPN
fumecheng-4951	45	7	cos	cos	PROPN
fumecheng-4951	45	8	(	(	PUNCT
fumecheng-4951	45	9	8)	8)	NUM
fumecheng-4951	45	10	where	where	SCONJ
fumecheng-4951	45	11	:	:	PUNCT
fumecheng-4951	45	12	φwm	φwm	NOUN
fumecheng-4951	45	13	angle	angle	NOUN
fumecheng-4951	45	14	between	between	ADP
fumecheng-4951	45	15	the	the	DET
fumecheng-4951	45	16	direction	direction	NOUN
fumecheng-4951	45	17	of	of	ADP
fumecheng-4951	45	18	the	the	DET
fumecheng-4951	45	19	action	action	NOUN
fumecheng-4951	45	20	of	of	ADP
fumecheng-4951	45	21	the	the	DET
fumecheng-4951	45	22	possible	possible	ADJ
fumecheng-4951	45	23	force	force	NOUN
fumecheng-4951	45	24	of	of	ADP
fumecheng-4951	45	25	digging	dig	VERB
fumecheng-4951	45	26	resistance	resistance	NOUN
fumecheng-4951	45	27	wm	wm	PROPN
fumecheng-4951	45	28	and	and	CCONJ
fumecheng-4951	45	29	the	the	DET
fumecheng-4951	45	30	force	force	NOUN
fumecheng-4951	45	31	of	of	ADP
fumecheng-4951	45	32	the	the	DET
fumecheng-4951	45	33	digging	dig	VERB
fumecheng-4951	45	34	resistance	resistance	NOUN
fumecheng-4951	45	35	normal	normal	ADJ
fumecheng-4951	45	36	to	to	ADP
fumecheng-4951	45	37	the	the	DET
fumecheng-4951	45	38	cutting	cut	VERB
fumecheng-4951	45	39	edge	edge	NOUN
fumecheng-4951	45	40	of	of	ADP
fumecheng-4951	45	41	bucket	bucket	NOUN
fumecheng-4951	45	42	wxym	wxym	NOUN
fumecheng-4951	45	43	,	,	PUNCT
fumecheng-4951	45	44	determined	determine	VERB
fumecheng-4951	45	45	by	by	ADP
fumecheng-4951	45	46	the	the	DET
fumecheng-4951	45	47	equation	equation	NOUN
fumecheng-4951	45	48	:	:	PUNCT
fumecheng-4951	45	49	xym	xym	PROPN
fumecheng-4951	45	50	zm	zm	PROPN
fumecheng-4951	45	51	wm	wm	PROPN
fumecheng-4951	45	52	w	w	PROPN
fumecheng-4951	45	53	w	w	PROPN
fumecheng-4951	45	54	arctg=	arctg=	PROPN
fumecheng-4951	45	55	(	(	PUNCT
fumecheng-4951	45	56	9	9	NUM
fumecheng-4951	45	57	)	)	PUNCT
fumecheng-4951	45	58	the	the	DET
fumecheng-4951	45	59	intensity	intensity	NOUN
fumecheng-4951	45	60	of	of	ADP
fumecheng-4951	45	61	the	the	DET
fumecheng-4951	45	62	possible	possible	ADJ
fumecheng-4951	45	63	force	force	NOUN
fumecheng-4951	45	64	of	of	ADP
fumecheng-4951	45	65	the	the	DET
fumecheng-4951	45	66	digging	dig	VERB
fumecheng-4951	45	67	resistance	resistance	NOUN
fumecheng-4951	45	68	applied	apply	VERB
fumecheng-4951	45	69	to	to	ADP
fumecheng-4951	45	70	the	the	DET
fumecheng-4951	45	71	cutting	cut	VERB
fumecheng-4951	45	72	edge	edge	NOUN
fumecheng-4951	45	73	of	of	ADP
fumecheng-4951	45	74	the	the	DET
fumecheng-4951	45	75	bucket	bucket	NOUN
fumecheng-4951	45	76	is	be	AUX
fumecheng-4951	45	77			PROPN
fumecheng-4951	45	78			PROPN
fumecheng-4951	45	79	m5m4m3pmsmxym	m5m4m3pmsmxym	X
fumecheng-4951	45	80	,	,	PUNCT
fumecheng-4951	45	81	w	w	PROPN
fumecheng-4951	45	82	,	,	PUNCT
fumecheng-4951	45	83	w	w	PROPN
fumecheng-4951	45	84	,	,	PUNCT
fumecheng-4951	45	85	w	w	NOUN
fumecheng-4951	45	86	,	,	PUNCT
fumecheng-4951	45	87	wwminw	wwminw	NOUN
fumecheng-4951	45	88	=	=	SYM
fumecheng-4951	45	89	(	(	PUNCT
fumecheng-4951	45	90	10	10	NUM
fumecheng-4951	45	91	)	)	PUNCT
fumecheng-4951	46	1	where	where	SCONJ
fumecheng-4951	46	2	:	:	PUNCT
fumecheng-4951	46	3	wsm	wsm	NOUN
fumecheng-4951	46	4	,	,	PUNCT
fumecheng-4951	46	5	wsm	wsm	NOUN
fumecheng-4951	46	6	boundary	boundary	ADJ
fumecheng-4951	46	7	forces	force	NOUN
fumecheng-4951	46	8	of	of	ADP
fumecheng-4951	46	9	the	the	DET
fumecheng-4951	46	10	digging	dig	VERB
fumecheng-4951	46	11	resistance	resistance	NOUN
fumecheng-4951	46	12	that	that	PRON
fumecheng-4951	46	13	limit	limit	VERB
fumecheng-4951	46	14	the	the	DET
fumecheng-4951	46	15	stability	stability	NOUN
fumecheng-4951	46	16	of	of	ADP
fumecheng-4951	46	17	the	the	DET
fumecheng-4951	46	18	excavator	excavator	NOUN
fumecheng-4951	46	19	,	,	PUNCT
fumecheng-4951	46	20	w3	w3	PROPN
fumecheng-4951	46	21	m	m	PROPN
fumecheng-4951	46	22	,	,	PUNCT
fumecheng-4951	46	23	w4	w4	NOUN
fumecheng-4951	46	24	m	m	PROPN
fumecheng-4951	46	25	,	,	PUNCT
fumecheng-4951	46	26	w5	w5	PROPN
fumecheng-4951	46	27	m	m	PROPN
fumecheng-4951	46	28	boundary	boundary	ADJ
fumecheng-4951	46	29	forces	force	NOUN
fumecheng-4951	46	30	of	of	ADP
fumecheng-4951	46	31	the	the	DET
fumecheng-4951	46	32	digging	dig	VERB
fumecheng-4951	46	33	resistance	resistance	NOUN
fumecheng-4951	46	34	that	that	PRON
fumecheng-4951	46	35	can	can	AUX
fumecheng-4951	46	36	be	be	AUX
fumecheng-4951	46	37	overcome	overcome	VERB
fumecheng-4951	46	38	by	by	ADP
fumecheng-4951	46	39	the	the	DET
fumecheng-4951	46	40	drive	drive	ADJ
fumecheng-4951	46	41	mechanisms	mechanism	NOUN
fumecheng-4951	46	42	of	of	ADP
fumecheng-4951	46	43	the	the	DET
fumecheng-4951	46	44	manipulator	manipulator	NOUN
fumecheng-4951	46	45	boom	boom	NOUN
fumecheng-4951	46	46	,	,	PUNCT
fumecheng-4951	46	47	stick	stick	NOUN
fumecheng-4951	46	48	,	,	PUNCT
fumecheng-4951	46	49	and	and	CCONJ
fumecheng-4951	46	50	bucket	bucket	NOUN
fumecheng-4951	46	51	.	.	PUNCT
fumecheng-4951	47	1	the	the	DET
fumecheng-4951	47	2	direction	direction	NOUN
fumecheng-4951	47	3	of	of	ADP
fumecheng-4951	47	4	the	the	DET
fumecheng-4951	47	5	normal	normal	ADJ
fumecheng-4951	47	6	component	component	NOUN
fumecheng-4951	47	7	of	of	ADP
fumecheng-4951	47	8	the	the	DET
fumecheng-4951	47	9	possible	possible	ADJ
fumecheng-4951	47	10	force	force	NOUN
fumecheng-4951	47	11	of	of	ADP
fumecheng-4951	47	12	the	the	DET
fumecheng-4951	47	13	digging	dig	VERB
fumecheng-4951	47	14	resistance	resistance	NOUN
fumecheng-4951	47	15	wxym	wxym	NOUN
fumecheng-4951	47	16	in	in	ADP
fumecheng-4951	47	17	relation	relation	NOUN
fumecheng-4951	47	18	to	to	ADP
fumecheng-4951	47	19	the	the	DET
fumecheng-4951	47	20	horizontal	horizontal	ADJ
fumecheng-4951	47	21	oxz	oxz	NOUN
fumecheng-4951	47	22	plane	plane	NOUN
fumecheng-4951	47	23	of	of	ADP
fumecheng-4951	47	24	the	the	DET
fumecheng-4951	47	25	absolute	absolute	ADJ
fumecheng-4951	47	26	coordinate	coordinate	NOUN
fumecheng-4951	47	27	system	system	NOUN
fumecheng-4951	47	28	is	be	AUX
fumecheng-4951	47	29	defined	define	VERB
fumecheng-4951	47	30	by	by	ADP
fumecheng-4951	47	31	the	the	DET
fumecheng-4951	47	32	angle	angle	NOUN
fumecheng-4951	47	33	:	:	PUNCT
fumecheng-4951	47	34	w5w	w5w	NOUN
fumecheng-4951	47	35			X
fumecheng-4951	48	1	+	+	NOUN
fumecheng-4951	48	2	=	=	X
fumecheng-4951	48	3	(	(	PUNCT
fumecheng-4951	48	4	11	11	NUM
fumecheng-4951	48	5	)	)	PUNCT
fumecheng-4951	48	6	where	where	SCONJ
fumecheng-4951	48	7	:	:	PUNCT
fumecheng-4951	48	8	θw	θw	NOUN
fumecheng-4951	48	9	angle	angle	NOUN
fumecheng-4951	48	10	of	of	ADP
fumecheng-4951	48	11	the	the	DET
fumecheng-4951	48	12	digging	dig	VERB
fumecheng-4951	48	13	resistance	resistance	NOUN
fumecheng-4951	48	14	in	in	ADP
fumecheng-4951	48	15	relation	relation	NOUN
fumecheng-4951	48	16	to	to	ADP
fumecheng-4951	48	17	the	the	DET
fumecheng-4951	48	18	positive	positive	ADJ
fumecheng-4951	48	19	o5x5	o5x5	ADJ
fumecheng-4951	48	20	axis	axis	NOUN
fumecheng-4951	48	21	of	of	ADP
fumecheng-4951	48	22	the	the	DET
fumecheng-4951	48	23	local	local	ADJ
fumecheng-4951	48	24	coordinate	coordinate	NOUN
fumecheng-4951	48	25	system	system	NOUN
fumecheng-4951	48	26	of	of	ADP
fumecheng-4951	48	27	bucket	bucket	NOUN
fumecheng-4951	48	28	l5	l5	NOUN
fumecheng-4951	48	29	.	.	PUNCT
fumecheng-4951	49	1	the	the	DET
fumecheng-4951	49	2	direction	direction	NOUN
fumecheng-4951	49	3	of	of	ADP
fumecheng-4951	49	4	the	the	DET
fumecheng-4951	49	5	normal	normal	ADJ
fumecheng-4951	49	6	component	component	NOUN
fumecheng-4951	49	7	of	of	ADP
fumecheng-4951	49	8	digging	dig	VERB
fumecheng-4951	49	9	resistance	resistance	NOUN
fumecheng-4951	49	10	wxym	wxym	NOUN
fumecheng-4951	49	11	in	in	ADP
fumecheng-4951	49	12	the	the	DET
fumecheng-4951	49	13	absolute	absolute	ADJ
fumecheng-4951	49	14	coordinate	coordinate	NOUN
fumecheng-4951	49	15	system	system	NOUN
fumecheng-4951	49	16	is	be	AUX
fumecheng-4951	49	17	determined	determine	VERB
fumecheng-4951	49	18	by	by	ADP
fumecheng-4951	49	19	the	the	DET
fumecheng-4951	49	20	unit	unit	NOUN
fumecheng-4951	49	21	vector	vector	NOUN
fumecheng-4951	49	22	:	:	PUNCT
fumecheng-4951	49	23	kjiw	kjiw	PROPN
fumecheng-4951	49	24	2wwxym	2wwxym	NUM
fumecheng-4951	49	25	sinsincosort	sinsincosort	NOUN
fumecheng-4951	49	26			X
fumecheng-4951	49	27	cos	cos	ADP
fumecheng-4951	49	28	2	2	NUM
fumecheng-4951	49	29	+	+	NOUN
fumecheng-4951	49	30	+	+	ADJ
fumecheng-4951	49	31	=	=	PROPN
fumecheng-4951	49	32	(	(	PUNCT
fumecheng-4951	49	33	12	12	NUM
fumecheng-4951	49	34	)	)	PUNCT
fumecheng-4951	49	35	the	the	DET
fumecheng-4951	49	36	boundary	boundary	ADJ
fumecheng-4951	49	37	force	force	NOUN
fumecheng-4951	49	38	of	of	ADP
fumecheng-4951	49	39	digging	dig	VERB
fumecheng-4951	49	40	resistance	resistance	NOUN
fumecheng-4951	49	41	wsm	wsm	NOUN
fumecheng-4951	49	42	that	that	PRON
fumecheng-4951	49	43	is	be	AUX
fumecheng-4951	49	44	limited	limit	VERB
fumecheng-4951	49	45	by	by	ADP
fumecheng-4951	49	46	the	the	DET
fumecheng-4951	49	47	static	static	ADJ
fumecheng-4951	49	48	stability	stability	NOUN
fumecheng-4951	49	49	of	of	ADP
fumecheng-4951	49	50	the	the	DET
fumecheng-4951	49	51	excavator	excavator	NOUN
fumecheng-4951	49	52	is	be	AUX
fumecheng-4951	49	53	determined	determine	VERB
fumecheng-4951	49	54	,	,	PUNCT
fumecheng-4951	49	55	depending	depend	VERB
fumecheng-4951	49	56	on	on	ADP
fumecheng-4951	49	57	the	the	DET
fumecheng-4951	49	58	position	position	NOUN
fumecheng-4951	49	59	of	of	ADP
fumecheng-4951	49	60	the	the	DET
fumecheng-4951	49	61	kinematic	kinematic	ADJ
fumecheng-4951	49	62	chain	chain	NOUN
fumecheng-4951	49	63	of	of	ADP
fumecheng-4951	49	64	the	the	DET
fumecheng-4951	49	65	excavator	excavator	NOUN
fumecheng-4951	49	66	and	and	CCONJ
fumecheng-4951	49	67	оrtwxym	оrtwxym	PROPN
fumecheng-4951	49	68	,	,	PUNCT
fumecheng-4951	49	69	from	from	ADP
fumecheng-4951	49	70	the	the	DET
fumecheng-4951	49	71	equilibrium	equilibrium	NOUN
fumecheng-4951	49	72	conditions	condition	NOUN
fumecheng-4951	49	73	for	for	ADP
fumecheng-4951	49	74	one	one	NUM
fumecheng-4951	49	75	of	of	ADP
fumecheng-4951	49	76	the	the	DET
fumecheng-4951	49	77	possible	possible	ADJ
fumecheng-4951	49	78	rotary	rotary	ADJ
fumecheng-4951	49	79	joints	joint	NOUN
fumecheng-4951	49	80	о11	о11	NOUN
fumecheng-4951	49	81	,	,	PUNCT
fumecheng-4951	49	82	о12	о12	NOUN
fumecheng-4951	49	83	between	between	ADP
fumecheng-4951	49	84	the	the	DET
fumecheng-4951	49	85	support	support	NOUN
fumecheng-4951	49	86	and	and	CCONJ
fumecheng-4951	49	87	movement	movement	NOUN
fumecheng-4951	49	88	member	member	NOUN
fumecheng-4951	49	89	and	and	CCONJ
fumecheng-4951	49	90	the	the	DET
fumecheng-4951	49	91	support	support	NOUN
fumecheng-4951	49	92	surface	surface	NOUN
fumecheng-4951	49	93	,	,	PUNCT
fumecheng-4951	49	94	whose	whose	DET
fumecheng-4951	49	95	axes	axis	NOUN
fumecheng-4951	49	96	represent	represent	VERB
fumecheng-4951	49	97	the	the	DET
fumecheng-4951	49	98	potential	potential	ADJ
fumecheng-4951	49	99	excavator	excavator	NOUN
fumecheng-4951	49	100	rollover	rollover	NOUN
fumecheng-4951	49	101	lines	line	NOUN
fumecheng-4951	49	102	(	(	PUNCT
fumecheng-4951	49	103	fig	fig	NOUN
fumecheng-4951	49	104	.	.	PUNCT
fumecheng-4951	50	1	1a	1a	NOUN
fumecheng-4951	50	2	)	)	PUNCT
fumecheng-4951	51	1	[	[	X
fumecheng-4951	51	2	17	17	NUM
fumecheng-4951	51	3	]	]	SYM
fumecheng-4951	51	4	:	:	PUNCT
fumecheng-4951	51	5			NUM
fumecheng-4951	51	6			NUM
fumecheng-4951	51	7			PROPN
fumecheng-4951	51	8			NUM
fumecheng-4951	51	9			NUM
fumecheng-4951	51	10			NUM
fumecheng-4951	51	11			NOUN
fumecheng-4951	51	12			PROPN
fumecheng-4951	51	13			NOUN
fumecheng-4951	51	14			NOUN
fumecheng-4951	51	15	−	−	VERB
fumecheng-4951	51	16	+	+	PROPN
fumecheng-4951	51	17	−	−	PUNCT
fumecheng-4951	51	18	−	−	NOUN
fumecheng-4951	52	1	=	=	SYM
fumecheng-4951	52	2			PROPN
fumecheng-4951	52	3			NOUN
fumecheng-4951	52	4			ADP
fumecheng-4951	52	5	−	−	PUNCT
fumecheng-4951	53	1	+	+	PUNCT
fumecheng-4951	53	2			X
fumecheng-4951	53	3	−	−	VERB
fumecheng-4951	53	4	−	−	NOUN
fumecheng-4951	53	5	=	=	PUNCT
fumecheng-4951	54	1	=	=	SYM
fumecheng-4951	54	2	12w11w	12w11w	NUM
fumecheng-4951	55	1	11w12w	11w12w	NUM
fumecheng-4951	55	2	1xym12w	1xym12w	NUM
fumecheng-4951	55	3	12o	12o	NUM
fumecheng-4951	55	4	12sm	12sm	NOUN
fumecheng-4951	55	5	12w11w	12w11w	NUM
fumecheng-4951	56	1	11w12w	11w12w	NUM
fumecheng-4951	56	2	1xym11w	1xym11w	NUM
fumecheng-4951	56	3	11o	11o	NOUN
fumecheng-4951	56	4	11sm	11sm	ADJ
fumecheng-4951	56	5	sm	sm	PROPN
fumecheng-4951	56	6	π	π	PROPN
fumecheng-4951	56	7	,	,	PUNCT
fumecheng-4951	56	8	0y	0y	NOUN
fumecheng-4951	56	9	π	π	NOUN
fumecheng-4951	56	10	,	,	PUNCT
fumecheng-4951	56	11	0y	0y	NOUN
fumecheng-4951	56	12	,	,	PUNCT
fumecheng-4951	56	13	)	)	PUNCT
fumecheng-4951	56	14	ort	ort	NOUN
fumecheng-4951	56	15	)	)	PUNCT
fumecheng-4951	56	16	(	(	PUNCT
fumecheng-4951	56	17	(	(	PUNCT
fumecheng-4951	56	18	m	m	VERB
fumecheng-4951	56	19	w	w	PROPN
fumecheng-4951	56	20	π	π	PROPN
fumecheng-4951	56	21	,	,	PUNCT
fumecheng-4951	56	22	0y	0y	X
fumecheng-4951	56	23	π	π	NOUN
fumecheng-4951	56	24	,	,	PUNCT
fumecheng-4951	56	25	0y	0y	NOUN
fumecheng-4951	56	26	,	,	PUNCT
fumecheng-4951	56	27	)	)	PUNCT
fumecheng-4951	56	28	ort	ort	NOUN
fumecheng-4951	56	29	)	)	PUNCT
fumecheng-4951	56	30	(	(	PUNCT
fumecheng-4951	56	31	(	(	PUNCT
fumecheng-4951	56	32	m	m	PROPN
fumecheng-4951	56	33	w	w	PROPN
fumecheng-4951	56	34	w	w	PROPN
fumecheng-4951	56	35			PROPN
fumecheng-4951	56	36			PROPN
fumecheng-4951	56	37			PROPN
fumecheng-4951	56	38			PROPN
fumecheng-4951	56	39	ewrr	ewrr	PROPN
fumecheng-4951	56	40	ewrr	ewrr	PROPN
fumecheng-4951	56	41	(	(	PUNCT
fumecheng-4951	56	42	13	13	NUM
fumecheng-4951	56	43	)	)	PUNCT
fumecheng-4951	56	44	where	where	SCONJ
fumecheng-4951	56	45	:	:	PUNCT
fumecheng-4951	56	46	msm11	msm11	NOUN
fumecheng-4951	56	47	,	,	PUNCT
fumecheng-4951	56	48	msm12	msm12	ADJ
fumecheng-4951	56	49	gravitational	gravitational	ADJ
fumecheng-4951	56	50	moments	moment	NOUN
fumecheng-4951	56	51	for	for	ADP
fumecheng-4951	56	52	longitudinal	longitudinal	ADJ
fumecheng-4951	56	53	x	x	NOUN
fumecheng-4951	56	54	-	-	PUNCT
fumecheng-4951	56	55	x	x	NOUN
fumecheng-4951	56	56	or	or	CCONJ
fumecheng-4951	56	57	transverse	transverse	NOUN
fumecheng-4951	56	58	z	z	NOUN
fumecheng-4951	56	59	-	-	ADJ
fumecheng-4951	56	60	z	z	NOUN
fumecheng-4951	56	61	excavator	excavator	NOUN
fumecheng-4951	56	62	rollover	rollover	NOUN
fumecheng-4951	56	63	line	line	NOUN
fumecheng-4951	56	64	of	of	ADP
fumecheng-4951	56	65	the	the	DET
fumecheng-4951	56	66	excavator	excavator	NOUN
fumecheng-4951	56	67	,	,	PUNCT
fumecheng-4951	56	68	r11,r12	r11,r12	NOUN
fumecheng-4951	56	69	vectors	vector	NOUN
fumecheng-4951	56	70	of	of	ADP
fumecheng-4951	56	71	the	the	DET
fumecheng-4951	56	72	position	position	NOUN
fumecheng-4951	56	73	of	of	ADP
fumecheng-4951	56	74	the	the	DET
fumecheng-4951	56	75	center	center	NOUN
fumecheng-4951	56	76	of	of	ADP
fumecheng-4951	56	77	the	the	DET
fumecheng-4951	56	78	appropriate	appropriate	ADJ
fumecheng-4951	56	79	first	first	ADJ
fumecheng-4951	56	80	rotary	rotary	ADJ
fumecheng-4951	56	81	joint	joint	ADJ
fumecheng-4951	56	82	о11,о12	о11,о12	NOUN
fumecheng-4951	56	83	,	,	PUNCT
fumecheng-4951	56	84	e1	e1	NOUN
fumecheng-4951	56	85	unit	unit	NOUN
fumecheng-4951	56	86	vector	vector	NOUN
fumecheng-4951	56	87	of	of	ADP
fumecheng-4951	56	88	the	the	DET
fumecheng-4951	56	89	first	first	ADJ
fumecheng-4951	56	90	rotary	rotary	ADJ
fumecheng-4951	56	91	joint	joint	ADJ
fumecheng-4951	56	92	о11,о12	о11,о12	NOUN
fumecheng-4951	56	93	,	,	PUNCT
fumecheng-4951	56	94	φ11	φ11	NOUN
fumecheng-4951	56	95	,	,	PUNCT
fumecheng-4951	56	96	φ12	φ12	ADJ
fumecheng-4951	56	97	angles	angle	NOUN
fumecheng-4951	56	98	of	of	ADP
fumecheng-4951	56	99	the	the	DET
fumecheng-4951	56	100	position	position	NOUN
fumecheng-4951	56	101	center	center	NOUN
fumecheng-4951	56	102	of	of	ADP
fumecheng-4951	56	103	the	the	DET
fumecheng-4951	56	104	cutting	cut	VERB
fumecheng-4951	56	105	edge	edge	NOUN
fumecheng-4951	56	106	of	of	ADP
fumecheng-4951	56	107	the	the	DET
fumecheng-4951	56	108	bucket	bucket	NOUN
fumecheng-4951	56	109	in	in	ADP
fumecheng-4951	56	110	relation	relation	NOUN
fumecheng-4951	56	111	to	to	ADP
fumecheng-4951	56	112	the	the	DET
fumecheng-4951	56	113	corresponding	corresponding	ADJ
fumecheng-4951	56	114	rotary	rotary	ADJ
fumecheng-4951	56	115	joints	joint	NOUN
fumecheng-4951	56	116	defined	define	VERB
fumecheng-4951	56	117	by	by	ADP
fumecheng-4951	56	118	the	the	DET
fumecheng-4951	56	119	equations	equation	NOUN
fumecheng-4951	56	120	:	:	PUNCT
fumecheng-4951	56	121			PROPN
fumecheng-4951	56	122			PROPN
fumecheng-4951	56	123			NOUN
fumecheng-4951	57	1			NOUN
fumecheng-4951	57	2			PROPN
fumecheng-4951	57	3			PROPN
fumecheng-4951	58	1			PROPN
fumecheng-4951	58	2			NOUN
fumecheng-4951	58	3	−	−	NOUN
fumecheng-4951	58	4	−	−	PROPN
fumecheng-4951	58	5	=	=	SYM
fumecheng-4951	58	6	11w	11w	NOUN
fumecheng-4951	58	7	11w	11w	NOUN
fumecheng-4951	58	8	11	11	NUM
fumecheng-4951	58	9	)	)	PUNCT
fumecheng-4951	58	10	(	(	PUNCT
fumecheng-4951	58	11	arccos	arccos	PROPN
fumecheng-4951	58	12	rr	rr	PROPN
fumecheng-4951	58	13	irr	irr	NOUN
fumecheng-4951	58	14			PROPN
fumecheng-4951	58	15			PROPN
fumecheng-4951	58	16			PROPN
fumecheng-4951	59	1			NOUN
fumecheng-4951	60	1			PROPN
fumecheng-4951	60	2			PROPN
fumecheng-4951	60	3			PROPN
fumecheng-4951	61	1			PROPN
fumecheng-4951	61	2			NOUN
fumecheng-4951	61	3	−	−	NOUN
fumecheng-4951	61	4	−	−	PROPN
fumecheng-4951	61	5	=	=	SYM
fumecheng-4951	61	6	12w	12w	NUM
fumecheng-4951	61	7	12w	12w	NUM
fumecheng-4951	61	8	12	12	NUM
fumecheng-4951	61	9	)	)	PUNCT
fumecheng-4951	61	10	(	(	PUNCT
fumecheng-4951	61	11	arccos	arccos	X
fumecheng-4951	61	12	rr	rr	PROPN
fumecheng-4951	61	13	irr	irr	NOUN
fumecheng-4951	61	14			PROPN
fumecheng-4951	61	15	(	(	PUNCT
fumecheng-4951	61	16	14	14	NUM
fumecheng-4951	61	17	)	)	PUNCT
fumecheng-4951	61	18	710	710	NUM
fumecheng-4951	61	19	v.	v.	ADP
fumecheng-4951	61	20	jovanović	jovanović	PROPN
fumecheng-4951	61	21	,	,	PUNCT
fumecheng-4951	61	22	d.	d.	PROPN
fumecheng-4951	61	23	janošević	janošević	PROPN
fumecheng-4951	61	24	,	,	PUNCT
fumecheng-4951	61	25	j.	j.	PROPN
fumecheng-4951	61	26	pavlović	pavlović	VERB
fumecheng-4951	61	27	the	the	DET
fumecheng-4951	61	28	gravity	gravity	NOUN
fumecheng-4951	61	29	moments	moment	NOUN
fumecheng-4951	61	30	of	of	ADP
fumecheng-4951	61	31	the	the	DET
fumecheng-4951	61	32	kinematic	kinematic	ADJ
fumecheng-4951	61	33	chain	chain	NOUN
fumecheng-4951	61	34	of	of	ADP
fumecheng-4951	61	35	the	the	DET
fumecheng-4951	61	36	excavator	excavator	NOUN
fumecheng-4951	61	37	for	for	ADP
fumecheng-4951	61	38	calculating	calculate	VERB
fumecheng-4951	61	39	possible	possible	ADJ
fumecheng-4951	61	40	longitudinal	longitudinal	ADJ
fumecheng-4951	61	41	x	x	NOUN
fumecheng-4951	61	42	-	-	PUNCT
fumecheng-4951	61	43	x	x	NOUN
fumecheng-4951	61	44	or	or	CCONJ
fumecheng-4951	61	45	transverse	transverse	NOUN
fumecheng-4951	61	46	z	z	NOUN
fumecheng-4951	61	47	-	-	ADJ
fumecheng-4951	61	48	z	z	NOUN
fumecheng-4951	61	49	excavator	excavator	NOUN
fumecheng-4951	61	50	rollover	rollover	NOUN
fumecheng-4951	61	51	line	line	NOUN
fumecheng-4951	61	52	are	be	AUX
fumecheng-4951	61	53	:	:	PUNCT
fumecheng-4951	61	54	(	(	PUNCT
fumecheng-4951	61	55	)	)	PUNCT
fumecheng-4951	61	56	(	(	PUNCT
fumecheng-4951	61	57	)	)	PUNCT
fumecheng-4951	61	58	(	(	PUNCT
fumecheng-4951	61	59	)	)	PUNCT
fumecheng-4951	61	60	(	(	PUNCT
fumecheng-4951	61	61	)	)	PUNCT
fumecheng-4951	61	62	(	(	PUNCT
fumecheng-4951	61	63	)	)	PUNCT
fumecheng-4951	61	64	(	(	PUNCT
fumecheng-4951	61	65	)	)	PUNCT
fumecheng-4951	61	66	(	(	PUNCT
fumecheng-4951	61	67	)	)	PUNCT
fumecheng-4951	61	68	(	(	PUNCT
fumecheng-4951	61	69	)	)	PUNCT
fumecheng-4951	61	70	(	(	PUNCT
fumecheng-4951	61	71	)	)	PUNCT
fumecheng-4951	61	72	(	(	PUNCT
fumecheng-4951	61	73	)	)	PUNCT
fumecheng-4951	61	74	(	(	PUNCT
fumecheng-4951	61	75	)	)	PUNCT
fumecheng-4951	61	76	(	(	PUNCT
fumecheng-4951	61	77	)	)	PUNCT
fumecheng-4951	61	78			NUM
fumecheng-4951	61	79			NUM
fumecheng-4951	61	80			PROPN
fumecheng-4951	61	81			NUM
fumecheng-4951	61	82			NUM
fumecheng-4951	61	83			NUM
fumecheng-4951	61	84			ADP
fumecheng-4951	61	85	−−−−−−=	−−−−−−=	PROPN
fumecheng-4951	61	86	−−−−−−=	−−−−−−=	PROPN
fumecheng-4951	61	87	=	=	SYM
fumecheng-4951	61	88			PROPN
fumecheng-4951	61	89			X
fumecheng-4951	61	90			X
fumecheng-4951	62	1	=	=	PUNCT
fumecheng-4951	62	2	=	=	PUNCT
fumecheng-4951	63	1	=	=	PUNCT
fumecheng-4951	63	2	=	=	PUNCT
fumecheng-4951	63	3	=	=	PUNCT
fumecheng-4951	63	4	=	=	PUNCT
fumecheng-4951	63	5	=	=	PUNCT
fumecheng-4951	63	6	=	=	SYM
fumecheng-4951	63	7	5k	5k	NUM
fumecheng-4951	63	8	3k	3k	NOUN
fumecheng-4951	63	9	1125tz112ctkck	1125tz112ctkck	NUM
fumecheng-4951	63	10	5k	5k	NUM
fumecheng-4951	63	11	1k	1k	NUM
fumecheng-4951	63	12	112tkk12o	112tkk12o	NOUN
fumecheng-4951	63	13	5k	5k	NUM
fumecheng-4951	63	14	1k	1k	NUM
fumecheng-4951	63	15	5k	5k	NUM
fumecheng-4951	63	16	3k	3k	NUM
fumecheng-4951	64	1	1115tz111ctkck111tkk11o	1115tz111ctkck111tkk11o	NUM
fumecheng-4951	64	2	1o	1o	NUM
fumecheng-4951	64	3	gmmg	gmmg	PROPN
fumecheng-4951	64	4	mgm	mgm	PROPN
fumecheng-4951	64	5	gmmg	gmmg	PROPN
fumecheng-4951	64	6	mgm	mgm	PROPN
fumecheng-4951	64	7	m	m	PROPN
fumecheng-4951	64	8	ejrrejrrejrr	ejrrejrrejrr	PROPN
fumecheng-4951	64	9	ejrrejrrejrr	ejrrejrrejrr	PROPN
fumecheng-4951	64	10	(	(	PUNCT
fumecheng-4951	64	11	15	15	NUM
fumecheng-4951	64	12	)	)	PUNCT
fumecheng-4951	64	13	where	where	SCONJ
fumecheng-4951	64	14	:	:	PUNCT
fumecheng-4951	64	15	rctk	rctk	PROPN
fumecheng-4951	64	16	vector	vector	NOUN
fumecheng-4951	64	17	of	of	ADP
fumecheng-4951	64	18	the	the	DET
fumecheng-4951	64	19	position	position	NOUN
fumecheng-4951	64	20	of	of	ADP
fumecheng-4951	64	21	the	the	DET
fumecheng-4951	64	22	center	center	ADJ
fumecheng-4951	64	23	mass	mass	NOUN
fumecheng-4951	64	24	of	of	ADP
fumecheng-4951	64	25	the	the	DET
fumecheng-4951	64	26	hydraulic	hydraulic	ADJ
fumecheng-4951	64	27	cylinder	cylinder	NOUN
fumecheng-4951	64	28	,	,	PUNCT
fumecheng-4951	64	29	mz	mz	PROPN
fumecheng-4951	64	30	mass	mass	NOUN
fumecheng-4951	64	31	of	of	ADP
fumecheng-4951	64	32	the	the	DET
fumecheng-4951	64	33	material	material	NOUN
fumecheng-4951	64	34	scooped	scoop	VERB
fumecheng-4951	64	35	with	with	ADP
fumecheng-4951	64	36	the	the	DET
fumecheng-4951	64	37	bucket	bucket	NOUN
fumecheng-4951	64	38	.	.	PUNCT
fumecheng-4951	65	1	depending	depend	VERB
fumecheng-4951	65	2	on	on	ADP
fumecheng-4951	65	3	the	the	DET
fumecheng-4951	65	4	bucket	bucket	NOUN
fumecheng-4951	65	5	position	position	NOUN
fumecheng-4951	65	6	,	,	PUNCT
fumecheng-4951	65	7	the	the	DET
fumecheng-4951	65	8	weight	weight	NOUN
fumecheng-4951	65	9	of	of	ADP
fumecheng-4951	65	10	material	material	NOUN
fumecheng-4951	65	11	is	be	AUX
fumecheng-4951	65	12	:	:	PUNCT
fumecheng-4951	65	13	270	270	NUM
fumecheng-4951	65	14	0	0	NUM
fumecheng-4951	65	15	270	270	NUM
fumecheng-4951	65	16	c	c	NOUN
fumecheng-4951	65	17	v	v	DET
fumecheng-4951	65	18	5	5	NUM
fumecheng-4951	65	19	o	o	NOUN
fumecheng-4951	65	20	o	o	NOUN
fumecheng-4951	65	21	5z	5z	NOUN
fumecheng-4951	65	22			NOUN
fumecheng-4951	65	23			NUM
fumecheng-4951	65	24			NUM
fumecheng-4951	65	25			ADV
fumecheng-4951	65	26			VERB
fumecheng-4951	65	27			X
fumecheng-4951	65	28	=	=	SYM
fumecheng-4951	65	29	o	o	NOUN
fumecheng-4951	65	30	o	o	NOUN
fumecheng-4951	65	31	5	5	NUM
fumecheng-4951	65	32	z	z	NOUN
fumecheng-4951	65	33	90	90	NUM
fumecheng-4951	65	34	90os	90os	NOUN
fumecheng-4951	65	35	m	m	VERB
fumecheng-4951	65	36			ADJ
fumecheng-4951	65	37			NOUN
fumecheng-4951	65	38	(	(	PUNCT
fumecheng-4951	65	39	16	16	NUM
fumecheng-4951	65	40	)	)	PUNCT
fumecheng-4951	65	41	where	where	SCONJ
fumecheng-4951	65	42	:	:	PUNCT
fumecheng-4951	65	43	ρz	ρz	NOUN
fumecheng-4951	65	44	density	density	NOUN
fumecheng-4951	65	45	of	of	ADP
fumecheng-4951	65	46	the	the	DET
fumecheng-4951	65	47	material	material	NOUN
fumecheng-4951	65	48	,	,	PUNCT
fumecheng-4951	65	49	v	v	PRON
fumecheng-4951	65	50	volume	volume	NOUN
fumecheng-4951	65	51	of	of	ADP
fumecheng-4951	65	52	the	the	DET
fumecheng-4951	65	53	bucket	bucket	NOUN
fumecheng-4951	65	54	.	.	PUNCT
fumecheng-4951	66	1	from	from	ADP
fumecheng-4951	66	2	the	the	DET
fumecheng-4951	66	3	non	non	ADJ
fumecheng-4951	66	4	-	-	ADJ
fumecheng-4951	66	5	sliding	sliding	ADJ
fumecheng-4951	66	6	conditions	condition	NOUN
fumecheng-4951	66	7	of	of	ADP
fumecheng-4951	66	8	the	the	DET
fumecheng-4951	66	9	excavator	excavator	NOUN
fumecheng-4951	66	10	,	,	PUNCT
fumecheng-4951	66	11	i.e.	i.e.	X
fumecheng-4951	66	12	the	the	DET
fumecheng-4951	66	13	support	support	NOUN
fumecheng-4951	66	14	and	and	CCONJ
fumecheng-4951	66	15	movement	movement	NOUN
fumecheng-4951	66	16	mechanism	mechanism	NOUN
fumecheng-4951	66	17	,	,	PUNCT
fumecheng-4951	66	18	in	in	ADP
fumecheng-4951	66	19	relation	relation	NOUN
fumecheng-4951	66	20	to	to	ADP
fumecheng-4951	66	21	the	the	DET
fumecheng-4951	66	22	support	support	NOUN
fumecheng-4951	66	23	surface	surface	NOUN
fumecheng-4951	66	24	during	during	ADP
fumecheng-4951	66	25	the	the	DET
fumecheng-4951	66	26	digging	dig	VERB
fumecheng-4951	66	27	operation	operation	NOUN
fumecheng-4951	66	28	and	and	CCONJ
fumecheng-4951	66	29	due	due	ADP
fumecheng-4951	66	30	to	to	ADP
fumecheng-4951	66	31	the	the	DET
fumecheng-4951	66	32	action	action	NOUN
fumecheng-4951	66	33	of	of	ADP
fumecheng-4951	66	34	the	the	DET
fumecheng-4951	66	35	digging	dig	VERB
fumecheng-4951	66	36	resistance	resistance	NOUN
fumecheng-4951	66	37	force	force	NOUN
fumecheng-4951	66	38	,	,	PUNCT
fumecheng-4951	66	39	the	the	DET
fumecheng-4951	66	40	boundary	boundary	NOUN
fumecheng-4951	66	41	of	of	ADP
fumecheng-4951	66	42	the	the	DET
fumecheng-4951	66	43	digging	dig	VERB
fumecheng-4951	66	44	resistance	resistance	NOUN
fumecheng-4951	66	45	force	force	NOUN
fumecheng-4951	66	46	wpm	wpm	NOUN
fumecheng-4951	66	47	was	be	AUX
fumecheng-4951	66	48	determined	determine	VERB
fumecheng-4951	66	49	according	accord	VERB
fumecheng-4951	66	50	to	to	ADP
fumecheng-4951	66	51	the	the	DET
fumecheng-4951	66	52	size	size	NOUN
fumecheng-4951	66	53	of	of	ADP
fumecheng-4951	66	54	the	the	DET
fumecheng-4951	66	55	adhesion	adhesion	NOUN
fumecheng-4951	66	56	force	force	NOUN
fumecheng-4951	66	57	occurring	occur	VERB
fumecheng-4951	66	58	between	between	ADP
fumecheng-4951	66	59	the	the	DET
fumecheng-4951	66	60	support	support	NOUN
fumecheng-4951	66	61	and	and	CCONJ
fumecheng-4951	66	62	movement	movement	NOUN
fumecheng-4951	66	63	mechanism	mechanism	NOUN
fumecheng-4951	66	64	and	and	CCONJ
fumecheng-4951	66	65	the	the	DET
fumecheng-4951	66	66	support	support	NOUN
fumecheng-4951	66	67	surface	surface	NOUN
fumecheng-4951	66	68	:	:	PUNCT
fumecheng-4951	67	1	cos	cos	SCONJ
fumecheng-4951	67	2	μmg	μmg	PROPN
fumecheng-4951	67	3	w	w	PROPN
fumecheng-4951	67	4	w	w	PROPN
fumecheng-4951	67	5	p	p	NOUN
fumecheng-4951	67	6	pm	pm	NOUN
fumecheng-4951	67	7			PROPN
fumecheng-4951	67	8			PROPN
fumecheng-4951	67	9	=	=	SYM
fumecheng-4951	67	10	(	(	PUNCT
fumecheng-4951	67	11	17	17	NUM
fumecheng-4951	67	12	)	)	PUNCT
fumecheng-4951	67	13	where	where	SCONJ
fumecheng-4951	67	14	:	:	PUNCT
fumecheng-4951	67	15	m	m	VERB
fumecheng-4951	67	16	mass	mass	NOUN
fumecheng-4951	67	17	of	of	ADP
fumecheng-4951	67	18	the	the	DET
fumecheng-4951	67	19	excavator	excavator	NOUN
fumecheng-4951	67	20	,	,	PUNCT
fumecheng-4951	67	21	μp	μp	ADP
fumecheng-4951	67	22	coefficient	coefficient	NOUN
fumecheng-4951	67	23	of	of	ADP
fumecheng-4951	67	24	adherence	adherence	NOUN
fumecheng-4951	67	25	of	of	ADP
fumecheng-4951	67	26	the	the	DET
fumecheng-4951	67	27	excavator	excavator	NOUN
fumecheng-4951	67	28	movement	movement	NOUN
fumecheng-4951	67	29	mechanism	mechanism	NOUN
fumecheng-4951	67	30	to	to	ADP
fumecheng-4951	67	31	the	the	DET
fumecheng-4951	67	32	support	support	NOUN
fumecheng-4951	67	33	surface	surface	NOUN
fumecheng-4951	67	34	.	.	PUNCT
fumecheng-4951	68	1	the	the	DET
fumecheng-4951	68	2	boundary	boundary	ADJ
fumecheng-4951	68	3	forces	force	NOUN
fumecheng-4951	68	4	of	of	ADP
fumecheng-4951	68	5	digging	dig	VERB
fumecheng-4951	68	6	resistance	resistance	NOUN
fumecheng-4951	68	7	wim	wim	PROPN
fumecheng-4951	68	8	that	that	PRON
fumecheng-4951	68	9	can	can	AUX
fumecheng-4951	68	10	be	be	AUX
fumecheng-4951	68	11	overcome	overcome	VERB
fumecheng-4951	68	12	by	by	ADP
fumecheng-4951	68	13	the	the	DET
fumecheng-4951	68	14	drive	drive	ADJ
fumecheng-4951	68	15	mechanisms	mechanism	NOUN
fumecheng-4951	68	16	of	of	ADP
fumecheng-4951	68	17	manipulator	manipulator	NOUN
fumecheng-4951	68	18	boom	boom	NOUN
fumecheng-4951	68	19	(	(	PUNCT
fumecheng-4951	68	20	i=3	i=3	PROPN
fumecheng-4951	68	21	)	)	PUNCT
fumecheng-4951	68	22	and	and	CCONJ
fumecheng-4951	68	23	bucket	bucket	NOUN
fumecheng-4951	68	24	(	(	PUNCT
fumecheng-4951	68	25	i=5	i=5	ADJ
fumecheng-4951	68	26	)	)	PUNCT
fumecheng-4951	68	27	,	,	PUNCT
fumecheng-4951	68	28	for	for	ADP
fumecheng-4951	68	29	the	the	DET
fumecheng-4951	68	30	known	know	VERB
fumecheng-4951	68	31	оrtwm	оrtwm	NOUN
fumecheng-4951	68	32	and	and	CCONJ
fumecheng-4951	68	33	the	the	DET
fumecheng-4951	68	34	position	position	NOUN
fumecheng-4951	68	35	of	of	ADP
fumecheng-4951	68	36	the	the	DET
fumecheng-4951	68	37	kinematic	kinematic	ADJ
fumecheng-4951	68	38	chain	chain	NOUN
fumecheng-4951	68	39	of	of	ADP
fumecheng-4951	68	40	the	the	DET
fumecheng-4951	68	41	excavator	excavator	NOUN
fumecheng-4951	68	42	,	,	PUNCT
fumecheng-4951	68	43	during	during	ADP
fumecheng-4951	68	44	the	the	DET
fumecheng-4951	68	45	operation	operation	NOUN
fumecheng-4951	68	46	of	of	ADP
fumecheng-4951	68	47	the	the	DET
fumecheng-4951	68	48	maximum	maximum	ADJ
fumecheng-4951	68	49	torques	torque	NOUN
fumecheng-4951	68	50	of	of	ADP
fumecheng-4951	68	51	mechanism	mechanism	NOUN
fumecheng-4951	68	52	мpimax	мpimax	X
fumecheng-4951	68	53	,	,	PUNCT
fumecheng-4951	68	54	are	be	AUX
fumecheng-4951	68	55	determined	determine	VERB
fumecheng-4951	68	56	from	from	ADP
fumecheng-4951	68	57	the	the	DET
fumecheng-4951	68	58	equilibrium	equilibrium	NOUN
fumecheng-4951	68	59	conditions	condition	NOUN
fumecheng-4951	68	60	for	for	ADP
fumecheng-4951	68	61	axial	axial	ADJ
fumecheng-4951	68	62	joints	joint	NOUN
fumecheng-4951	68	63	оi	оi	NOUN
fumecheng-4951	68	64	(	(	PUNCT
fumecheng-4951	68	65	i=3,5	i=3,5	PROPN
fumecheng-4951	68	66	)	)	PUNCT
fumecheng-4951	68	67	of	of	ADP
fumecheng-4951	68	68	the	the	DET
fumecheng-4951	68	69	manipulator	manipulator	NOUN
fumecheng-4951	68	70	:	:	PUNCT
fumecheng-4951	68	71	(	(	PUNCT
fumecheng-4951	68	72	)	)	PUNCT
fumecheng-4951	68	73	(	(	PUNCT
fumecheng-4951	68	74	)	)	PUNCT
fumecheng-4951	68	75	5,3i	5,3i	NOUN
fumecheng-4951	68	76	ort	ort	NOUN
fumecheng-4951	68	77	mm	mm	PROPN
fumecheng-4951	68	78	w	w	PROPN
fumecheng-4951	68	79	ixymiw	ixymiw	PROPN
fumecheng-4951	68	80	oimaxpi	oimaxpi	PROPN
fumecheng-4951	69	1	i	i	PRON
fumecheng-4951	69	2	m	m	VERB
fumecheng-4951	69	3	=	=	ADJ
fumecheng-4951	69	4			X
fumecheng-4951	69	5	−	−	NUM
fumecheng-4951	69	6	−−	−−	NOUN
fumecheng-4951	69	7	=	=	SYM
fumecheng-4951	69	8	ewrr	ewrr	PROPN
fumecheng-4951	69	9	(	(	PUNCT
fumecheng-4951	69	10	18	18	NUM
fumecheng-4951	69	11	)	)	PUNCT
fumecheng-4951	70	1	where	where	SCONJ
fumecheng-4951	70	2	:	:	PUNCT
fumecheng-4951	70	3	moi	moi	X
fumecheng-4951	70	4	total	total	ADJ
fumecheng-4951	70	5	moment	moment	NOUN
fumecheng-4951	70	6	of	of	ADP
fumecheng-4951	70	7	the	the	DET
fumecheng-4951	70	8	gravitational	gravitational	ADJ
fumecheng-4951	70	9	forces	force	NOUN
fumecheng-4951	70	10	of	of	ADP
fumecheng-4951	70	11	the	the	DET
fumecheng-4951	70	12	kinematic	kinematic	ADJ
fumecheng-4951	70	13	chain	chain	NOUN
fumecheng-4951	70	14	members	member	NOUN
fumecheng-4951	70	15	and	and	CCONJ
fumecheng-4951	70	16	the	the	DET
fumecheng-4951	70	17	drive	drive	ADJ
fumecheng-4951	70	18	mechanisms	mechanism	NOUN
fumecheng-4951	70	19	of	of	ADP
fumecheng-4951	70	20	the	the	DET
fumecheng-4951	70	21	excavator	excavator	NOUN
fumecheng-4951	70	22	and	and	CCONJ
fumecheng-4951	70	23	the	the	DET
fumecheng-4951	70	24	weight	weight	NOUN
fumecheng-4951	70	25	of	of	ADP
fumecheng-4951	70	26	the	the	DET
fumecheng-4951	70	27	material	material	NOUN
fumecheng-4951	70	28	scooped	scoop	VERB
fumecheng-4951	70	29	with	with	ADP
fumecheng-4951	70	30	the	the	DET
fumecheng-4951	70	31	bucket	bucket	NOUN
fumecheng-4951	70	32	for	for	ADP
fumecheng-4951	70	33	the	the	DET
fumecheng-4951	70	34	individual	individual	ADJ
fumecheng-4951	70	35	axes	axis	NOUN
fumecheng-4951	70	36	of	of	ADP
fumecheng-4951	70	37	joints	joint	NOUN
fumecheng-4951	70	38	оi	оi	X
fumecheng-4951	70	39	.	.	PUNCT
fumecheng-4951	71	1	the	the	DET
fumecheng-4951	71	2	total	total	ADJ
fumecheng-4951	71	3	moment	moment	NOUN
fumecheng-4951	71	4	of	of	ADP
fumecheng-4951	71	5	the	the	DET
fumecheng-4951	71	6	excavator	excavator	NOUN
fumecheng-4951	71	7	gravitational	gravitational	ADJ
fumecheng-4951	71	8	forces	force	NOUN
fumecheng-4951	71	9	is	be	AUX
fumecheng-4951	71	10	determined	determine	VERB
fumecheng-4951	71	11	by	by	ADP
fumecheng-4951	71	12	a	a	DET
fumecheng-4951	71	13	set	set	NOUN
fumecheng-4951	71	14	of	of	ADP
fumecheng-4951	71	15	moments	moment	NOUN
fumecheng-4951	71	16	:	:	PUNCT
fumecheng-4951	71	17	5,4,3	5,4,3	NUM
fumecheng-4951	71	18	i	i	NOUN
fumecheng-4951	71	19	mmmm	mmmm	NOUN
fumecheng-4951	71	20	oizoicoigoi	oizoicoigoi	NOUN
fumecheng-4951	71	21	=	=	NOUN
fumecheng-4951	71	22	++=	++=	PROPN
fumecheng-4951	71	23	(	(	PUNCT
fumecheng-4951	71	24	19	19	NUM
fumecheng-4951	71	25	)	)	PUNCT
fumecheng-4951	71	26	where	where	SCONJ
fumecheng-4951	71	27	:	:	PUNCT
fumecheng-4951	71	28	moig	moig	VERB
fumecheng-4951	71	29	moment	moment	NOUN
fumecheng-4951	71	30	of	of	ADP
fumecheng-4951	71	31	the	the	DET
fumecheng-4951	71	32	gravitational	gravitational	ADJ
fumecheng-4951	71	33	forces	force	NOUN
fumecheng-4951	71	34	of	of	ADP
fumecheng-4951	71	35	the	the	DET
fumecheng-4951	71	36	members	member	NOUN
fumecheng-4951	71	37	of	of	ADP
fumecheng-4951	71	38	the	the	DET
fumecheng-4951	71	39	excavator	excavator	NOUN
fumecheng-4951	71	40	kinematic	kinematic	ADJ
fumecheng-4951	71	41	chain	chain	NOUN
fumecheng-4951	71	42	for	for	ADP
fumecheng-4951	71	43	the	the	DET
fumecheng-4951	71	44	individual	individual	ADJ
fumecheng-4951	71	45	axes	axis	NOUN
fumecheng-4951	71	46	of	of	ADP
fumecheng-4951	71	47	the	the	DET
fumecheng-4951	71	48	joints	joint	NOUN
fumecheng-4951	71	49	oi	oi	ADP
fumecheng-4951	71	50	,	,	PUNCT
fumecheng-4951	71	51	moic	moic	ADJ
fumecheng-4951	71	52	moment	moment	NOUN
fumecheng-4951	71	53	of	of	ADP
fumecheng-4951	71	54	the	the	DET
fumecheng-4951	71	55	gravitational	gravitational	ADJ
fumecheng-4951	71	56	forces	force	NOUN
fumecheng-4951	71	57	of	of	ADP
fumecheng-4951	71	58	the	the	DET
fumecheng-4951	71	59	members	member	NOUN
fumecheng-4951	71	60	of	of	ADP
fumecheng-4951	71	61	the	the	DET
fumecheng-4951	71	62	excavator	excavator	NOUN
fumecheng-4951	71	63	drive	drive	NOUN
fumecheng-4951	71	64	mechanisms	mechanism	NOUN
fumecheng-4951	71	65	,	,	PUNCT
fumecheng-4951	71	66	moiz	moiz	ADJ
fumecheng-4951	71	67	moment	moment	NOUN
fumecheng-4951	71	68	of	of	ADP
fumecheng-4951	71	69	the	the	DET
fumecheng-4951	71	70	weight	weight	NOUN
fumecheng-4951	71	71	of	of	ADP
fumecheng-4951	71	72	the	the	DET
fumecheng-4951	71	73	material	material	NOUN
fumecheng-4951	71	74	for	for	ADP
fumecheng-4951	71	75	the	the	DET
fumecheng-4951	71	76	individual	individual	ADJ
fumecheng-4951	71	77	axes	axis	NOUN
fumecheng-4951	71	78	of	of	ADP
fumecheng-4951	71	79	joints	joint	NOUN
fumecheng-4951	71	80	oi	oi	INTJ
fumecheng-4951	71	81	.	.	PUNCT
fumecheng-4951	72	1	the	the	DET
fumecheng-4951	72	2	moment	moment	NOUN
fumecheng-4951	72	3	of	of	ADP
fumecheng-4951	72	4	the	the	DET
fumecheng-4951	72	5	gravitational	gravitational	ADJ
fumecheng-4951	72	6	analysis	analysis	NOUN
fumecheng-4951	72	7	of	of	ADP
fumecheng-4951	72	8	the	the	DET
fumecheng-4951	72	9	influence	influence	NOUN
fumecheng-4951	72	10	of	of	ADP
fumecheng-4951	72	11	the	the	DET
fumecheng-4951	72	12	digging	dig	VERB
fumecheng-4951	72	13	position	position	NOUN
fumecheng-4951	72	14	on	on	ADP
fumecheng-4951	72	15	the	the	DET
fumecheng-4951	72	16	loading	loading	NOUN
fumecheng-4951	72	17	of	of	ADP
fumecheng-4951	72	18	the	the	DET
fumecheng-4951	72	19	slewing	slewing	NOUN
fumecheng-4951	72	20	platform	platform	NOUN
fumecheng-4951	72	21	bearing	bearing	NOUN
fumecheng-4951	72	22	…	…	PUNCT
fumecheng-4951	72	23	711	711	NUM
fumecheng-4951	72	24	forces	force	NOUN
fumecheng-4951	72	25	of	of	ADP
fumecheng-4951	72	26	the	the	DET
fumecheng-4951	72	27	members	member	NOUN
fumecheng-4951	72	28	of	of	ADP
fumecheng-4951	72	29	the	the	DET
fumecheng-4951	72	30	excavator	excavator	NOUN
fumecheng-4951	72	31	kinematic	kinematic	ADJ
fumecheng-4951	72	32	chain	chain	NOUN
fumecheng-4951	72	33	for	for	ADP
fumecheng-4951	72	34	individual	individual	ADJ
fumecheng-4951	72	35	axes	axis	NOUN
fumecheng-4951	72	36	of	of	ADP
fumecheng-4951	72	37	joints	joint	NOUN
fumecheng-4951	72	38	oi	oi	VERB
fumecheng-4951	72	39	,	,	PUNCT
fumecheng-4951	72	40	is	be	AUX
fumecheng-4951	72	41	determined	determine	VERB
fumecheng-4951	72	42	by	by	ADP
fumecheng-4951	72	43	the	the	DET
fumecheng-4951	72	44	equation	equation	NOUN
fumecheng-4951	72	45	:	:	PUNCT
fumecheng-4951	72	46	,	,	PUNCT
fumecheng-4951	72	47	54,3	54,3	NUM
fumecheng-4951	72	48	i	i	NOUN
fumecheng-4951	72	49	)	)	PUNCT
fumecheng-4951	72	50	)	)	PUNCT
fumecheng-4951	73	1	(	(	PUNCT
fumecheng-4951	73	2	(	(	PUNCT
fumecheng-4951	73	3	mgm	mgm	PROPN
fumecheng-4951	73	4	i	i	PRON
fumecheng-4951	73	5	5k	5k	NUM
fumecheng-4951	73	6	1k	1k	NUM
fumecheng-4951	73	7	itkkoig	itkkoig	NOUN
fumecheng-4951	73	8	=	=	X
fumecheng-4951	73	9	−−=	−−=	ADJ
fumecheng-4951	73	10			X
fumecheng-4951	73	11	=	=	PUNCT
fumecheng-4951	73	12	=	=	SYM
fumecheng-4951	73	13	ejrr	ejrr	NOUN
fumecheng-4951	73	14	(	(	PUNCT
fumecheng-4951	73	15	20	20	NUM
fumecheng-4951	73	16	)	)	PUNCT
fumecheng-4951	73	17	where	where	SCONJ
fumecheng-4951	73	18	:	:	PUNCT
fumecheng-4951	73	19	ei	ei	X
fumecheng-4951	73	20	unit	unit	NOUN
fumecheng-4951	73	21	vector	vector	NOUN
fumecheng-4951	73	22	of	of	ADP
fumecheng-4951	73	23	joint	joint	ADJ
fumecheng-4951	73	24	axis	axis	NOUN
fumecheng-4951	73	25	oi	oi	INTJ
fumecheng-4951	73	26	.	.	PUNCT
fumecheng-4951	74	1	the	the	DET
fumecheng-4951	74	2	moments	moment	NOUN
fumecheng-4951	74	3	of	of	ADP
fumecheng-4951	74	4	the	the	DET
fumecheng-4951	74	5	gravitational	gravitational	ADJ
fumecheng-4951	74	6	forces	force	NOUN
fumecheng-4951	74	7	of	of	ADP
fumecheng-4951	74	8	the	the	DET
fumecheng-4951	74	9	members	member	NOUN
fumecheng-4951	74	10	of	of	ADP
fumecheng-4951	74	11	the	the	DET
fumecheng-4951	74	12	excavator	excavator	NOUN
fumecheng-4951	74	13	drive	drive	NOUN
fumecheng-4951	74	14	mechanisms	mechanism	NOUN
fumecheng-4951	74	15	for	for	ADP
fumecheng-4951	74	16	individual	individual	ADJ
fumecheng-4951	74	17	axes	axis	NOUN
fumecheng-4951	74	18	of	of	ADP
fumecheng-4951	74	19	joints	joint	NOUN
fumecheng-4951	74	20	oi	oi	INTJ
fumecheng-4951	74	21	are	be	AUX
fumecheng-4951	74	22	determined	determine	VERB
fumecheng-4951	74	23	by	by	ADP
fumecheng-4951	74	24	the	the	DET
fumecheng-4951	74	25	following	follow	VERB
fumecheng-4951	74	26	equations	equation	NOUN
fumecheng-4951	74	27	[	[	X
fumecheng-4951	74	28	18	18	NUM
fumecheng-4951	74	29	,	,	PUNCT
fumecheng-4951	74	30	19	19	NUM
fumecheng-4951	74	31	]	]	NUM
fumecheng-4951	74	32	:	:	PUNCT
fumecheng-4951	74	33	(	(	PUNCT
fumecheng-4951	74	34	)	)	PUNCT
fumecheng-4951	74	35	(	(	PUNCT
fumecheng-4951	74	36	)	)	PUNCT
fumecheng-4951	74	37	(	(	PUNCT
fumecheng-4951	74	38	)	)	PUNCT
fumecheng-4951	74	39	(	(	PUNCT
fumecheng-4951	74	40	)	)	PUNCT
fumecheng-4951	74	41	(	(	PUNCT
fumecheng-4951	74	42	)	)	PUNCT
fumecheng-4951	74	43	(	(	PUNCT
fumecheng-4951	74	44	)	)	PUNCT
fumecheng-4951	74	45	(	(	PUNCT
fumecheng-4951	74	46	)	)	PUNCT
fumecheng-4951	74	47	(	(	PUNCT
fumecheng-4951	74	48	)	)	PUNCT
fumecheng-4951	74	49	(	(	PUNCT
fumecheng-4951	74	50	)	)	PUNCT
fumecheng-4951	74	51	(	(	PUNCT
fumecheng-4951	74	52	)	)	PUNCT
fumecheng-4951	74	53			NUM
fumecheng-4951	74	54			NUM
fumecheng-4951	74	55			NUM
fumecheng-4951	74	56			PROPN
fumecheng-4951	74	57			NUM
fumecheng-4951	74	58			NUM
fumecheng-4951	74	59			NUM
fumecheng-4951	74	60			NUM
fumecheng-4951	74	61			ADP
fumecheng-4951	75	1	=	=	X
fumecheng-4951	75	2	−−=	−−=	ADP
fumecheng-4951	75	3	=	=	PRON
fumecheng-4951	75	4	−−−−=	−−−−=	NOUN
fumecheng-4951	75	5	=	=	NOUN
fumecheng-4951	75	6	−−−−=	−−−−=	NOUN
fumecheng-4951	75	7	=	=	X
fumecheng-4951	75	8			X
fumecheng-4951	75	9	=	=	PUNCT
fumecheng-4951	76	1	=	=	SYM
fumecheng-4951	76	2	5	5	NUM
fumecheng-4951	76	3	i	i	NOUN
fumecheng-4951	76	4	2	2	NUM
fumecheng-4951	76	5	m	m	NOUN
fumecheng-4951	76	6	gm	gm	PROPN
fumecheng-4951	76	7	4	4	NUM
fumecheng-4951	76	8	i	i	PRON
fumecheng-4951	76	9	ejrr	ejrr	VERB
fumecheng-4951	76	10	2	2	NUM
fumecheng-4951	76	11	mn	mn	PROPN
fumecheng-4951	76	12	g	g	PROPN
fumecheng-4951	76	13	2	2	NUM
fumecheng-4951	76	14	mn	mn	NOUN
fumecheng-4951	76	15	gm	gm	PROPN
fumecheng-4951	76	16	3	3	NUM
fumecheng-4951	76	17	i	i	PRON
fumecheng-4951	76	18	ejrrmng	ejrrmng	VERB
fumecheng-4951	76	19	2	2	NUM
fumecheng-4951	76	20	mn	mn	NOUN
fumecheng-4951	76	21	gm	gm	PROPN
fumecheng-4951	76	22	m	m	VERB
fumecheng-4951	76	23	555a	555a	NUM
fumecheng-4951	76	24	5c	5c	NOUN
fumecheng-4951	76	25	5oc	5oc	NOUN
fumecheng-4951	76	26	445a	445a	NOUN
fumecheng-4951	76	27	5c5c	5c5c	PROPN
fumecheng-4951	76	28	444a	444a	PROPN
fumecheng-4951	76	29	4c4c	4c4c	NUM
fumecheng-4951	77	1	4oc	4oc	ADJ
fumecheng-4951	77	2	5k	5k	NUM
fumecheng-4951	77	3	4k	4k	NOUN
fumecheng-4951	77	4	33ctkckck333a	33ctkckck333a	NUM
fumecheng-4951	77	5	3c3c	3c3c	NOUN
fumecheng-4951	77	6	3oc	3oc	ADJ
fumecheng-4951	77	7	oic	oic	PROPN
fumecheng-4951	77	8	ejrr	ejrr	NOUN
fumecheng-4951	77	9	ejrr	ejrr	NOUN
fumecheng-4951	77	10	ejrr	ejrr	NOUN
fumecheng-4951	77	11	(	(	PUNCT
fumecheng-4951	77	12	21	21	NUM
fumecheng-4951	77	13	)	)	PUNCT
fumecheng-4951	77	14	where	where	SCONJ
fumecheng-4951	77	15	:	:	PUNCT
fumecheng-4951	77	16	ra3	ra3	NOUN
fumecheng-4951	77	17	,	,	PUNCT
fumecheng-4951	77	18	ra4	ra4	NOUN
fumecheng-4951	77	19	,	,	PUNCT
fumecheng-4951	77	20	ra5	ra5	PROPN
fumecheng-4951	77	21	coordinates	coordinate	NOUN
fumecheng-4951	77	22	of	of	ADP
fumecheng-4951	77	23	the	the	DET
fumecheng-4951	77	24	joints	joint	NOUN
fumecheng-4951	77	25	in	in	ADP
fumecheng-4951	77	26	which	which	PRON
fumecheng-4951	77	27	the	the	DET
fumecheng-4951	77	28	hydraulic	hydraulic	ADJ
fumecheng-4951	77	29	cylinders	cylinder	NOUN
fumecheng-4951	77	30	are	be	AUX
fumecheng-4951	77	31	linked	link	VERB
fumecheng-4951	77	32	to	to	ADP
fumecheng-4951	77	33	the	the	DET
fumecheng-4951	77	34	members	member	NOUN
fumecheng-4951	77	35	of	of	ADP
fumecheng-4951	77	36	the	the	DET
fumecheng-4951	77	37	kinematic	kinematic	ADJ
fumecheng-4951	77	38	chain	chain	NOUN
fumecheng-4951	77	39	(	(	PUNCT
fumecheng-4951	77	40	fig	fig	NOUN
fumecheng-4951	77	41	.	.	PUNCT
fumecheng-4951	78	1	2	2	NUM
fumecheng-4951	78	2	)	)	PUNCT
fumecheng-4951	78	3	.	.	PUNCT
fumecheng-4951	79	1	the	the	DET
fumecheng-4951	79	2	moment	moment	NOUN
fumecheng-4951	79	3	of	of	ADP
fumecheng-4951	79	4	the	the	DET
fumecheng-4951	79	5	material	material	NOUN
fumecheng-4951	79	6	weight	weight	NOUN
fumecheng-4951	79	7	for	for	ADP
fumecheng-4951	79	8	the	the	DET
fumecheng-4951	79	9	individual	individual	ADJ
fumecheng-4951	79	10	axes	axis	NOUN
fumecheng-4951	79	11	of	of	ADP
fumecheng-4951	79	12	joints	joint	NOUN
fumecheng-4951	79	13	oi	oi	VERB
fumecheng-4951	79	14	is	be	AUX
fumecheng-4951	79	15	determined	determine	VERB
fumecheng-4951	79	16	by	by	ADP
fumecheng-4951	79	17	the	the	DET
fumecheng-4951	79	18	equation	equation	NOUN
fumecheng-4951	79	19	:	:	PUNCT
fumecheng-4951	79	20	(	(	PUNCT
fumecheng-4951	79	21	)	)	PUNCT
fumecheng-4951	79	22	(	(	PUNCT
fumecheng-4951	79	23	)	)	PUNCT
fumecheng-4951	79	24	5,4,3	5,4,3	NUM
fumecheng-4951	79	25	i	i	PRON
fumecheng-4951	79	26	gmm	gmm	VERB
fumecheng-4951	79	27	ir5tzoiz	ir5tzoiz	PUNCT
fumecheng-4951	80	1	=	=	SYM
fumecheng-4951	80	2	−−=	−−=	ADP
fumecheng-4951	80	3	ejrr	ejrr	NOUN
fumecheng-4951	80	4	(	(	PUNCT
fumecheng-4951	80	5	22	22	NUM
fumecheng-4951	80	6	)	)	PUNCT
fumecheng-4951	80	7	where	where	SCONJ
fumecheng-4951	80	8	:	:	PUNCT
fumecheng-4951	80	9	mz	mz	PROPN
fumecheng-4951	80	10	mass	mass	NOUN
fumecheng-4951	80	11	of	of	ADP
fumecheng-4951	80	12	the	the	DET
fumecheng-4951	80	13	material	material	NOUN
fumecheng-4951	80	14	scooped	scoop	VERB
fumecheng-4951	80	15	with	with	ADP
fumecheng-4951	80	16	the	the	DET
fumecheng-4951	80	17	bucket	bucket	NOUN
fumecheng-4951	80	18	,	,	PUNCT
fumecheng-4951	80	19	assuming	assume	VERB
fumecheng-4951	80	20	that	that	SCONJ
fumecheng-4951	80	21	the	the	DET
fumecheng-4951	80	22	center	center	NOUN
fumecheng-4951	80	23	of	of	ADP
fumecheng-4951	80	24	mass	mass	NOUN
fumecheng-4951	80	25	coincides	coincide	VERB
fumecheng-4951	80	26	with	with	ADP
fumecheng-4951	80	27	the	the	DET
fumecheng-4951	80	28	bucket	bucket	NOUN
fumecheng-4951	80	29	mass	mass	NOUN
fumecheng-4951	80	30	center	center	NOUN
fumecheng-4951	80	31	.	.	PUNCT
fumecheng-4951	81	1	the	the	DET
fumecheng-4951	81	2	maximum	maximum	ADJ
fumecheng-4951	81	3	drive	drive	ADJ
fumecheng-4951	81	4	moments	moment	NOUN
fumecheng-4951	81	5	of	of	ADP
fumecheng-4951	81	6	manipulator	manipulator	NOUN
fumecheng-4951	81	7	mechanisms	mechanism	NOUN
fumecheng-4951	81	8	for	for	ADP
fumecheng-4951	81	9	both	both	DET
fumecheng-4951	81	10	directions	direction	NOUN
fumecheng-4951	81	11	in	in	ADP
fumecheng-4951	81	12	operation	operation	NOUN
fumecheng-4951	81	13	(	(	PUNCT
fumecheng-4951	81	14	upon	upon	SCONJ
fumecheng-4951	81	15	piston	piston	NOUN
fumecheng-4951	81	16	pushing	push	VERB
fumecheng-4951	81	17	and	and	CCONJ
fumecheng-4951	81	18	piston	piston	NOUN
fumecheng-4951	81	19	pulling	pull	VERB
fumecheng-4951	81	20	in	in	ADP
fumecheng-4951	81	21	the	the	DET
fumecheng-4951	81	22	hydraulic	hydraulic	ADJ
fumecheng-4951	81	23	cylinder	cylinder	NOUN
fumecheng-4951	81	24	):	):	PUNCT
fumecheng-4951	81	25	fig	fig	NOUN
fumecheng-4951	81	26	.	.	PUNCT
fumecheng-4951	82	1	2	2	NUM
fumecheng-4951	82	2	models	model	NOUN
fumecheng-4951	82	3	of	of	ADP
fumecheng-4951	82	4	drive	drive	ADJ
fumecheng-4951	82	5	mechanisms	mechanism	NOUN
fumecheng-4951	82	6	of	of	ADP
fumecheng-4951	82	7	the	the	DET
fumecheng-4951	82	8	excavator	excavator	NOUN
fumecheng-4951	82	9	with	with	ADP
fumecheng-4951	82	10	a	a	DET
fumecheng-4951	82	11	loading	loading	NOUN
fumecheng-4951	82	12	manipulator	manipulator	NOUN
fumecheng-4951	82	13	712	712	NUM
fumecheng-4951	82	14	v.	v.	ADP
fumecheng-4951	82	15	jovanović	jovanović	PROPN
fumecheng-4951	82	16	,	,	PUNCT
fumecheng-4951	82	17	d.	d.	PROPN
fumecheng-4951	82	18	janošević	janošević	PROPN
fumecheng-4951	82	19	,	,	PUNCT
fumecheng-4951	82	20	j.	j.	PROPN
fumecheng-4951	82	21	pavlović	pavlović	PROPN
fumecheng-4951	82	22	(	(	PUNCT
fumecheng-4951	82	23	)	)	PUNCT
fumecheng-4951	82	24	(	(	PUNCT
fumecheng-4951	82	25	)	)	PUNCT
fumecheng-4951	82	26	(	(	PUNCT
fumecheng-4951	82	27	)	)	PUNCT
fumecheng-4951	82	28			NUM
fumecheng-4951	82	29			NUM
fumecheng-4951	82	30			PROPN
fumecheng-4951	82	31			NUM
fumecheng-4951	82	32			NUM
fumecheng-4951	82	33			NUM
fumecheng-4951	82	34			ADP
fumecheng-4951	82	35	=	=	NUM
fumecheng-4951	82	36	−	−	NOUN
fumecheng-4951	82	37	=	=	VERB
fumecheng-4951	82	38	==	==	PRON
fumecheng-4951	82	39	=	=	SYM
fumecheng-4951	82	40	0θ,0θ,0θ	0θ,0θ,0θ	NUM
fumecheng-4951	82	41	5,4,3i	5,4,3i	NUM
fumecheng-4951	82	42	p	p	NOUN
fumecheng-4951	82	43	4	4	NUM
fumecheng-4951	82	44	πdd	πdd	NOUN
fumecheng-4951	82	45	nrθsignm	nrθsignm	NOUN
fumecheng-4951	82	46	0θ,0θ,0θ	0θ,0θ,0θ	PUNCT
fumecheng-4951	83	1	5,4,3i	5,4,3i	NUM
fumecheng-4951	83	2	p	p	NOUN
fumecheng-4951	83	3	4	4	NUM
fumecheng-4951	83	4	πd	πd	ADP
fumecheng-4951	83	5	nrθsignm	nrθsignm	PROPN
fumecheng-4951	83	6	m	m	PROPN
fumecheng-4951	83	7	543max	543max	NUM
fumecheng-4951	83	8	2	2	NUM
fumecheng-4951	83	9	2i	2i	NUM
fumecheng-4951	83	10	2	2	NUM
fumecheng-4951	83	11	1i	1i	NOUN
fumecheng-4951	83	12	ciciimax2pi	ciciimax2pi	PROPN
fumecheng-4951	83	13	543max	543max	NUM
fumecheng-4951	83	14	2	2	NUM
fumecheng-4951	83	15	1i	1i	NOUN
fumecheng-4951	83	16	ciciimax1pi	ciciimax1pi	NOUN
fumecheng-4951	83	17	maxpi	maxpi	CCONJ
fumecheng-4951	83	18			PROPN
fumecheng-4951	83	19			X
fumecheng-4951	83	20	(	(	PUNCT
fumecheng-4951	83	21	23	23	NUM
fumecheng-4951	83	22	)	)	PUNCT
fumecheng-4951	83	23	where	where	SCONJ
fumecheng-4951	83	24	:	:	PUNCT
fumecheng-4951	83	25	rci	rci	NOUN
fumecheng-4951	83	26	transmission	transmission	NOUN
fumecheng-4951	83	27	function	function	NOUN
fumecheng-4951	83	28	of	of	ADP
fumecheng-4951	83	29	the	the	DET
fumecheng-4951	83	30	drive	drive	ADJ
fumecheng-4951	83	31	mechanism	mechanism	NOUN
fumecheng-4951	83	32	of	of	ADP
fumecheng-4951	83	33	member	member	PROPN
fumecheng-4951	83	34	li	li	PROPN
fumecheng-4951	83	35	,	,	PUNCT
fumecheng-4951	83	36	i	i	ADJ
fumecheng-4951	83	37			NOUN
fumecheng-4951	83	38	angular	angular	ADJ
fumecheng-4951	83	39	velocity	velocity	NOUN
fumecheng-4951	83	40	of	of	ADP
fumecheng-4951	83	41	the	the	DET
fumecheng-4951	83	42	active	active	ADJ
fumecheng-4951	83	43	member	member	NOUN
fumecheng-4951	83	44	of	of	ADP
fumecheng-4951	83	45	the	the	DET
fumecheng-4951	83	46	kinematic	kinematic	ADJ
fumecheng-4951	83	47	pair	pair	NOUN
fumecheng-4951	83	48	mechanism	mechanism	NOUN
fumecheng-4951	83	49	around	around	ADP
fumecheng-4951	83	50	the	the	DET
fumecheng-4951	83	51	axis	axis	NOUN
fumecheng-4951	83	52	of	of	ADP
fumecheng-4951	83	53	joint	joint	ADJ
fumecheng-4951	83	54	оi	оi	NOUN
fumecheng-4951	83	55	,	,	PUNCT
fumecheng-4951	83	56	pmаx	pmаx	VERB
fumecheng-4951	83	57	maximum	maximum	ADJ
fumecheng-4951	83	58	pressure	pressure	NOUN
fumecheng-4951	83	59	of	of	ADP
fumecheng-4951	83	60	the	the	DET
fumecheng-4951	83	61	hydrostatic	hydrostatic	ADJ
fumecheng-4951	83	62	excavator	excavator	NOUN
fumecheng-4951	83	63	system	system	NOUN
fumecheng-4951	83	64	.	.	PUNCT
fumecheng-4951	84	1	the	the	DET
fumecheng-4951	84	2	transmission	transmission	NOUN
fumecheng-4951	84	3	function	function	NOUN
fumecheng-4951	84	4	of	of	ADP
fumecheng-4951	84	5	the	the	DET
fumecheng-4951	84	6	drive	drive	ADJ
fumecheng-4951	84	7	moment	moment	NOUN
fumecheng-4951	84	8	of	of	ADP
fumecheng-4951	84	9	the	the	DET
fumecheng-4951	84	10	boom	boom	NOUN
fumecheng-4951	84	11	,	,	PUNCT
fumecheng-4951	84	12	stick	stick	NOUN
fumecheng-4951	84	13	and	and	CCONJ
fumecheng-4951	84	14	bucket	bucket	NOUN
fumecheng-4951	84	15	mechanisms	mechanism	NOUN
fumecheng-4951	84	16	for	for	ADP
fumecheng-4951	84	17	the	the	DET
fumecheng-4951	84	18	axis	axis	NOUN
fumecheng-4951	84	19	of	of	ADP
fumecheng-4951	84	20	joint	joint	ADJ
fumecheng-4951	84	21	о3	о3	NOUN
fumecheng-4951	84	22	,	,	PUNCT
fumecheng-4951	84	23	о4	о4	NOUN
fumecheng-4951	84	24	,	,	PUNCT
fumecheng-4951	84	25	о5	о5	ADV
fumecheng-4951	84	26	(	(	PUNCT
fumecheng-4951	84	27	fig	fig	NOUN
fumecheng-4951	84	28	.	.	PUNCT
fumecheng-4951	84	29	2	2	NUM
fumecheng-4951	84	30	):	):	PUNCT
fumecheng-4951	84	31	)	)	PUNCT
fumecheng-4951	84	32	ba2	ba2	PROPN
fumecheng-4951	84	33	cab	cab	PROPN
fumecheng-4951	84	34	sin(arccos	sin(arccos	PROPN
fumecheng-4951	84	35	c	c	PROPN
fumecheng-4951	84	36	b	b	PROPN
fumecheng-4951	84	37	asin	asin	PROPN
fumecheng-4951	84	38	c	c	PROPN
fumecheng-4951	84	39	b	b	PROPN
fumecheng-4951	84	40	ar	ar	PROPN
fumecheng-4951	84	41	33	33	NUM
fumecheng-4951	84	42	2	2	NUM
fumecheng-4951	84	43	3	3	NUM
fumecheng-4951	84	44	2	2	NUM
fumecheng-4951	84	45	3	3	NUM
fumecheng-4951	84	46	2	2	NUM
fumecheng-4951	84	47	3	3	NUM
fumecheng-4951	84	48	3	3	NUM
fumecheng-4951	84	49	3	3	NUM
fumecheng-4951	84	50	33	33	NUM
fumecheng-4951	84	51	3	3	NUM
fumecheng-4951	84	52	3	3	NUM
fumecheng-4951	84	53	33c	33c	NOUN
fumecheng-4951	84	54	−+	−+	PROPN
fumecheng-4951	84	55	=	=	PROPN
fumecheng-4951	84	56	=	=	NOUN
fumecheng-4951	84	57			NUM
fumecheng-4951	84	58	,	,	PUNCT
fumecheng-4951	84	59	(	(	PUNCT
fumecheng-4951	84	60	24	24	NUM
fumecheng-4951	84	61	)	)	PUNCT
fumecheng-4951	84	62	)	)	PUNCT
fumecheng-4951	84	63	ab2	ab2	PROPN
fumecheng-4951	84	64	cab	cab	NOUN
fumecheng-4951	84	65	arccossin	arccossin	NOUN
fumecheng-4951	84	66	(	(	PUNCT
fumecheng-4951	84	67	c	c	PROPN
fumecheng-4951	84	68	b	b	PROPN
fumecheng-4951	84	69	asin	asin	PROPN
fumecheng-4951	84	70	c	c	PROPN
fumecheng-4951	84	71	b	b	PROPN
fumecheng-4951	84	72	ar	ar	PROPN
fumecheng-4951	84	73	44	44	NUM
fumecheng-4951	84	74	2	2	NUM
fumecheng-4951	84	75	4	4	NUM
fumecheng-4951	84	76	2	2	NUM
fumecheng-4951	84	77	4	4	NUM
fumecheng-4951	84	78	2	2	NUM
fumecheng-4951	84	79	4	4	NUM
fumecheng-4951	84	80	4	4	NUM
fumecheng-4951	84	81	4	4	NUM
fumecheng-4951	84	82	44	44	NUM
fumecheng-4951	84	83	4	4	NUM
fumecheng-4951	84	84	4	4	NUM
fumecheng-4951	84	85	44c	44c	NUM
fumecheng-4951	84	86			PROPN
fumecheng-4951	84	87	−+	−+	PROPN
fumecheng-4951	84	88	−==	−==	ADJ
fumecheng-4951	84	89			NUM
fumecheng-4951	84	90	,	,	PUNCT
fumecheng-4951	84	91	(	(	PUNCT
fumecheng-4951	84	92	25	25	NUM
fumecheng-4951	84	93	)	)	PUNCT
fumecheng-4951	84	94	)	)	PUNCT
fumecheng-4951	85	1	ca2	ca2	PROPN
fumecheng-4951	85	2	sca	sca	PROPN
fumecheng-4951	85	3	sin(arccosasinar	sin(arccosasinar	PROPN
fumecheng-4951	85	4	55	55	NUM
fumecheng-4951	85	5	2	2	NUM
fumecheng-4951	85	6	54	54	NUM
fumecheng-4951	85	7	2	2	NUM
fumecheng-4951	85	8	5	5	NUM
fumecheng-4951	85	9	2	2	NUM
fumecheng-4951	85	10	5	5	NUM
fumecheng-4951	85	11	5555c	5555c	NUM
fumecheng-4951	85	12	−+	−+	NOUN
fumecheng-4951	86	1	=	=	PROPN
fumecheng-4951	87	1	=	=	PROPN
fumecheng-4951	88	1			PROPN
fumecheng-4951	89	1	(	(	PUNCT
fumecheng-4951	89	2	26	26	NUM
fumecheng-4951	89	3	)	)	PUNCT
fumecheng-4951	90	1	where	where	SCONJ
fumecheng-4951	90	2	:	:	PUNCT
fumecheng-4951	90	3	)	)	PUNCT
fumecheng-4951	90	4	arccoscos(sb2sbs	arccoscos(sb2sbs	NOUN
fumecheng-4951	90	5	4	4	NUM
fumecheng-4951	90	6	44	44	NUM
fumecheng-4951	90	7	445	445	NUM
fumecheng-4951	90	8	2	2	NUM
fumecheng-4951	90	9	4	4	NUM
fumecheng-4951	90	10	2	2	NUM
fumecheng-4951	90	11	554	554	NUM
fumecheng-4951	90	12	a	a	DET
fumecheng-4951	90	13	ia	ia	NOUN
fumecheng-4951	90	14			PUNCT
fumecheng-4951	91	1			ADJ
fumecheng-4951	91	2	−−+=	−−+=	PROPN
fumecheng-4951	91	3			NUM
fumecheng-4951	91	4	ai	ai	PROPN
fumecheng-4951	91	5	,	,	PUNCT
fumecheng-4951	91	6	bi	bi	NOUN
fumecheng-4951	91	7	,	,	PUNCT
fumecheng-4951	91	8	ci	ci	PROPN
fumecheng-4951	91	9	(	(	PUNCT
fumecheng-4951	91	10	i=3,4,5	i=3,4,5	X
fumecheng-4951	91	11	)	)	PUNCT
fumecheng-4951	91	12	intensity	intensity	NOUN
fumecheng-4951	91	13	of	of	ADP
fumecheng-4951	91	14	the	the	DET
fumecheng-4951	91	15	position	position	NOUN
fumecheng-4951	91	16	vector	vector	NOUN
fumecheng-4951	91	17	joints	joint	NOUN
fumecheng-4951	91	18	in	in	ADP
fumecheng-4951	91	19	which	which	PRON
fumecheng-4951	91	20	the	the	DET
fumecheng-4951	91	21	hydraulic	hydraulic	ADJ
fumecheng-4951	91	22	cylinder	cylinder	NOUN
fumecheng-4951	91	23	mechanisms	mechanism	NOUN
fumecheng-4951	91	24	are	be	AUX
fumecheng-4951	91	25	linked	link	VERB
fumecheng-4951	91	26	to	to	ADP
fumecheng-4951	91	27	the	the	DET
fumecheng-4951	91	28	kinematic	kinematic	ADJ
fumecheng-4951	91	29	chain	chain	NOUN
fumecheng-4951	91	30	members	member	NOUN
fumecheng-4951	91	31	and	and	CCONJ
fumecheng-4951	91	32	the	the	DET
fumecheng-4951	91	33	length	length	NOUN
fumecheng-4951	91	34	of	of	ADP
fumecheng-4951	91	35	the	the	DET
fumecheng-4951	91	36	hydraulic	hydraulic	ADJ
fumecheng-4951	91	37	cylinders	cylinder	NOUN
fumecheng-4951	91	38	,	,	PUNCT
fumecheng-4951	91	39	s4	s4	VERB
fumecheng-4951	91	40	kinematic	kinematic	ADJ
fumecheng-4951	91	41	length	length	NOUN
fumecheng-4951	91	42	of	of	ADP
fumecheng-4951	91	43	the	the	DET
fumecheng-4951	91	44	stick	stick	NOUN
fumecheng-4951	91	45	.	.	PUNCT
fumecheng-4951	92	1	the	the	DET
fumecheng-4951	92	2	boundary	boundary	ADJ
fumecheng-4951	92	3	force	force	NOUN
fumecheng-4951	92	4	of	of	ADP
fumecheng-4951	92	5	digging	dig	VERB
fumecheng-4951	92	6	resistance	resistance	NOUN
fumecheng-4951	92	7	w4	w4	NOUN
fumecheng-4951	92	8	m	m	PROPN
fumecheng-4951	92	9	that	that	PRON
fumecheng-4951	92	10	can	can	AUX
fumecheng-4951	92	11	be	be	AUX
fumecheng-4951	92	12	overcome	overcome	VERB
fumecheng-4951	92	13	by	by	ADP
fumecheng-4951	92	14	the	the	DET
fumecheng-4951	92	15	drive	drive	ADJ
fumecheng-4951	92	16	mechanism	mechanism	NOUN
fumecheng-4951	92	17	of	of	ADP
fumecheng-4951	92	18	the	the	DET
fumecheng-4951	92	19	manipulator	manipulator	NOUN
fumecheng-4951	92	20	stick	stick	NOUN
fumecheng-4951	92	21	,	,	PUNCT
fumecheng-4951	92	22	for	for	ADP
fumecheng-4951	92	23	the	the	DET
fumecheng-4951	92	24	known	know	VERB
fumecheng-4951	92	25	оrtwxym	оrtwxym	PROPN
fumecheng-4951	92	26	and	and	CCONJ
fumecheng-4951	92	27	the	the	DET
fumecheng-4951	92	28	position	position	NOUN
fumecheng-4951	92	29	of	of	ADP
fumecheng-4951	92	30	the	the	DET
fumecheng-4951	92	31	excavator	excavator	NOUN
fumecheng-4951	92	32	kinematic	kinematic	ADJ
fumecheng-4951	92	33	chain	chain	NOUN
fumecheng-4951	92	34	,	,	PUNCT
fumecheng-4951	92	35	during	during	ADP
fumecheng-4951	92	36	the	the	DET
fumecheng-4951	92	37	operation	operation	NOUN
fumecheng-4951	92	38	of	of	ADP
fumecheng-4951	92	39	maximum	maximum	ADJ
fumecheng-4951	92	40	drive	drive	ADJ
fumecheng-4951	92	41	moment	moment	NOUN
fumecheng-4951	92	42	мp4max	мp4max	PROPN
fumecheng-4951	92	43	,	,	PUNCT
fumecheng-4951	92	44	is	be	AUX
fumecheng-4951	92	45	determined	determine	VERB
fumecheng-4951	92	46	from	from	ADP
fumecheng-4951	92	47	the	the	DET
fumecheng-4951	92	48	condition	condition	NOUN
fumecheng-4951	92	49	of	of	ADP
fumecheng-4951	92	50	equilibrium	equilibrium	NOUN
fumecheng-4951	92	51	for	for	ADP
fumecheng-4951	92	52	the	the	DET
fumecheng-4951	92	53	axis	axis	NOUN
fumecheng-4951	92	54	of	of	ADP
fumecheng-4951	92	55	joints	joint	NOUN
fumecheng-4951	92	56	о4	о4	PROPN
fumecheng-4951	92	57	and	and	CCONJ
fumecheng-4951	92	58	о5	о5	ADV
fumecheng-4951	92	59	of	of	ADP
fumecheng-4951	92	60	the	the	DET
fumecheng-4951	92	61	manipulator	manipulator	NOUN
fumecheng-4951	92	62	because	because	SCONJ
fumecheng-4951	92	63	the	the	DET
fumecheng-4951	92	64	stick	stick	NOUN
fumecheng-4951	92	65	and	and	CCONJ
fumecheng-4951	92	66	bucket	bucket	NOUN
fumecheng-4951	92	67	mechanisms	mechanism	NOUN
fumecheng-4951	92	68	are	be	AUX
fumecheng-4951	92	69	dependent	dependent	ADJ
fumecheng-4951	92	70	mechanisms	mechanism	NOUN
fumecheng-4951	92	71	(	(	PUNCT
fumecheng-4951	92	72	fig	fig	NOUN
fumecheng-4951	92	73	.	.	PUNCT
fumecheng-4951	93	1	2	2	NUM
fumecheng-4951	93	2	)	)	PUNCT
fumecheng-4951	93	3	:	:	PUNCT
fumecheng-4951	94	1	(	(	PUNCT
fumecheng-4951	94	2	)	)	PUNCT
fumecheng-4951	94	3	(	(	PUNCT
fumecheng-4951	94	4	)	)	PUNCT
fumecheng-4951	94	5	04	04	NUM
fumecheng-4951	95	1	=	=	PUNCT
fumecheng-4951	95	2	+	+	ADJ
fumecheng-4951	95	3	+	+	ADJ
fumecheng-4951	95	4	+−	+−	ADJ
fumecheng-4951	95	5	max4p4o54c54cxym4wm4	max4p4o54c54cxym4wm4	ADJ
fumecheng-4951	95	6	mmrfortw	mmrfortw	NOUN
fumecheng-4951	95	7	ewrr	ewrr	NOUN
fumecheng-4951	95	8	(	(	PUNCT
fumecheng-4951	95	9	27	27	NUM
fumecheng-4951	95	10	)	)	PUNCT
fumecheng-4951	95	11	where	where	SCONJ
fumecheng-4951	95	12	:	:	PUNCT
fumecheng-4951	95	13	rc54	rc54	ADJ
fumecheng-4951	95	14	transmission	transmission	NOUN
fumecheng-4951	95	15	function	function	NOUN
fumecheng-4951	95	16	of	of	ADP
fumecheng-4951	95	17	the	the	DET
fumecheng-4951	95	18	drive	drive	ADJ
fumecheng-4951	95	19	moment	moment	NOUN
fumecheng-4951	95	20	of	of	ADP
fumecheng-4951	95	21	the	the	DET
fumecheng-4951	95	22	bucket	bucket	NOUN
fumecheng-4951	95	23	mechanism	mechanism	NOUN
fumecheng-4951	95	24	for	for	ADP
fumecheng-4951	95	25	the	the	DET
fumecheng-4951	95	26	axis	axis	NOUN
fumecheng-4951	95	27	of	of	ADP
fumecheng-4951	95	28	joint	joint	ADJ
fumecheng-4951	95	29	о4	о4	NOUN
fumecheng-4951	95	30	,	,	PUNCT
fumecheng-4951	95	31	fc54	fc54	PROPN
fumecheng-4951	95	32	force	force	NOUN
fumecheng-4951	95	33	in	in	ADP
fumecheng-4951	95	34	the	the	DET
fumecheng-4951	95	35	hydraulic	hydraulic	ADJ
fumecheng-4951	95	36	cylinder	cylinder	NOUN
fumecheng-4951	95	37	of	of	ADP
fumecheng-4951	95	38	the	the	DET
fumecheng-4951	95	39	bucket	bucket	NOUN
fumecheng-4951	95	40	subjected	subject	VERB
fumecheng-4951	95	41	to	to	ADP
fumecheng-4951	95	42	boundary	boundary	ADJ
fumecheng-4951	95	43	resistance	resistance	NOUN
fumecheng-4951	95	44	w4	w4	PROPN
fumecheng-4951	95	45	m.	m.	NOUN
fumecheng-4951	95	46	the	the	DET
fumecheng-4951	95	47	transmission	transmission	NOUN
fumecheng-4951	95	48	function	function	NOUN
fumecheng-4951	95	49	of	of	ADP
fumecheng-4951	95	50	the	the	DET
fumecheng-4951	95	51	drive	drive	ADJ
fumecheng-4951	95	52	moment	moment	NOUN
fumecheng-4951	95	53	of	of	ADP
fumecheng-4951	95	54	the	the	DET
fumecheng-4951	95	55	bucket	bucket	NOUN
fumecheng-4951	95	56	mechanism	mechanism	NOUN
fumecheng-4951	95	57	for	for	ADP
fumecheng-4951	95	58	the	the	DET
fumecheng-4951	95	59	axis	axis	NOUN
fumecheng-4951	95	60	of	of	ADP
fumecheng-4951	95	61	joint	joint	ADJ
fumecheng-4951	95	62	о4	о4	NOUN
fumecheng-4951	95	63	is	be	AUX
fumecheng-4951	95	64	determined	determine	VERB
fumecheng-4951	95	65	by	by	ADP
fumecheng-4951	95	66	equation	equation	NOUN
fumecheng-4951	95	67	[	[	X
fumecheng-4951	95	68	20	20	NUM
fumecheng-4951	95	69	]	]	SYM
fumecheng-4951	95	70	:	:	PUNCT
fumecheng-4951	95	71	54554c	54554c	NUM
fumecheng-4951	95	72	m	m	PROPN
fumecheng-4951	95	73	54c	54c	NOUN
fumecheng-4951	95	74	sinbri	sinbri	NOUN
fumecheng-4951	95	75	==	==	X
fumecheng-4951	95	76	(	(	PUNCT
fumecheng-4951	95	77	28	28	NUM
fumecheng-4951	95	78	)	)	PUNCT
fumecheng-4951	95	79	where	where	SCONJ
fumecheng-4951	95	80	:	:	PUNCT
fumecheng-4951	95	81	554	554	NUM
fumecheng-4951	95	82	2	2	NUM
fumecheng-4951	95	83	5	5	NUM
fumecheng-4951	95	84	2	2	NUM
fumecheng-4951	95	85	5	5	NUM
fumecheng-4951	95	86	2	2	NUM
fumecheng-4951	95	87	54	54	NUM
fumecheng-4951	95	88	554	554	NUM
fumecheng-4951	95	89	2	2	NUM
fumecheng-4951	95	90	4	4	NUM
fumecheng-4951	95	91	2	2	NUM
fumecheng-4951	95	92	5	5	NUM
fumecheng-4951	95	93	2	2	NUM
fumecheng-4951	95	94	54	54	NUM
fumecheng-4951	95	95	54	54	NUM
fumecheng-4951	95	96	cs2	cs2	NOUN
fumecheng-4951	95	97	acs	acs	PROPN
fumecheng-4951	95	98	arccos	arccos	VERB
fumecheng-4951	95	99	bs2	bs2	PROPN
fumecheng-4951	95	100	sbs	sbs	PROPN
fumecheng-4951	95	101	arccos	arccos	PROPN
fumecheng-4951	95	102	−+	−+	PROPN
fumecheng-4951	95	103	+	+	CCONJ
fumecheng-4951	95	104	−+	−+	PROPN
fumecheng-4951	95	105	=	=	PRON
fumecheng-4951	95	106			NOUN
fumecheng-4951	95	107	(	(	PUNCT
fumecheng-4951	95	108	29	29	NUM
fumecheng-4951	95	109	)	)	PUNCT
fumecheng-4951	95	110	from	from	ADP
fumecheng-4951	95	111	the	the	DET
fumecheng-4951	95	112	condition	condition	NOUN
fumecheng-4951	95	113	of	of	ADP
fumecheng-4951	95	114	equilibrium	equilibrium	NOUN
fumecheng-4951	95	115	for	for	ADP
fumecheng-4951	95	116	joint	joint	ADJ
fumecheng-4951	95	117	о5	о5	NOUN
fumecheng-4951	95	118	when	when	SCONJ
fumecheng-4951	95	119	the	the	DET
fumecheng-4951	95	120	boundary	boundary	ADJ
fumecheng-4951	95	121	force	force	NOUN
fumecheng-4951	95	122	of	of	ADP
fumecheng-4951	95	123	digging	dig	VERB
fumecheng-4951	95	124	resistance	resistance	NOUN
fumecheng-4951	95	125	w4	w4	NOUN
fumecheng-4951	95	126	m	m	PROPN
fumecheng-4951	95	127	acts	act	NOUN
fumecheng-4951	95	128	:	:	PUNCT
fumecheng-4951	95	129	(	(	PUNCT
fumecheng-4951	95	130	)	)	PUNCT
fumecheng-4951	95	131	(	(	PUNCT
fumecheng-4951	95	132	)	)	PUNCT
fumecheng-4951	95	133	05	05	NUM
fumecheng-4951	96	1	=	=	PUNCT
fumecheng-4951	96	2	+	+	ADJ
fumecheng-4951	96	3	+−	+−	ADJ
fumecheng-4951	96	4	5o5c54cxym5wm4	5o5c54cxym5wm4	ADJ
fumecheng-4951	96	5	mrfortw	mrfortw	NOUN
fumecheng-4951	96	6	ewrr	ewrr	NOUN
fumecheng-4951	96	7	(	(	PUNCT
fumecheng-4951	96	8	30	30	NUM
fumecheng-4951	96	9	)	)	PUNCT
fumecheng-4951	96	10	analysis	analysis	NOUN
fumecheng-4951	96	11	of	of	ADP
fumecheng-4951	96	12	the	the	DET
fumecheng-4951	96	13	influence	influence	NOUN
fumecheng-4951	96	14	of	of	ADP
fumecheng-4951	96	15	the	the	DET
fumecheng-4951	96	16	digging	dig	VERB
fumecheng-4951	96	17	position	position	NOUN
fumecheng-4951	96	18	on	on	ADP
fumecheng-4951	96	19	the	the	DET
fumecheng-4951	96	20	loading	loading	NOUN
fumecheng-4951	96	21	of	of	ADP
fumecheng-4951	96	22	the	the	DET
fumecheng-4951	96	23	slewing	slewing	NOUN
fumecheng-4951	96	24	platform	platform	NOUN
fumecheng-4951	96	25	bearing	bearing	NOUN
fumecheng-4951	96	26	…	…	PUNCT
fumecheng-4951	96	27	713	713	NUM
fumecheng-4951	96	28	the	the	DET
fumecheng-4951	96	29	force	force	NOUN
fumecheng-4951	96	30	in	in	ADP
fumecheng-4951	96	31	the	the	DET
fumecheng-4951	96	32	bucket	bucket	NOUN
fumecheng-4951	96	33	hydraulic	hydraulic	ADJ
fumecheng-4951	96	34	cylinder	cylinder	NOUN
fumecheng-4951	96	35	is	be	AUX
fumecheng-4951	96	36	determined	determine	VERB
fumecheng-4951	96	37	:	:	PUNCT
fumecheng-4951	96	38	(	(	PUNCT
fumecheng-4951	96	39	)	)	PUNCT
fumecheng-4951	96	40	(	(	PUNCT
fumecheng-4951	96	41	)	)	PUNCT
fumecheng-4951	96	42	5c	5c	NOUN
fumecheng-4951	97	1	5oxym5wm4	5oxym5wm4	NUM
fumecheng-4951	97	2	54c	54c	NOUN
fumecheng-4951	97	3	r	r	NOUN
fumecheng-4951	97	4	mortw	mortw	NOUN
fumecheng-4951	97	5	f	f	NOUN
fumecheng-4951	98	1	−−−	−−−	PROPN
fumecheng-4951	99	1	=	=	SYM
fumecheng-4951	99	2	5ewrr	5ewrr	NUM
fumecheng-4951	99	3	(	(	PUNCT
fumecheng-4951	99	4	31	31	NUM
fumecheng-4951	99	5	)	)	PUNCT
fumecheng-4951	99	6	by	by	ADP
fumecheng-4951	99	7	substituting	substitute	VERB
fumecheng-4951	99	8	force	force	NOUN
fumecheng-4951	99	9	fc54	fc54	PROPN
fumecheng-4951	99	10	in	in	ADP
fumecheng-4951	99	11	eq	eq	ADP
fumecheng-4951	99	12	.	.	PUNCT
fumecheng-4951	99	13	(	(	PUNCT
fumecheng-4951	99	14	30	30	NUM
fumecheng-4951	99	15	)	)	PUNCT
fumecheng-4951	99	16	,	,	PUNCT
fumecheng-4951	99	17	boundary	boundary	ADJ
fumecheng-4951	99	18	digging	dig	VERB
fumecheng-4951	99	19	resistance	resistance	NOUN
fumecheng-4951	99	20	w4	w4	NOUN
fumecheng-4951	99	21	m	m	PROPN
fumecheng-4951	99	22	was	be	AUX
fumecheng-4951	99	23	obtained	obtain	VERB
fumecheng-4951	99	24	:	:	PUNCT
fumecheng-4951	99	25	(	(	PUNCT
fumecheng-4951	99	26	)	)	PUNCT
fumecheng-4951	99	27	(	(	PUNCT
fumecheng-4951	99	28	)	)	PUNCT
fumecheng-4951	99	29	(	(	PUNCT
fumecheng-4951	99	30	)	)	PUNCT
fumecheng-4951	99	31	(	(	PUNCT
fumecheng-4951	99	32	)	)	PUNCT
fumecheng-4951	99	33	4	4	NUM
fumecheng-4951	99	34	5xym5w54cxym4w5c	5xym5w54cxym4w5c	ADJ
fumecheng-4951	99	35	5o54c4omax4p5c	5o54c4omax4p5c	NUM
fumecheng-4951	99	36	m4	m4	PROPN
fumecheng-4951	99	37	ortrortr	ortrortr	NOUN
fumecheng-4951	99	38	mr)mm(r	mr)mm(r	PROPN
fumecheng-4951	99	39	w	w	PROPN
fumecheng-4951	99	40	ewrrewrr	ewrrewrr	PROPN
fumecheng-4951	99	41	−−−	−−−	VERB
fumecheng-4951	99	42	+	+	PROPN
fumecheng-4951	100	1	+	+	PROPN
fumecheng-4951	101	1	−	−	NOUN
fumecheng-4951	102	1	=	=	SYM
fumecheng-4951	103	1	(	(	PUNCT
fumecheng-4951	103	2	32	32	NUM
fumecheng-4951	103	3	)	)	PUNCT
fumecheng-4951	103	4	depending	depend	VERB
fumecheng-4951	103	5	on	on	ADP
fumecheng-4951	103	6	the	the	DET
fumecheng-4951	103	7	moment	moment	NOUN
fumecheng-4951	103	8	of	of	ADP
fumecheng-4951	103	9	rotation	rotation	NOUN
fumecheng-4951	103	10	of	of	ADP
fumecheng-4951	103	11	the	the	DET
fumecheng-4951	103	12	tracked	track	VERB
fumecheng-4951	103	13	support	support	NOUN
fumecheng-4951	103	14	and	and	CCONJ
fumecheng-4951	103	15	movement	movement	NOUN
fumecheng-4951	103	16	mechanism	mechanism	NOUN
fumecheng-4951	103	17	in	in	ADP
fumecheng-4951	103	18	relation	relation	NOUN
fumecheng-4951	103	19	to	to	ADP
fumecheng-4951	103	20	the	the	DET
fumecheng-4951	103	21	surface	surface	NOUN
fumecheng-4951	103	22	and	and	CCONJ
fumecheng-4951	103	23	the	the	DET
fumecheng-4951	103	24	operation	operation	NOUN
fumecheng-4951	103	25	of	of	ADP
fumecheng-4951	103	26	the	the	DET
fumecheng-4951	103	27	horizontal	horizontal	ADJ
fumecheng-4951	103	28	component	component	NOUN
fumecheng-4951	103	29	of	of	ADP
fumecheng-4951	103	30	the	the	DET
fumecheng-4951	103	31	normal	normal	ADJ
fumecheng-4951	103	32	force	force	NOUN
fumecheng-4951	103	33	of	of	ADP
fumecheng-4951	103	34	the	the	DET
fumecheng-4951	103	35	possible	possible	ADJ
fumecheng-4951	103	36	digging	digging	NOUN
fumecheng-4951	103	37	resistance	resistance	NOUN
fumecheng-4951	103	38	,	,	PUNCT
fumecheng-4951	103	39	the	the	DET
fumecheng-4951	103	40	component	component	NOUN
fumecheng-4951	103	41	of	of	ADP
fumecheng-4951	103	42	the	the	DET
fumecheng-4951	103	43	possible	possible	ADJ
fumecheng-4951	103	44	force	force	NOUN
fumecheng-4951	103	45	of	of	ADP
fumecheng-4951	103	46	the	the	DET
fumecheng-4951	103	47	digging	dig	VERB
fumecheng-4951	103	48	resistance	resistance	NOUN
fumecheng-4951	103	49	,	,	PUNCT
fumecheng-4951	103	50	collinear	collinear	VERB
fumecheng-4951	103	51	with	with	ADP
fumecheng-4951	103	52	the	the	DET
fumecheng-4951	103	53	cutting	cut	VERB
fumecheng-4951	103	54	edge	edge	NOUN
fumecheng-4951	103	55	of	of	ADP
fumecheng-4951	103	56	the	the	DET
fumecheng-4951	103	57	bucket	bucket	NOUN
fumecheng-4951	103	58	,	,	PUNCT
fumecheng-4951	103	59	is	be	AUX
fumecheng-4951	103	60	determined	determine	VERB
fumecheng-4951	103	61	by	by	ADP
fumecheng-4951	103	62	the	the	DET
fumecheng-4951	103	63	following	follow	VERB
fumecheng-4951	103	64	equation	equation	NOUN
fumecheng-4951	103	65	:	:	PUNCT
fumecheng-4951	103	66	w	w	X
fumecheng-4951	103	67	wxmozm	wxmozm	NOUN
fumecheng-4951	103	68	x	x	SYM
fumecheng-4951	103	69	1	1	NUM
fumecheng-4951	103	70	zw	zw	PART
fumecheng-4951	103	71	4	4	NUM
fumecheng-4951	103	72	lmg	lmg	NOUN
fumecheng-4951	103	73	μw	μw	NOUN
fumecheng-4951	103	74			VERB
fumecheng-4951	103	75			NOUN
fumecheng-4951	103	76			PRON
fumecheng-4951	103	77			PROPN
fumecheng-4951	103	78			PROPN
fumecheng-4951	103	79			NOUN
fumecheng-4951	103	80	+	+	PUNCT
fumecheng-4951	104	1			PROPN
fumecheng-4951	104	2	=	=	SYM
fumecheng-4951	104	3	(	(	PUNCT
fumecheng-4951	104	4	33	33	NUM
fumecheng-4951	104	5	)	)	PUNCT
fumecheng-4951	104	6	where	where	SCONJ
fumecheng-4951	104	7	:	:	PUNCT
fumecheng-4951	104	8	μo	μo	ADP
fumecheng-4951	104	9	coefficient	coefficient	NOUN
fumecheng-4951	104	10	of	of	ADP
fumecheng-4951	104	11	the	the	DET
fumecheng-4951	104	12	turning	turn	VERB
fumecheng-4951	104	13	resistance	resistance	NOUN
fumecheng-4951	104	14	of	of	ADP
fumecheng-4951	104	15	the	the	DET
fumecheng-4951	104	16	tracks	track	NOUN
fumecheng-4951	104	17	against	against	ADP
fumecheng-4951	104	18	the	the	DET
fumecheng-4951	104	19	excavator	excavator	NOUN
fumecheng-4951	104	20	support	support	NOUN
fumecheng-4951	104	21	surface	surface	NOUN
fumecheng-4951	104	22	,	,	PUNCT
fumecheng-4951	104	23	l	l	NOUN
fumecheng-4951	104	24	length	length	NOUN
fumecheng-4951	104	25	of	of	ADP
fumecheng-4951	104	26	the	the	DET
fumecheng-4951	104	27	continuous	continuous	ADJ
fumecheng-4951	104	28	tracks	track	NOUN
fumecheng-4951	104	29	footprint	footprint	VERB
fumecheng-4951	104	30	,	,	PUNCT
fumecheng-4951	104	31	wxm	wxm	PROPN
fumecheng-4951	104	32	component	component	NOUN
fumecheng-4951	104	33	of	of	ADP
fumecheng-4951	104	34	the	the	DET
fumecheng-4951	104	35	possible	possible	ADJ
fumecheng-4951	104	36	digging	digging	NOUN
fumecheng-4951	104	37	resistance	resistance	NOUN
fumecheng-4951	104	38	,	,	PUNCT
fumecheng-4951	104	39	xw	xw	PROPN
fumecheng-4951	104	40	,	,	PUNCT
fumecheng-4951	104	41	zw	zw	PROPN
fumecheng-4951	104	42	coordinates	coordinate	NOUN
fumecheng-4951	104	43	of	of	ADP
fumecheng-4951	104	44	the	the	DET
fumecheng-4951	104	45	action	action	NOUN
fumecheng-4951	104	46	of	of	ADP
fumecheng-4951	104	47	the	the	DET
fumecheng-4951	104	48	possible	possible	ADJ
fumecheng-4951	104	49	digging	dig	VERB
fumecheng-4951	104	50	resistance	resistance	NOUN
fumecheng-4951	104	51	on	on	ADP
fumecheng-4951	104	52	the	the	DET
fumecheng-4951	104	53	cutting	cut	VERB
fumecheng-4951	104	54	edge	edge	NOUN
fumecheng-4951	104	55	of	of	ADP
fumecheng-4951	104	56	the	the	DET
fumecheng-4951	104	57	bucket	bucket	NOUN
fumecheng-4951	104	58	.	.	PUNCT
fumecheng-4951	105	1	the	the	DET
fumecheng-4951	105	2	size	size	NOUN
fumecheng-4951	105	3	of	of	ADP
fumecheng-4951	105	4	axial	axial	ADJ
fumecheng-4951	105	5	bearings	bearing	NOUN
fumecheng-4951	105	6	of	of	ADP
fumecheng-4951	105	7	the	the	DET
fumecheng-4951	105	8	excavator	excavator	NOUN
fumecheng-4951	105	9	slewing	slewing	NOUN
fumecheng-4951	105	10	platform	platform	NOUN
fumecheng-4951	105	11	is	be	AUX
fumecheng-4951	105	12	determined	determine	VERB
fumecheng-4951	105	13	on	on	ADP
fumecheng-4951	105	14	the	the	DET
fumecheng-4951	105	15	basis	basis	NOUN
fumecheng-4951	105	16	of	of	ADP
fumecheng-4951	105	17	the	the	DET
fumecheng-4951	105	18	equivalent	equivalent	ADJ
fumecheng-4951	105	19	loads	load	NOUN
fumecheng-4951	105	20	defined	define	VERB
fumecheng-4951	105	21	by	by	ADP
fumecheng-4951	105	22	the	the	DET
fumecheng-4951	105	23	bearing	bear	VERB
fumecheng-4951	105	24	manufacturers	manufacturer	NOUN
fumecheng-4951	105	25	in	in	ADP
fumecheng-4951	105	26	the	the	DET
fumecheng-4951	105	27	form	form	NOUN
fumecheng-4951	105	28	(	(	PUNCT
fumecheng-4951	105	29	fig	fig	NOUN
fumecheng-4951	105	30	.	.	PUNCT
fumecheng-4951	106	1	1b	1b	NUM
fumecheng-4951	106	2	)	)	PUNCT
fumecheng-4951	107	1	[	[	X
fumecheng-4951	107	2	21	21	NUM
fumecheng-4951	107	3	]	]	X
fumecheng-4951	107	4	:	:	PUNCT
fumecheng-4951	107	5	▪	▪	NOUN
fumecheng-4951	107	6	for	for	ADP
fumecheng-4951	107	7	equivalent	equivalent	ADJ
fumecheng-4951	107	8	force	force	NOUN
fumecheng-4951	107	9	:	:	PUNCT
fumecheng-4951	107	10	sr2a2es	sr2a2es	NOUN
fumecheng-4951	107	11	f)fbfa(f	f)fbfa(f	NOUN
fumecheng-4951	107	12	+=	+=	PROPN
fumecheng-4951	107	13	(	(	PUNCT
fumecheng-4951	107	14	34	34	NUM
fumecheng-4951	107	15	)	)	PUNCT
fumecheng-4951	107	16	▪	▪	NOUN
fumecheng-4951	107	17	for	for	ADP
fumecheng-4951	107	18	equivalent	equivalent	ADJ
fumecheng-4951	107	19	moment	moment	NOUN
fumecheng-4951	107	20	:	:	PUNCT
fumecheng-4951	107	21	sr2es	sr2es	NUM
fumecheng-4951	107	22	fmcm	fmcm	NOUN
fumecheng-4951	107	23	=	=	NOUN
fumecheng-4951	107	24	(	(	PUNCT
fumecheng-4951	107	25	35	35	NUM
fumecheng-4951	107	26	)	)	PUNCT
fumecheng-4951	107	27	where	where	SCONJ
fumecheng-4951	107	28	:	:	PUNCT
fumecheng-4951	107	29	f2a	f2a	ADJ
fumecheng-4951	107	30	,	,	PUNCT
fumecheng-4951	107	31	f2r	f2r	PROPN
fumecheng-4951	107	32	axial	axial	ADJ
fumecheng-4951	107	33	and	and	CCONJ
fumecheng-4951	107	34	radial	radial	ADJ
fumecheng-4951	107	35	force	force	NOUN
fumecheng-4951	107	36	of	of	ADP
fumecheng-4951	107	37	the	the	DET
fumecheng-4951	107	38	axial	axial	ADJ
fumecheng-4951	107	39	bearing	bearing	NOUN
fumecheng-4951	107	40	loading	loading	NOUN
fumecheng-4951	107	41	,	,	PUNCT
fumecheng-4951	107	42	m2r	m2r	NOUN
fumecheng-4951	107	43	moment	moment	NOUN
fumecheng-4951	107	44	of	of	ADP
fumecheng-4951	107	45	the	the	DET
fumecheng-4951	107	46	axial	axial	ADJ
fumecheng-4951	107	47	bearing	bearing	NOUN
fumecheng-4951	107	48	loading	loading	NOUN
fumecheng-4951	107	49	,	,	PUNCT
fumecheng-4951	107	50	a	a	DET
fumecheng-4951	107	51	,	,	PUNCT
fumecheng-4951	107	52	b	b	NOUN
fumecheng-4951	107	53	,	,	PUNCT
fumecheng-4951	107	54	c	c	PROPN
fumecheng-4951	107	55	coefficients	coefficient	NOUN
fumecheng-4951	107	56	depending	depend	VERB
fumecheng-4951	107	57	on	on	ADP
fumecheng-4951	107	58	the	the	DET
fumecheng-4951	107	59	type	type	NOUN
fumecheng-4951	107	60	of	of	ADP
fumecheng-4951	107	61	bearing	bearing	NOUN
fumecheng-4951	107	62	,	,	PUNCT
fumecheng-4951	107	63	the	the	DET
fumecheng-4951	107	64	type	type	NOUN
fumecheng-4951	107	65	and	and	CCONJ
fumecheng-4951	107	66	size	size	NOUN
fumecheng-4951	107	67	of	of	ADP
fumecheng-4951	107	68	the	the	DET
fumecheng-4951	107	69	machine	machine	NOUN
fumecheng-4951	107	70	and	and	CCONJ
fumecheng-4951	107	71	its	its	PRON
fumecheng-4951	107	72	working	working	NOUN
fumecheng-4951	107	73	conditions	condition	NOUN
fumecheng-4951	107	74	,	,	PUNCT
fumecheng-4951	107	75	fs	fs	ADP
fumecheng-4951	107	76	factor	factor	NOUN
fumecheng-4951	107	77	of	of	ADP
fumecheng-4951	107	78	static	static	ADJ
fumecheng-4951	107	79	safety	safety	NOUN
fumecheng-4951	107	80	.	.	PUNCT
fumecheng-4951	108	1	3	3	X
fumecheng-4951	108	2	.	.	X
fumecheng-4951	108	3	analysis	analysis	VERB
fumecheng-4951	108	4	the	the	DET
fumecheng-4951	108	5	analysis	analysis	NOUN
fumecheng-4951	108	6	of	of	ADP
fumecheng-4951	108	7	the	the	DET
fumecheng-4951	108	8	influence	influence	NOUN
fumecheng-4951	108	9	of	of	ADP
fumecheng-4951	108	10	the	the	DET
fumecheng-4951	108	11	position	position	NOUN
fumecheng-4951	108	12	and	and	CCONJ
fumecheng-4951	108	13	digging	dig	VERB
fumecheng-4951	108	14	resistance	resistance	NOUN
fumecheng-4951	108	15	in	in	ADP
fumecheng-4951	108	16	the	the	DET
fumecheng-4951	108	17	entire	entire	ADJ
fumecheng-4951	108	18	working	work	VERB
fumecheng-4951	108	19	area	area	NOUN
fumecheng-4951	108	20	on	on	ADP
fumecheng-4951	108	21	the	the	DET
fumecheng-4951	108	22	change	change	NOUN
fumecheng-4951	108	23	in	in	ADP
fumecheng-4951	108	24	the	the	DET
fumecheng-4951	108	25	equivalent	equivalent	ADJ
fumecheng-4951	108	26	load	load	NOUN
fumecheng-4951	108	27	of	of	ADP
fumecheng-4951	108	28	the	the	DET
fumecheng-4951	108	29	axial	axial	ADJ
fumecheng-4951	108	30	bearing	bearing	NOUN
fumecheng-4951	108	31	of	of	ADP
fumecheng-4951	108	32	the	the	DET
fumecheng-4951	108	33	excavator	excavator	NOUN
fumecheng-4951	108	34	slewing	slewing	NOUN
fumecheng-4951	108	35	platform	platform	NOUN
fumecheng-4951	108	36	was	be	AUX
fumecheng-4951	108	37	carried	carry	VERB
fumecheng-4951	108	38	out	out	ADP
fumecheng-4951	108	39	on	on	ADP
fumecheng-4951	108	40	an	an	DET
fumecheng-4951	108	41	excavator	excavator	NOUN
fumecheng-4951	108	42	of	of	ADP
fumecheng-4951	108	43	the	the	DET
fumecheng-4951	108	44	weight	weight	NOUN
fumecheng-4951	108	45	of	of	ADP
fumecheng-4951	108	46	m	m	NOUN
fumecheng-4951	108	47	=	=	NOUN
fumecheng-4951	108	48	100000	100000	NUM
fumecheng-4951	108	49	kg	kg	NOUN
fumecheng-4951	108	50	and	and	CCONJ
fumecheng-4951	108	51	with	with	ADP
fumecheng-4951	108	52	the	the	DET
fumecheng-4951	108	53	loading	loading	NOUN
fumecheng-4951	108	54	manipulator	manipulator	NOUN
fumecheng-4951	108	55	bucket	bucket	NOUN
fumecheng-4951	108	56	of	of	ADP
fumecheng-4951	108	57	v	v	NOUN
fumecheng-4951	108	58	=	=	SYM
fumecheng-4951	108	59	6,5m3	6,5m3	NOUN
fumecheng-4951	108	60	in	in	ADP
fumecheng-4951	108	61	volume	volume	NOUN
fumecheng-4951	108	62	.	.	PUNCT
fumecheng-4951	109	1	the	the	DET
fumecheng-4951	109	2	analysis	analysis	NOUN
fumecheng-4951	109	3	used	use	VERB
fumecheng-4951	109	4	the	the	DET
fumecheng-4951	109	5	hodographs	hodographs	NOUN
fumecheng-4951	109	6	of	of	ADP
fumecheng-4951	109	7	boundary	boundary	ADJ
fumecheng-4951	109	8	and	and	CCONJ
fumecheng-4951	109	9	possible	possible	ADJ
fumecheng-4951	109	10	digging	dig	VERB
fumecheng-4951	109	11	forces	force	NOUN
fumecheng-4951	109	12	and	and	CCONJ
fumecheng-4951	109	13	the	the	DET
fumecheng-4951	109	14	spectra	spectra	NOUN
fumecheng-4951	109	15	of	of	ADP
fumecheng-4951	109	16	axial	axial	ADJ
fumecheng-4951	109	17	bearing	bearing	NOUN
fumecheng-4951	109	18	loads	load	NOUN
fumecheng-4951	109	19	of	of	ADP
fumecheng-4951	109	20	the	the	DET
fumecheng-4951	109	21	slewing	slewing	NOUN
fumecheng-4951	109	22	platform	platform	NOUN
fumecheng-4951	109	23	drive	drive	NOUN
fumecheng-4951	109	24	mechanism	mechanism	NOUN
fumecheng-4951	109	25	defined	define	VERB
fumecheng-4951	109	26	for	for	ADP
fumecheng-4951	109	27	certain	certain	ADJ
fumecheng-4951	109	28	segments	segment	NOUN
fumecheng-4951	109	29	of	of	ADP
fumecheng-4951	109	30	the	the	DET
fumecheng-4951	109	31	entire	entire	ADJ
fumecheng-4951	109	32	working	work	VERB
fumecheng-4951	109	33	area	area	NOUN
fumecheng-4951	109	34	of	of	ADP
fumecheng-4951	109	35	the	the	DET
fumecheng-4951	109	36	excavator	excavator	NOUN
fumecheng-4951	109	37	.	.	PUNCT
fumecheng-4951	110	1	3.1	3.1	NUM
fumecheng-4951	110	2	.	.	PUNCT
fumecheng-4951	110	3	analysis	analysis	NOUN
fumecheng-4951	110	4	of	of	ADP
fumecheng-4951	110	5	the	the	DET
fumecheng-4951	110	6	impact	impact	NOUN
fumecheng-4951	110	7	of	of	ADP
fumecheng-4951	110	8	possible	possible	ADJ
fumecheng-4951	110	9	forces	force	NOUN
fumecheng-4951	110	10	of	of	ADP
fumecheng-4951	110	11	digging	dig	VERB
fumecheng-4951	110	12	resistance	resistance	NOUN
fumecheng-4951	110	13	using	use	VERB
fumecheng-4951	110	14	the	the	DET
fumecheng-4951	110	15	developed	develop	VERB
fumecheng-4951	110	16	program	program	NOUN
fumecheng-4951	110	17	based	base	VERB
fumecheng-4951	110	18	on	on	ADP
fumecheng-4951	110	19	the	the	DET
fumecheng-4951	110	20	defined	define	VERB
fumecheng-4951	110	21	mathematical	mathematical	ADJ
fumecheng-4951	110	22	model	model	NOUN
fumecheng-4951	110	23	of	of	ADP
fumecheng-4951	110	24	the	the	DET
fumecheng-4951	110	25	excavator	excavator	NOUN
fumecheng-4951	110	26	,	,	PUNCT
fumecheng-4951	110	27	the	the	DET
fumecheng-4951	110	28	hwi	hwi	NOUN
fumecheng-4951	110	29	(	(	PUNCT
fumecheng-4951	110	30	fig.3	fig.3	PROPN
fumecheng-4951	110	31	)	)	PUNCT
fumecheng-4951	110	32	and	and	CCONJ
fumecheng-4951	110	33	possible	possible	ADJ
fumecheng-4951	110	34	(	(	PUNCT
fumecheng-4951	110	35	hwm	hwm	NOUN
fumecheng-4951	110	36	)	)	PUNCT
fumecheng-4951	110	37	resistance	resistance	NOUN
fumecheng-4951	110	38	forces	force	NOUN
fumecheng-4951	110	39	for	for	ADP
fumecheng-4951	110	40	two	two	NUM
fumecheng-4951	110	41	different	different	ADJ
fumecheng-4951	110	42	positions	position	NOUN
fumecheng-4951	110	43	of	of	ADP
fumecheng-4951	110	44	the	the	DET
fumecheng-4951	110	45	excavator	excavator	NOUN
fumecheng-4951	110	46	kinematic	kinematic	ADJ
fumecheng-4951	110	47	chain	chain	NOUN
fumecheng-4951	110	48	are	be	AUX
fumecheng-4951	110	49	defined	define	VERB
fumecheng-4951	110	50	:	:	PUNCT
fumecheng-4951	110	51	φ3=21,51	φ3=21,51	SYM
fumecheng-4951	110	52	°	°	NOUN
fumecheng-4951	110	53	,	,	PUNCT
fumecheng-4951	110	54	φ4=-99,74	φ4=-99,74	NOUN
fumecheng-4951	110	55	°	°	PROPN
fumecheng-4951	110	56	,	,	PUNCT
fumecheng-4951	110	57	φ5=-91,83	φ5=-91,83	ADV
fumecheng-4951	110	58	°	°	NOUN
fumecheng-4951	110	59	(	(	PUNCT
fumecheng-4951	110	60	fig	fig	NOUN
fumecheng-4951	110	61	.	.	PUNCT
fumecheng-4951	111	1	3a	3a	NUM
fumecheng-4951	111	2	)	)	PUNCT
fumecheng-4951	111	3	,	,	PUNCT
fumecheng-4951	111	4	φ3=9,58	φ3=9,58	NOUN
fumecheng-4951	111	5	°	°	NOUN
fumecheng-4951	111	6	,	,	PUNCT
fumecheng-4951	111	7	φ4=-54,52	φ4=-54,52	NOUN
fumecheng-4951	111	8	°	°	NOUN
fumecheng-4951	111	9	,	,	PUNCT
fumecheng-4951	111	10	φ5=-61,83	φ5=-61,83	X
fumecheng-4951	111	11	°	°	PROPN
fumecheng-4951	111	12	(	(	PUNCT
fumecheng-4951	111	13	fig	fig	NOUN
fumecheng-4951	111	14	.	.	PUNCT
fumecheng-4951	112	1	3b	3b	NUM
fumecheng-4951	112	2	)	)	PUNCT
fumecheng-4951	112	3	.	.	PUNCT
fumecheng-4951	113	1	714	714	NUM
fumecheng-4951	113	2	v.	v.	ADP
fumecheng-4951	113	3	jovanović	jovanović	PROPN
fumecheng-4951	113	4	,	,	PUNCT
fumecheng-4951	113	5	d.	d.	PROPN
fumecheng-4951	113	6	janošević	janošević	PROPN
fumecheng-4951	113	7	,	,	PUNCT
fumecheng-4951	113	8	j.	j.	PROPN
fumecheng-4951	113	9	pavlović	pavlović	PROPN
fumecheng-4951	113	10	for	for	ADP
fumecheng-4951	113	11	a	a	DET
fumecheng-4951	113	12	specified	specify	VERB
fumecheng-4951	113	13	position	position	NOUN
fumecheng-4951	113	14	of	of	ADP
fumecheng-4951	113	15	the	the	DET
fumecheng-4951	113	16	kinematic	kinematic	ADJ
fumecheng-4951	113	17	chain	chain	NOUN
fumecheng-4951	113	18	,	,	PUNCT
fumecheng-4951	113	19	the	the	DET
fumecheng-4951	113	20	hodograph	hodograph	NOUN
fumecheng-4951	113	21	of	of	ADP
fumecheng-4951	113	22	the	the	DET
fumecheng-4951	113	23	boundary	boundary	ADJ
fumecheng-4951	113	24	resistance	resistance	NOUN
fumecheng-4951	113	25	(	(	PUNCT
fumecheng-4951	113	26	hwim	hwim	NOUN
fumecheng-4951	113	27	)	)	PUNCT
fumecheng-4951	113	28	presents	present	NOUN
fumecheng-4951	113	29	,	,	PUNCT
fumecheng-4951	113	30	in	in	ADP
fumecheng-4951	113	31	relation	relation	NOUN
fumecheng-4951	113	32	to	to	ADP
fumecheng-4951	113	33	the	the	DET
fumecheng-4951	113	34	center	center	NOUN
fumecheng-4951	113	35	of	of	ADP
fumecheng-4951	113	36	the	the	DET
fumecheng-4951	113	37	cutting	cut	VERB
fumecheng-4951	113	38	edge	edge	NOUN
fumecheng-4951	113	39	of	of	ADP
fumecheng-4951	113	40	bucket	bucket	NOUN
fumecheng-4951	113	41	ow	ow	INTJ
fumecheng-4951	113	42	,	,	PUNCT
fumecheng-4951	113	43	a	a	DET
fumecheng-4951	113	44	line	line	NOUN
fumecheng-4951	113	45	perpendicular	perpendicular	NOUN
fumecheng-4951	113	46	to	to	ADP
fumecheng-4951	113	47	the	the	DET
fumecheng-4951	113	48	vector	vector	NOUN
fumecheng-4951	113	49	of	of	ADP
fumecheng-4951	113	50	the	the	DET
fumecheng-4951	113	51	boundary	boundary	ADJ
fumecheng-4951	113	52	resistance	resistance	NOUN
fumecheng-4951	113	53	(	(	PUNCT
fumecheng-4951	113	54	wim	wim	PROPN
fumecheng-4951	113	55	min	min	PROPN
fumecheng-4951	113	56	)	)	PUNCT
fumecheng-4951	113	57	,	,	PUNCT
fumecheng-4951	113	58	of	of	ADP
fumecheng-4951	113	59	minimal	minimal	ADJ
fumecheng-4951	113	60	value	value	NOUN
fumecheng-4951	113	61	determined	determine	VERB
fumecheng-4951	113	62	from	from	ADP
fumecheng-4951	113	63	the	the	DET
fumecheng-4951	113	64	operation	operation	NOUN
fumecheng-4951	113	65	of	of	ADP
fumecheng-4951	113	66	the	the	DET
fumecheng-4951	113	67	driving	driving	NOUN
fumecheng-4951	113	68	mechanism	mechanism	NOUN
fumecheng-4951	113	69	in	in	ADP
fumecheng-4951	113	70	both	both	DET
fumecheng-4951	113	71	directions	direction	NOUN
fumecheng-4951	113	72	[	[	X
fumecheng-4951	113	73	22	22	NUM
fumecheng-4951	113	74	]	]	PUNCT
fumecheng-4951	113	75	.	.	PUNCT
fumecheng-4951	114	1	the	the	DET
fumecheng-4951	114	2	hodograph	hodograph	NOUN
fumecheng-4951	114	3	of	of	ADP
fumecheng-4951	114	4	the	the	DET
fumecheng-4951	114	5	potential	potential	ADJ
fumecheng-4951	114	6	digging	digging	NOUN
fumecheng-4951	114	7	resistance	resistance	NOUN
fumecheng-4951	114	8	,	,	PUNCT
fumecheng-4951	114	9	in	in	ADP
fumecheng-4951	114	10	relation	relation	NOUN
fumecheng-4951	114	11	to	to	ADP
fumecheng-4951	114	12	the	the	DET
fumecheng-4951	114	13	center	center	NOUN
fumecheng-4951	114	14	of	of	ADP
fumecheng-4951	114	15	the	the	DET
fumecheng-4951	114	16	cutting	cut	VERB
fumecheng-4951	114	17	edge	edge	NOUN
fumecheng-4951	114	18	of	of	ADP
fumecheng-4951	114	19	bucket	bucket	NOUN
fumecheng-4951	114	20	ow	ow	INTJ
fumecheng-4951	114	21	,	,	PUNCT
fumecheng-4951	114	22	is	be	AUX
fumecheng-4951	114	23	a	a	DET
fumecheng-4951	114	24	polygon	polygon	NOUN
fumecheng-4951	114	25	bounded	bound	VERB
fumecheng-4951	114	26	by	by	ADP
fumecheng-4951	114	27	the	the	DET
fumecheng-4951	114	28	hodographs	hodographs	NOUN
fumecheng-4951	114	29	of	of	ADP
fumecheng-4951	114	30	the	the	DET
fumecheng-4951	114	31	boundary	boundary	ADJ
fumecheng-4951	114	32	digging	digging	NOUN
fumecheng-4951	114	33	resistances	resistance	NOUN
fumecheng-4951	114	34	(	(	PUNCT
fumecheng-4951	114	35	forces	force	NOUN
fumecheng-4951	114	36	)	)	PUNCT
fumecheng-4951	114	37	limited	limit	VERB
fumecheng-4951	114	38	by	by	ADP
fumecheng-4951	114	39	the	the	DET
fumecheng-4951	114	40	excavator	excavator	NOUN
fumecheng-4951	114	41	stability	stability	NOUN
fumecheng-4951	114	42	and	and	CCONJ
fumecheng-4951	114	43	the	the	DET
fumecheng-4951	114	44	hodographs	hodographs	NOUN
fumecheng-4951	114	45	of	of	ADP
fumecheng-4951	114	46	the	the	DET
fumecheng-4951	114	47	boundary	boundary	ADJ
fumecheng-4951	114	48	digging	digging	NOUN
fumecheng-4951	114	49	resistances	resistance	NOUN
fumecheng-4951	114	50	(	(	PUNCT
fumecheng-4951	114	51	forces	force	NOUN
fumecheng-4951	114	52	)	)	PUNCT
fumecheng-4951	114	53	limited	limit	VERB
fumecheng-4951	114	54	by	by	ADP
fumecheng-4951	114	55	the	the	DET
fumecheng-4951	114	56	manipulator	manipulator	NOUN
fumecheng-4951	114	57	drive	drive	NOUN
fumecheng-4951	114	58	mechanisms	mechanism	NOUN
fumecheng-4951	114	59	.	.	PUNCT
fumecheng-4951	115	1	normal	normal	ADJ
fumecheng-4951	115	2	n	n	CCONJ
fumecheng-4951	115	3	-	-	PUNCT
fumecheng-4951	115	4	n	n	PRON
fumecheng-4951	115	5	drawn	draw	VERB
fumecheng-4951	115	6	on	on	ADP
fumecheng-4951	115	7	the	the	DET
fumecheng-4951	115	8	current	current	ADJ
fumecheng-4951	115	9	speed	speed	NOUN
fumecheng-4951	115	10	of	of	ADP
fumecheng-4951	115	11	digging	dig	VERB
fumecheng-4951	115	12	v	v	NOUN
fumecheng-4951	115	13	,	,	PUNCT
fumecheng-4951	115	14	divides	divide	VERB
fumecheng-4951	115	15	the	the	DET
fumecheng-4951	115	16	hodograph	hodograph	NOUN
fumecheng-4951	115	17	of	of	ADP
fumecheng-4951	115	18	the	the	DET
fumecheng-4951	115	19	possible	possible	ADJ
fumecheng-4951	115	20	digging	digging	NOUN
fumecheng-4951	115	21	resistance	resistance	NOUN
fumecheng-4951	115	22	(	(	PUNCT
fumecheng-4951	115	23	force	force	NOUN
fumecheng-4951	115	24	)	)	PUNCT
fumecheng-4951	115	25	into	into	ADP
fumecheng-4951	115	26	:	:	PUNCT
fumecheng-4951	115	27	a	a	X
fumecheng-4951	115	28	)	)	PUNCT
fumecheng-4951	115	29	the	the	DET
fumecheng-4951	115	30	zone	zone	NOUN
fumecheng-4951	115	31	with	with	ADP
fumecheng-4951	115	32	a	a	DET
fumecheng-4951	115	33	possible	possible	ADJ
fumecheng-4951	115	34	natural	natural	ADJ
fumecheng-4951	115	35	direction	direction	NOUN
fumecheng-4951	115	36	of	of	ADP
fumecheng-4951	115	37	action	action	NOUN
fumecheng-4951	115	38	corresponding	correspond	VERB
fumecheng-4951	115	39	to	to	ADP
fumecheng-4951	115	40	the	the	DET
fumecheng-4951	115	41	digging	digging	NOUN
fumecheng-4951	115	42	technology	technology	NOUN
fumecheng-4951	115	43	,	,	PUNCT
fumecheng-4951	115	44	and	and	CCONJ
fumecheng-4951	115	45	b	b	X
fumecheng-4951	115	46	)	)	PUNCT
fumecheng-4951	115	47	the	the	DET
fumecheng-4951	115	48	zone	zone	NOUN
fumecheng-4951	115	49	with	with	ADP
fumecheng-4951	115	50	a	a	DET
fumecheng-4951	115	51	direction	direction	NOUN
fumecheng-4951	115	52	of	of	ADP
fumecheng-4951	115	53	action	action	NOUN
fumecheng-4951	115	54	inappropriate	inappropriate	ADJ
fumecheng-4951	115	55	to	to	ADP
fumecheng-4951	115	56	the	the	DET
fumecheng-4951	115	57	digging	dig	VERB
fumecheng-4951	115	58	technology	technology	NOUN
fumecheng-4951	115	59	.	.	PUNCT
fumecheng-4951	116	1	for	for	ADP
fumecheng-4951	116	2	the	the	DET
fumecheng-4951	116	3	two	two	NUM
fumecheng-4951	116	4	different	different	ADJ
fumecheng-4951	116	5	positions	position	NOUN
fumecheng-4951	116	6	of	of	ADP
fumecheng-4951	116	7	the	the	DET
fumecheng-4951	116	8	excavator	excavator	NOUN
fumecheng-4951	116	9	kinematic	kinematic	ADJ
fumecheng-4951	116	10	chain	chain	NOUN
fumecheng-4951	116	11	,	,	PUNCT
fumecheng-4951	116	12	the	the	DET
fumecheng-4951	116	13	comparative	comparative	ADJ
fumecheng-4951	116	14	analysis	analysis	NOUN
fumecheng-4951	116	15	shows	show	NOUN
fumecheng-4951	116	16	(	(	PUNCT
fumecheng-4951	116	17	fig	fig	NOUN
fumecheng-4951	116	18	.	.	PUNCT
fumecheng-4951	117	1	3a	3a	NUM
fumecheng-4951	117	2	,	,	PUNCT
fumecheng-4951	117	3	b	b	NOUN
fumecheng-4951	117	4	and	and	CCONJ
fumecheng-4951	117	5	table	table	NOUN
fumecheng-4951	117	6	1	1	NUM
fumecheng-4951	117	7	)	)	PUNCT
fumecheng-4951	117	8	that	that	SCONJ
fumecheng-4951	117	9	the	the	DET
fumecheng-4951	117	10	hodographs	hodographs	NOUN
fumecheng-4951	117	11	of	of	ADP
fumecheng-4951	117	12	the	the	DET
fumecheng-4951	117	13	digging	dig	VERB
fumecheng-4951	117	14	resistance	resistance	NOUN
fumecheng-4951	117	15	forces	force	NOUN
fumecheng-4951	117	16	vary	vary	VERB
fumecheng-4951	117	17	considerably	considerably	ADV
fumecheng-4951	117	18	.	.	PUNCT
fumecheng-4951	118	1	for	for	ADP
fumecheng-4951	118	2	different	different	ADJ
fumecheng-4951	118	3	boom	boom	NOUN
fumecheng-4951	118	4	and	and	CCONJ
fumecheng-4951	118	5	stick	stick	NOUN
fumecheng-4951	118	6	positions	position	NOUN
fumecheng-4951	118	7	,	,	PUNCT
fumecheng-4951	118	8	the	the	DET
fumecheng-4951	118	9	same	same	ADJ
fumecheng-4951	118	10	bucket	bucket	NOUN
fumecheng-4951	118	11	position	position	NOUN
fumecheng-4951	118	12	(	(	PUNCT
fumecheng-4951	118	13	φ5	φ5	PROPN
fumecheng-4951	118	14	=	=	SYM
fumecheng-4951	118	15	-61.83	-61.83	NOUN
fumecheng-4951	118	16	°	°	NUM
fumecheng-4951	118	17	)	)	PUNCT
fumecheng-4951	118	18	and	and	CCONJ
fumecheng-4951	118	19	the	the	DET
fumecheng-4951	118	20	same	same	ADJ
fumecheng-4951	118	21	direction	direction	NOUN
fumecheng-4951	118	22	of	of	ADP
fumecheng-4951	118	23	the	the	DET
fumecheng-4951	118	24	digging	dig	VERB
fumecheng-4951	118	25	resistance	resistance	NOUN
fumecheng-4951	118	26	force	force	NOUN
fumecheng-4951	118	27	(	(	PUNCT
fumecheng-4951	118	28	φw	φw	NOUN
fumecheng-4951	118	29	=	=	PROPN
fumecheng-4951	118	30	238.17	238.17	NUM
fumecheng-4951	118	31	°	°	NUM
fumecheng-4951	118	32	)	)	PUNCT
fumecheng-4951	118	33	,	,	PUNCT
fumecheng-4951	118	34	which	which	PRON
fumecheng-4951	118	35	corresponds	correspond	VERB
fumecheng-4951	118	36	to	to	ADP
fumecheng-4951	118	37	the	the	DET
fumecheng-4951	118	38	excavator	excavator	NOUN
fumecheng-4951	118	39	digging	dig	VERB
fumecheng-4951	118	40	technology	technology	NOUN
fumecheng-4951	118	41	with	with	ADP
fumecheng-4951	118	42	the	the	DET
fumecheng-4951	118	43	shovel	shovel	NOUN
fumecheng-4951	118	44	bucket	bucket	NOUN
fumecheng-4951	118	45	,	,	PUNCT
fumecheng-4951	118	46	the	the	DET
fumecheng-4951	118	47	intensity	intensity	NOUN
fumecheng-4951	118	48	of	of	ADP
fumecheng-4951	118	49	the	the	DET
fumecheng-4951	118	50	possible	possible	ADJ
fumecheng-4951	118	51	digging	dig	VERB
fumecheng-4951	118	52	resistance	resistance	NOUN
fumecheng-4951	118	53	in	in	ADP
fumecheng-4951	118	54	the	the	DET
fumecheng-4951	118	55	first	first	ADJ
fumecheng-4951	118	56	position	position	NOUN
fumecheng-4951	118	57	is	be	AUX
fumecheng-4951	118	58	equal	equal	ADJ
fumecheng-4951	118	59	to	to	ADP
fumecheng-4951	118	60	the	the	DET
fumecheng-4951	118	61	boundary	boundary	ADJ
fumecheng-4951	118	62	force	force	NOUN
fumecheng-4951	118	63	of	of	ADP
fumecheng-4951	118	64	the	the	DET
fumecheng-4951	118	65	digging	dig	VERB
fumecheng-4951	118	66	resistance	resistance	NOUN
fumecheng-4951	118	67	that	that	PRON
fumecheng-4951	118	68	can	can	AUX
fumecheng-4951	118	69	be	be	AUX
fumecheng-4951	118	70	overcome	overcome	VERB
fumecheng-4951	118	71	by	by	ADP
fumecheng-4951	118	72	the	the	DET
fumecheng-4951	118	73	bucket	bucket	NOUN
fumecheng-4951	118	74	mechanism	mechanism	NOUN
fumecheng-4951	118	75	(	(	PUNCT
fumecheng-4951	118	76	wm	wm	PROPN
fumecheng-4951	118	77	=	=	PROPN
fumecheng-4951	118	78	w5	w5	PROPN
fumecheng-4951	118	79	m	m	PROPN
fumecheng-4951	118	80	)	)	PUNCT
fumecheng-4951	118	81	.	.	PUNCT
fumecheng-4951	119	1	in	in	ADP
fumecheng-4951	119	2	the	the	DET
fumecheng-4951	119	3	second	second	ADJ
fumecheng-4951	119	4	position	position	NOUN
fumecheng-4951	119	5	,	,	PUNCT
fumecheng-4951	119	6	the	the	DET
fumecheng-4951	119	7	possible	possible	ADJ
fumecheng-4951	119	8	digging	digging	NOUN
fumecheng-4951	119	9	resistance	resistance	NOUN
fumecheng-4951	119	10	is	be	AUX
fumecheng-4951	119	11	considerably	considerably	ADV
fumecheng-4951	119	12	lower	low	ADJ
fumecheng-4951	119	13	in	in	ADP
fumecheng-4951	119	14	relation	relation	NOUN
fumecheng-4951	119	15	to	to	ADP
fumecheng-4951	119	16	the	the	DET
fumecheng-4951	119	17	first	first	ADJ
fumecheng-4951	119	18	position	position	NOUN
fumecheng-4951	119	19	and	and	CCONJ
fumecheng-4951	119	20	is	be	AUX
fumecheng-4951	119	21	limited	limit	VERB
fumecheng-4951	119	22	by	by	ADP
fumecheng-4951	119	23	the	the	DET
fumecheng-4951	119	24	stability	stability	NOUN
fumecheng-4951	119	25	of	of	ADP
fumecheng-4951	119	26	the	the	DET
fumecheng-4951	119	27	excavator	excavator	NOUN
fumecheng-4951	119	28	(	(	PUNCT
fumecheng-4951	119	29	wm	wm	PROPN
fumecheng-4951	119	30	=	=	SYM
fumecheng-4951	119	31	wsm	wsm	PROPN
fumecheng-4951	119	32	)	)	PUNCT
fumecheng-4951	119	33	.	.	PUNCT
fumecheng-4951	120	1	fig	fig	NOUN
fumecheng-4951	120	2	.	.	PUNCT
fumecheng-4951	121	1	3	3	NUM
fumecheng-4951	121	2	hodographs	hodograph	NOUN
fumecheng-4951	121	3	of	of	ADP
fumecheng-4951	121	4	possible	possible	ADJ
fumecheng-4951	121	5	digging	digging	NOUN
fumecheng-4951	121	6	forces	force	NOUN
fumecheng-4951	121	7	(	(	PUNCT
fumecheng-4951	121	8	resistances	resistance	NOUN
fumecheng-4951	121	9	)	)	PUNCT
fumecheng-4951	121	10	for	for	ADP
fumecheng-4951	121	11	two	two	NUM
fumecheng-4951	121	12	different	different	ADJ
fumecheng-4951	121	13	positions	position	NOUN
fumecheng-4951	121	14	of	of	ADP
fumecheng-4951	121	15	the	the	DET
fumecheng-4951	121	16	excavator	excavator	NOUN
fumecheng-4951	121	17	kinematic	kinematic	ADJ
fumecheng-4951	121	18	chain	chain	NOUN
fumecheng-4951	121	19	there	there	PRON
fumecheng-4951	121	20	is	be	VERB
fumecheng-4951	121	21	also	also	ADV
fumecheng-4951	121	22	a	a	DET
fumecheng-4951	121	23	difference	difference	NOUN
fumecheng-4951	121	24	in	in	ADP
fumecheng-4951	121	25	the	the	DET
fumecheng-4951	121	26	size	size	NOUN
fumecheng-4951	121	27	of	of	ADP
fumecheng-4951	121	28	the	the	DET
fumecheng-4951	121	29	equivalent	equivalent	ADJ
fumecheng-4951	121	30	loads	load	NOUN
fumecheng-4951	121	31	(	(	PUNCT
fumecheng-4951	121	32	fes	fes	NOUN
fumecheng-4951	121	33	,	,	PUNCT
fumecheng-4951	121	34	mes	me	NOUN
fumecheng-4951	121	35	)	)	PUNCT
fumecheng-4951	121	36	of	of	ADP
fumecheng-4951	121	37	the	the	DET
fumecheng-4951	121	38	axial	axial	ADJ
fumecheng-4951	121	39	bearing	bearing	NOUN
fumecheng-4951	121	40	due	due	ADP
fumecheng-4951	121	41	to	to	ADP
fumecheng-4951	121	42	the	the	DET
fumecheng-4951	121	43	difference	difference	NOUN
fumecheng-4951	121	44	in	in	ADP
fumecheng-4951	121	45	the	the	DET
fumecheng-4951	121	46	position	position	NOUN
fumecheng-4951	121	47	of	of	ADP
fumecheng-4951	121	48	the	the	DET
fumecheng-4951	121	49	excavator	excavator	NOUN
fumecheng-4951	121	50	kinematic	kinematic	ADJ
fumecheng-4951	121	51	chain	chain	NOUN
fumecheng-4951	121	52	and	and	CCONJ
fumecheng-4951	121	53	the	the	DET
fumecheng-4951	121	54	difference	difference	NOUN
fumecheng-4951	121	55	in	in	ADP
fumecheng-4951	121	56	the	the	DET
fumecheng-4951	121	57	possible	possible	ADJ
fumecheng-4951	121	58	forces	force	NOUN
fumecheng-4951	121	59	of	of	ADP
fumecheng-4951	121	60	digging	dig	VERB
fumecheng-4951	121	61	resistance	resistance	NOUN
fumecheng-4951	121	62	.	.	PUNCT
fumecheng-4951	122	1	the	the	DET
fumecheng-4951	122	2	obtained	obtain	VERB
fumecheng-4951	122	3	results	result	NOUN
fumecheng-4951	122	4	point	point	VERB
fumecheng-4951	122	5	to	to	ADP
fumecheng-4951	122	6	a	a	DET
fumecheng-4951	122	7	complex	complex	ADJ
fumecheng-4951	122	8	problem	problem	NOUN
fumecheng-4951	122	9	of	of	ADP
fumecheng-4951	122	10	determining	determine	VERB
fumecheng-4951	122	11	the	the	DET
fumecheng-4951	122	12	load	load	NOUN
fumecheng-4951	122	13	of	of	ADP
fumecheng-4951	122	14	the	the	DET
fumecheng-4951	122	15	axial	axial	ADJ
fumecheng-4951	122	16	bearing	bearing	NOUN
fumecheng-4951	122	17	of	of	ADP
fumecheng-4951	122	18	the	the	DET
fumecheng-4951	122	19	slewing	slewing	NOUN
fumecheng-4951	122	20	platform	platform	NOUN
fumecheng-4951	122	21	drive	drive	NOUN
fumecheng-4951	122	22	mechanism	mechanism	NOUN
fumecheng-4951	122	23	since	since	SCONJ
fumecheng-4951	122	24	it	it	PRON
fumecheng-4951	122	25	has	have	VERB
fumecheng-4951	122	26	many	many	ADJ
fumecheng-4951	122	27	different	different	ADJ
fumecheng-4951	122	28	positions	position	NOUN
fumecheng-4951	122	29	of	of	ADP
fumecheng-4951	122	30	the	the	DET
fumecheng-4951	122	31	kinematic	kinematic	ADJ
fumecheng-4951	122	32	chain	chain	NOUN
fumecheng-4951	122	33	during	during	ADP
fumecheng-4951	122	34	operation	operation	NOUN
fumecheng-4951	122	35	throughout	throughout	ADP
fumecheng-4951	122	36	the	the	DET
fumecheng-4951	122	37	entire	entire	ADJ
fumecheng-4951	122	38	working	working	NOUN
fumecheng-4951	122	39	area	area	NOUN
fumecheng-4951	122	40	;	;	PUNCT
fumecheng-4951	122	41	moreover	moreover	ADV
fumecheng-4951	122	42	,	,	PUNCT
fumecheng-4951	122	43	there	there	PRON
fumecheng-4951	122	44	are	be	VERB
fumecheng-4951	122	45	many	many	ADJ
fumecheng-4951	122	46	different	different	ADJ
fumecheng-4951	122	47	possible	possible	ADJ
fumecheng-4951	122	48	forces	force	NOUN
fumecheng-4951	122	49	of	of	ADP
fumecheng-4951	122	50	digging	dig	VERB
fumecheng-4951	122	51	resistance	resistance	NOUN
fumecheng-4951	122	52	in	in	ADP
fumecheng-4951	122	53	every	every	DET
fumecheng-4951	122	54	position	position	NOUN
fumecheng-4951	122	55	.	.	PUNCT
fumecheng-4951	123	1	analysis	analysis	NOUN
fumecheng-4951	123	2	of	of	ADP
fumecheng-4951	123	3	the	the	DET
fumecheng-4951	123	4	influence	influence	NOUN
fumecheng-4951	123	5	of	of	ADP
fumecheng-4951	123	6	the	the	DET
fumecheng-4951	123	7	digging	dig	VERB
fumecheng-4951	123	8	position	position	NOUN
fumecheng-4951	123	9	on	on	ADP
fumecheng-4951	123	10	the	the	DET
fumecheng-4951	123	11	loading	loading	NOUN
fumecheng-4951	123	12	of	of	ADP
fumecheng-4951	123	13	the	the	DET
fumecheng-4951	123	14	slewing	slewing	NOUN
fumecheng-4951	123	15	platform	platform	NOUN
fumecheng-4951	123	16	bearing	bearing	NOUN
fumecheng-4951	123	17	…	…	PUNCT
fumecheng-4951	123	18	715	715	NUM
fumecheng-4951	123	19	table	table	NOUN
fumecheng-4951	123	20	1	1	NUM
fumecheng-4951	123	21	the	the	DET
fumecheng-4951	123	22	position	position	NOUN
fumecheng-4951	123	23	and	and	CCONJ
fumecheng-4951	123	24	load	load	NOUN
fumecheng-4951	123	25	parameters	parameter	NOUN
fumecheng-4951	123	26	of	of	ADP
fumecheng-4951	123	27	the	the	DET
fumecheng-4951	123	28	excavator	excavator	NOUN
fumecheng-4951	123	29	valid	valid	NOUN
fumecheng-4951	123	30	for	for	ADP
fumecheng-4951	123	31	the	the	DET
fumecheng-4951	123	32	choice	choice	NOUN
fumecheng-4951	123	33	of	of	ADP
fumecheng-4951	123	34	axial	axial	ADJ
fumecheng-4951	123	35	bearing	bearing	NOUN
fumecheng-4951	123	36	name	name	NOUN
fumecheng-4951	123	37	and	and	CCONJ
fumecheng-4951	123	38	symbol	symbol	NOUN
fumecheng-4951	123	39	of	of	ADP
fumecheng-4951	123	40	quantities	quantity	NOUN
fumecheng-4951	123	41	dimension	dimension	NOUN
fumecheng-4951	123	42	value	value	NOUN
fumecheng-4951	123	43	position	position	NOUN
fumecheng-4951	123	44	i	i	PRON
fumecheng-4951	123	45	position	position	VERB
fumecheng-4951	123	46	ii	ii	PROPN
fumecheng-4951	123	47	horizontal	horizontal	ADJ
fumecheng-4951	123	48	reach	reach	NOUN
fumecheng-4951	123	49	,	,	PUNCT
fumecheng-4951	124	1	xw	xw	PROPN
fumecheng-4951	124	2	m	m	PROPN
fumecheng-4951	124	3	5,30	5,30	NUM
fumecheng-4951	124	4	8,09	8,09	NUM
fumecheng-4951	124	5	vertical	vertical	ADJ
fumecheng-4951	124	6	reach	reach	NOUN
fumecheng-4951	124	7	,	,	PUNCT
fumecheng-4951	124	8	yw	yw	PROPN
fumecheng-4951	124	9	m	m	PROPN
fumecheng-4951	124	10	-0,64	-0,64	PUNCT
fumecheng-4951	124	11	-0,99	-0,99	PUNCT
fumecheng-4951	124	12	position	position	NOUN
fumecheng-4951	124	13	angle	angle	NOUN
fumecheng-4951	124	14	of	of	ADP
fumecheng-4951	124	15	boom	boom	NOUN
fumecheng-4951	124	16	,	,	PUNCT
fumecheng-4951	124	17	φ3	φ3	NOUN
fumecheng-4951	124	18	º	º	ADP
fumecheng-4951	124	19	21,51	21,51	NUM
fumecheng-4951	124	20	9,58	9,58	NUM
fumecheng-4951	124	21	position	position	NOUN
fumecheng-4951	124	22	angle	angle	NOUN
fumecheng-4951	124	23	of	of	ADP
fumecheng-4951	124	24	stick	stick	NOUN
fumecheng-4951	124	25	,	,	PUNCT
fumecheng-4951	124	26	φ4	φ4	PROPN
fumecheng-4951	124	27	º	º	PROPN
fumecheng-4951	124	28	-99,74	-99,74	PUNCT
fumecheng-4951	124	29	-54,52	-54,52	PUNCT
fumecheng-4951	124	30	position	position	NOUN
fumecheng-4951	124	31	angle	angle	NOUN
fumecheng-4951	124	32	of	of	ADP
fumecheng-4951	124	33	bucket	bucket	NOUN
fumecheng-4951	124	34	,	,	PUNCT
fumecheng-4951	124	35	φ5	φ5	PROPN
fumecheng-4951	124	36	º	º	NOUN
fumecheng-4951	124	37	-61,83	-61,83	PUNCT
fumecheng-4951	124	38	-61,83	-61,83	PUNCT
fumecheng-4951	124	39	angle	angle	NOUN
fumecheng-4951	124	40	of	of	ADP
fumecheng-4951	124	41	action	action	NOUN
fumecheng-4951	124	42	force	force	NOUN
fumecheng-4951	124	43	of	of	ADP
fumecheng-4951	124	44	digging	dig	VERB
fumecheng-4951	124	45	resistance	resistance	NOUN
fumecheng-4951	124	46	,	,	PUNCT
fumecheng-4951	124	47	φw	φw	PROPN
fumecheng-4951	124	48	º	º	PROPN
fumecheng-4951	124	49	238,17	238,17	NUM
fumecheng-4951	124	50	238,17	238,17	NUM
fumecheng-4951	124	51	possible	possible	ADJ
fumecheng-4951	124	52	force	force	NOUN
fumecheng-4951	124	53	of	of	ADP
fumecheng-4951	124	54	digging	dig	VERB
fumecheng-4951	124	55	resistance	resistance	NOUN
fumecheng-4951	124	56	,	,	PUNCT
fumecheng-4951	124	57	wm	wm	PROPN
fumecheng-4951	124	58	kn	kn	PROPN
fumecheng-4951	124	59	823,24	823,24	VERB
fumecheng-4951	124	60	326.889	326.889	NUM
fumecheng-4951	124	61	boundary	boundary	ADJ
fumecheng-4951	124	62	digging	dig	VERB
fumecheng-4951	124	63	resistance	resistance	NOUN
fumecheng-4951	124	64	force	force	NOUN
fumecheng-4951	124	65	allowed	allow	VERB
fumecheng-4951	124	66	by	by	ADP
fumecheng-4951	124	67	stability	stability	NOUN
fumecheng-4951	124	68	,	,	PUNCT
fumecheng-4951	124	69	wsm	wsm	PROPN
fumecheng-4951	124	70	kn	kn	PROPN
fumecheng-4951	124	71	841,22	841,22	NUM
fumecheng-4951	124	72	326.889	326.889	NUM
fumecheng-4951	124	73	boundary	boundary	ADJ
fumecheng-4951	124	74	digging	dig	VERB
fumecheng-4951	124	75	resistance	resistance	NOUN
fumecheng-4951	124	76	force	force	NOUN
fumecheng-4951	124	77	of	of	ADP
fumecheng-4951	124	78	boom	boom	NOUN
fumecheng-4951	124	79	mechanism	mechanism	NOUN
fumecheng-4951	124	80	,	,	PUNCT
fumecheng-4951	124	81	w3	w3	PROPN
fumecheng-4951	124	82	m	m	PROPN
fumecheng-4951	124	83	kn	kn	PROPN
fumecheng-4951	124	84	835,99	835,99	PROPN
fumecheng-4951	124	85	497,46	497,46	PROPN
fumecheng-4951	124	86	boundary	boundary	ADJ
fumecheng-4951	124	87	digging	dig	VERB
fumecheng-4951	124	88	resistance	resistance	NOUN
fumecheng-4951	124	89	force	force	NOUN
fumecheng-4951	124	90	of	of	ADP
fumecheng-4951	124	91	stick	stick	NOUN
fumecheng-4951	124	92	mechanism	mechanism	NOUN
fumecheng-4951	124	93	,	,	PUNCT
fumecheng-4951	124	94	w4	w4	NOUN
fumecheng-4951	124	95	m	m	PROPN
fumecheng-4951	124	96	kn	kn	PROPN
fumecheng-4951	124	97	928,42	928,42	NOUN
fumecheng-4951	124	98	538,30	538,30	ADJ
fumecheng-4951	124	99	boundary	boundary	ADJ
fumecheng-4951	124	100	digging	dig	VERB
fumecheng-4951	124	101	resistance	resistance	NOUN
fumecheng-4951	124	102	force	force	NOUN
fumecheng-4951	124	103	of	of	ADP
fumecheng-4951	124	104	bucket	bucket	NOUN
fumecheng-4951	124	105	mechanism	mechanism	NOUN
fumecheng-4951	124	106	,	,	PUNCT
fumecheng-4951	124	107	w5	w5	PROPN
fumecheng-4951	124	108	m	m	PROPN
fumecheng-4951	124	109	kn	kn	PROPN
fumecheng-4951	124	110	823,24	823,24	NUM
fumecheng-4951	124	111	641,32	641,32	NOUN
fumecheng-4951	124	112	equivalent	equivalent	ADJ
fumecheng-4951	124	113	force	force	NOUN
fumecheng-4951	124	114	,	,	PUNCT
fumecheng-4951	124	115	fes	fes	PROPN
fumecheng-4951	124	116	kn	kn	PROPN
fumecheng-4951	125	1	3325,76	3325,76	PROPN
fumecheng-4951	125	2	1934,83	1934,83	NUM
fumecheng-4951	125	3	equivalent	equivalent	ADJ
fumecheng-4951	125	4	moment	moment	NOUN
fumecheng-4951	125	5	,	,	PUNCT
fumecheng-4951	125	6	m	m	AUX
fumecheng-4951	125	7	es	es	ADP
fumecheng-4951	125	8	knm	knm	PROPN
fumecheng-4951	125	9	6815,27	6815,27	PRON
fumecheng-4951	125	10	3916,97	3916,97	NUM
fumecheng-4951	125	11	3.2	3.2	NUM
fumecheng-4951	125	12	.	.	PUNCT
fumecheng-4951	126	1	analysis	analysis	NOUN
fumecheng-4951	126	2	of	of	ADP
fumecheng-4951	126	3	the	the	DET
fumecheng-4951	126	4	impact	impact	NOUN
fumecheng-4951	126	5	of	of	ADP
fumecheng-4951	126	6	the	the	DET
fumecheng-4951	126	7	digging	dig	VERB
fumecheng-4951	126	8	position	position	NOUN
fumecheng-4951	126	9	in	in	ADP
fumecheng-4951	126	10	order	order	NOUN
fumecheng-4951	126	11	to	to	PART
fumecheng-4951	126	12	analyze	analyze	VERB
fumecheng-4951	126	13	the	the	DET
fumecheng-4951	126	14	influence	influence	NOUN
fumecheng-4951	126	15	of	of	ADP
fumecheng-4951	126	16	the	the	DET
fumecheng-4951	126	17	change	change	NOUN
fumecheng-4951	126	18	in	in	ADP
fumecheng-4951	126	19	the	the	DET
fumecheng-4951	126	20	position	position	NOUN
fumecheng-4951	126	21	of	of	ADP
fumecheng-4951	126	22	the	the	DET
fumecheng-4951	126	23	kinematic	kinematic	ADJ
fumecheng-4951	126	24	chain	chain	NOUN
fumecheng-4951	126	25	of	of	ADP
fumecheng-4951	126	26	the	the	DET
fumecheng-4951	126	27	excavator	excavator	NOUN
fumecheng-4951	126	28	,	,	PUNCT
fumecheng-4951	126	29	i.e.	i.e.	X
fumecheng-4951	126	30	the	the	DET
fumecheng-4951	126	31	change	change	NOUN
fumecheng-4951	126	32	in	in	ADP
fumecheng-4951	126	33	the	the	DET
fumecheng-4951	126	34	digging	dig	VERB
fumecheng-4951	126	35	position	position	NOUN
fumecheng-4951	126	36	throughout	throughout	ADP
fumecheng-4951	126	37	the	the	DET
fumecheng-4951	126	38	entire	entire	ADJ
fumecheng-4951	126	39	working	working	NOUN
fumecheng-4951	126	40	area	area	NOUN
fumecheng-4951	126	41	,	,	PUNCT
fumecheng-4951	126	42	on	on	ADP
fumecheng-4951	126	43	the	the	DET
fumecheng-4951	126	44	change	change	NOUN
fumecheng-4951	126	45	in	in	ADP
fumecheng-4951	126	46	the	the	DET
fumecheng-4951	126	47	equivalent	equivalent	ADJ
fumecheng-4951	126	48	loads	load	NOUN
fumecheng-4951	126	49	of	of	ADP
fumecheng-4951	126	50	the	the	DET
fumecheng-4951	126	51	slewing	slewing	NOUN
fumecheng-4951	126	52	platform	platform	NOUN
fumecheng-4951	126	53	axial	axial	ADJ
fumecheng-4951	126	54	bearing	bearing	NOUN
fumecheng-4951	126	55	,	,	PUNCT
fumecheng-4951	126	56	the	the	DET
fumecheng-4951	126	57	axial	axial	ADJ
fumecheng-4951	126	58	bearing	bearing	NOUN
fumecheng-4951	126	59	spectrum	spectrum	NOUN
fumecheng-4951	126	60	load	load	NOUN
fumecheng-4951	126	61	was	be	AUX
fumecheng-4951	126	62	used	use	VERB
fumecheng-4951	126	63	.	.	PUNCT
fumecheng-4951	127	1	the	the	DET
fumecheng-4951	127	2	spectrum	spectrum	NOUN
fumecheng-4951	127	3	of	of	ADP
fumecheng-4951	127	4	the	the	DET
fumecheng-4951	127	5	axial	axial	ADJ
fumecheng-4951	127	6	bearing	bearing	NOUN
fumecheng-4951	127	7	equivalent	equivalent	ADJ
fumecheng-4951	127	8	loads	load	NOUN
fumecheng-4951	127	9	was	be	AUX
fumecheng-4951	127	10	determined	determine	VERB
fumecheng-4951	127	11	using	use	VERB
fumecheng-4951	127	12	the	the	DET
fumecheng-4951	127	13	developed	develop	VERB
fumecheng-4951	127	14	program	program	NOUN
fumecheng-4951	127	15	by	by	ADP
fumecheng-4951	127	16	spatial	spatial	ADJ
fumecheng-4951	127	17	simulation	simulation	NOUN
fumecheng-4951	127	18	by	by	ADP
fumecheng-4951	127	19	changing	change	VERB
fumecheng-4951	127	20	the	the	DET
fumecheng-4951	127	21	position	position	NOUN
fumecheng-4951	127	22	of	of	ADP
fumecheng-4951	127	23	each	each	DET
fumecheng-4951	127	24	member	member	NOUN
fumecheng-4951	127	25	of	of	ADP
fumecheng-4951	127	26	the	the	DET
fumecheng-4951	127	27	manipulator	manipulator	NOUN
fumecheng-4951	127	28	kinematic	kinematic	NOUN
fumecheng-4951	127	29	chain	chain	NOUN
fumecheng-4951	127	30	,	,	PUNCT
fumecheng-4951	127	31	in	in	ADP
fumecheng-4951	127	32	its	its	PRON
fumecheng-4951	127	33	range	range	NOUN
fumecheng-4951	127	34	of	of	ADP
fumecheng-4951	127	35	movement	movement	NOUN
fumecheng-4951	127	36	for	for	ADP
fumecheng-4951	127	37	60000	60000	NUM
fumecheng-4951	127	38	different	different	ADJ
fumecheng-4951	127	39	positions	position	NOUN
fumecheng-4951	127	40	of	of	ADP
fumecheng-4951	127	41	the	the	DET
fumecheng-4951	127	42	manipulator	manipulator	NOUN
fumecheng-4951	127	43	kinematic	kinematic	NOUN
fumecheng-4951	127	44	chain	chain	NOUN
fumecheng-4951	127	45	,	,	PUNCT
fumecheng-4951	127	46	i.e.	i.e.	X
fumecheng-4951	127	47	possible	possible	ADJ
fumecheng-4951	127	48	digging	dig	VERB
fumecheng-4951	127	49	positions	position	NOUN
fumecheng-4951	127	50	in	in	ADP
fumecheng-4951	127	51	the	the	DET
fumecheng-4951	127	52	entire	entire	ADJ
fumecheng-4951	127	53	working	work	VERB
fumecheng-4951	127	54	area	area	NOUN
fumecheng-4951	127	55	of	of	ADP
fumecheng-4951	127	56	the	the	DET
fumecheng-4951	127	57	excavator	excavator	NOUN
fumecheng-4951	127	58	of	of	ADP
fumecheng-4951	127	59	the	the	DET
fumecheng-4951	127	60	weight	weight	NOUN
fumecheng-4951	127	61	of	of	ADP
fumecheng-4951	127	62	100000	100000	NUM
fumecheng-4951	127	63	kg	kg	NOUN
fumecheng-4951	127	64	and	and	CCONJ
fumecheng-4951	127	65	a	a	DET
fumecheng-4951	127	66	loading	loading	NOUN
fumecheng-4951	127	67	manipulator	manipulator	NOUN
fumecheng-4951	127	68	with	with	ADP
fumecheng-4951	127	69	the	the	DET
fumecheng-4951	127	70	bucket	bucket	NOUN
fumecheng-4951	127	71	of	of	ADP
fumecheng-4951	127	72	6,5m3	6,5m3	NOUN
fumecheng-4951	127	73	in	in	ADP
fumecheng-4951	127	74	volume	volume	NOUN
fumecheng-4951	127	75	.	.	PUNCT
fumecheng-4951	128	1	the	the	DET
fumecheng-4951	128	2	obtained	obtain	VERB
fumecheng-4951	128	3	spectrum	spectrum	NOUN
fumecheng-4951	128	4	of	of	ADP
fumecheng-4951	128	5	axial	axial	ADJ
fumecheng-4951	128	6	bearing	bearing	NOUN
fumecheng-4951	128	7	loads	load	NOUN
fumecheng-4951	128	8	is	be	AUX
fumecheng-4951	128	9	shown	show	VERB
fumecheng-4951	128	10	in	in	ADP
fumecheng-4951	128	11	the	the	DET
fumecheng-4951	128	12	diagram	diagram	NOUN
fumecheng-4951	128	13	(	(	PUNCT
fumecheng-4951	128	14	fig	fig	NOUN
fumecheng-4951	128	15	.	.	PUNCT
fumecheng-4951	129	1	4a	4a	NUM
fumecheng-4951	129	2	)	)	PUNCT
fumecheng-4951	129	3	(	(	PUNCT
fumecheng-4951	129	4	al3,	al3,	X
fumecheng-4951	129	5	…	…	PUNCT
fumecheng-4951	129	6	,al6	,al6	NUM
fumecheng-4951	129	7	)	)	PUNCT
fumecheng-4951	129	8	,	,	PUNCT
fumecheng-4951	129	9	which	which	PRON
fumecheng-4951	129	10	presents	present	VERB
fumecheng-4951	129	11	the	the	DET
fumecheng-4951	129	12	dependence	dependence	NOUN
fumecheng-4951	129	13	of	of	ADP
fumecheng-4951	129	14	the	the	DET
fumecheng-4951	129	15	allowed	allow	VERB
fumecheng-4951	129	16	values	value	NOUN
fumecheng-4951	129	17	of	of	ADP
fumecheng-4951	129	18	equivalent	equivalent	ADJ
fumecheng-4951	129	19	moments	moment	NOUN
fumecheng-4951	129	20	of	of	ADP
fumecheng-4951	129	21	mes	me	NOUN
fumecheng-4951	129	22	and	and	CCONJ
fumecheng-4951	129	23	equivalent	equivalent	ADJ
fumecheng-4951	129	24	forces	force	NOUN
fumecheng-4951	129	25	fes	fes	NOUN
fumecheng-4951	129	26	of	of	ADP
fumecheng-4951	129	27	axial	axial	ADJ
fumecheng-4951	129	28	bearing	bearing	NOUN
fumecheng-4951	129	29	loads	load	NOUN
fumecheng-4951	129	30	.	.	PUNCT
fumecheng-4951	130	1	in	in	ADP
fumecheng-4951	130	2	order	order	NOUN
fumecheng-4951	130	3	to	to	PART
fumecheng-4951	130	4	find	find	VERB
fumecheng-4951	130	5	the	the	DET
fumecheng-4951	130	6	position	position	NOUN
fumecheng-4951	130	7	of	of	ADP
fumecheng-4951	130	8	the	the	DET
fumecheng-4951	130	9	kinematic	kinematic	ADJ
fumecheng-4951	130	10	chain	chain	NOUN
fumecheng-4951	130	11	in	in	ADP
fumecheng-4951	130	12	which	which	PRON
fumecheng-4951	130	13	the	the	DET
fumecheng-4951	130	14	equivalent	equivalent	ADJ
fumecheng-4951	130	15	loads	load	NOUN
fumecheng-4951	130	16	arise	arise	VERB
fumecheng-4951	130	17	for	for	ADP
fumecheng-4951	130	18	the	the	DET
fumecheng-4951	130	19	choice	choice	NOUN
fumecheng-4951	130	20	of	of	ADP
fumecheng-4951	130	21	the	the	DET
fumecheng-4951	130	22	axial	axial	ADJ
fumecheng-4951	130	23	bearing	bearing	NOUN
fumecheng-4951	130	24	size	size	NOUN
fumecheng-4951	130	25	,	,	PUNCT
fumecheng-4951	130	26	the	the	DET
fumecheng-4951	130	27	entire	entire	ADJ
fumecheng-4951	130	28	working	work	VERB
fumecheng-4951	130	29	area	area	NOUN
fumecheng-4951	130	30	of	of	ADP
fumecheng-4951	130	31	the	the	DET
fumecheng-4951	130	32	excavator	excavator	NOUN
fumecheng-4951	130	33	is	be	AUX
fumecheng-4951	130	34	divided	divide	VERB
fumecheng-4951	130	35	into	into	ADP
fumecheng-4951	130	36	four	four	NUM
fumecheng-4951	130	37	segment	segment	NOUN
fumecheng-4951	130	38	fields	field	NOUN
fumecheng-4951	130	39	(	(	PUNCT
fumecheng-4951	130	40	fig.4b	fig.4b	NOUN
fumecheng-4951	130	41	)	)	PUNCT
fumecheng-4951	130	42	and	and	CCONJ
fumecheng-4951	130	43	the	the	DET
fumecheng-4951	130	44	equivalent	equivalent	ADJ
fumecheng-4951	130	45	loads	load	NOUN
fumecheng-4951	130	46	of	of	ADP
fumecheng-4951	130	47	the	the	DET
fumecheng-4951	130	48	axial	axial	ADJ
fumecheng-4951	130	49	bearing	bearing	NOUN
fumecheng-4951	130	50	of	of	ADP
fumecheng-4951	130	51	the	the	DET
fumecheng-4951	130	52	slewing	slewing	NOUN
fumecheng-4951	130	53	platform	platform	NOUN
fumecheng-4951	130	54	mechanism	mechanism	NOUN
fumecheng-4951	130	55	are	be	AUX
fumecheng-4951	130	56	determined	determine	VERB
fumecheng-4951	130	57	for	for	ADP
fumecheng-4951	130	58	each	each	DET
fumecheng-4951	130	59	segment	segment	NOUN
fumecheng-4951	130	60	field	field	NOUN
fumecheng-4951	130	61	.	.	PUNCT
fumecheng-4951	131	1	the	the	DET
fumecheng-4951	131	2	spectra	spectra	NOUN
fumecheng-4951	131	3	of	of	ADP
fumecheng-4951	131	4	the	the	DET
fumecheng-4951	131	5	equivalent	equivalent	ADJ
fumecheng-4951	131	6	load	load	NOUN
fumecheng-4951	131	7	of	of	ADP
fumecheng-4951	131	8	axial	axial	ADJ
fumecheng-4951	131	9	bearings	bearing	NOUN
fumecheng-4951	131	10	for	for	ADP
fumecheng-4951	131	11	each	each	DET
fumecheng-4951	131	12	segment	segment	NOUN
fumecheng-4951	131	13	field	field	NOUN
fumecheng-4951	131	14	of	of	ADP
fumecheng-4951	131	15	operation	operation	NOUN
fumecheng-4951	131	16	are	be	AUX
fumecheng-4951	131	17	shown	show	VERB
fumecheng-4951	131	18	,	,	PUNCT
fumecheng-4951	131	19	in	in	ADP
fumecheng-4951	131	20	appropriate	appropriate	ADJ
fumecheng-4951	131	21	colors	color	NOUN
fumecheng-4951	131	22	,	,	PUNCT
fumecheng-4951	131	23	in	in	ADP
fumecheng-4951	131	24	the	the	DET
fumecheng-4951	131	25	bearing	bear	VERB
fumecheng-4951	131	26	diagrams	diagram	NOUN
fumecheng-4951	131	27	of	of	ADP
fumecheng-4951	131	28	the	the	DET
fumecheng-4951	131	29	available	available	ADJ
fumecheng-4951	131	30	axial	axial	ADJ
fumecheng-4951	131	31	bearings	bearing	NOUN
fumecheng-4951	131	32	.	.	PUNCT
fumecheng-4951	132	1	a	a	DET
fumecheng-4951	132	2	comparison	comparison	NOUN
fumecheng-4951	132	3	of	of	ADP
fumecheng-4951	132	4	the	the	DET
fumecheng-4951	132	5	spectra	spectra	PROPN
fumecheng-4951	132	6	shows	show	VERB
fumecheng-4951	132	7	that	that	SCONJ
fumecheng-4951	132	8	the	the	DET
fumecheng-4951	132	9	bearing	bearing	NOUN
fumecheng-4951	132	10	loads	load	NOUN
fumecheng-4951	132	11	are	be	AUX
fumecheng-4951	132	12	very	very	ADV
fumecheng-4951	132	13	different	different	ADJ
fumecheng-4951	132	14	in	in	ADP
fumecheng-4951	132	15	segment	segment	NOUN
fumecheng-4951	132	16	fields	field	NOUN
fumecheng-4951	132	17	.	.	PUNCT
fumecheng-4951	133	1	according	accord	VERB
fumecheng-4951	133	2	to	to	ADP
fumecheng-4951	133	3	the	the	DET
fumecheng-4951	133	4	equivalent	equivalent	ADJ
fumecheng-4951	133	5	loads	load	NOUN
fumecheng-4951	133	6	in	in	ADP
fumecheng-4951	133	7	the	the	DET
fumecheng-4951	133	8	segment	segment	NOUN
fumecheng-4951	133	9	fields	field	NOUN
fumecheng-4951	133	10	,	,	PUNCT
fumecheng-4951	133	11	the	the	DET
fumecheng-4951	133	12	slewing	slewing	NOUN
fumecheng-4951	133	13	platform	platform	NOUN
fumecheng-4951	133	14	mechanism	mechanism	NOUN
fumecheng-4951	133	15	corresponds	correspond	VERB
fumecheng-4951	133	16	to	to	ADP
fumecheng-4951	133	17	the	the	DET
fumecheng-4951	133	18	different	different	ADJ
fumecheng-4951	133	19	sizes	size	NOUN
fumecheng-4951	133	20	of	of	ADP
fumecheng-4951	133	21	the	the	DET
fumecheng-4951	133	22	available	available	ADJ
fumecheng-4951	133	23	axial	axial	ADJ
fumecheng-4951	133	24	bearings	bearing	NOUN
fumecheng-4951	133	25	.	.	PUNCT
fumecheng-4951	134	1	the	the	DET
fumecheng-4951	134	2	position	position	NOUN
fumecheng-4951	134	3	of	of	ADP
fumecheng-4951	134	4	the	the	DET
fumecheng-4951	134	5	kinematic	kinematic	ADJ
fumecheng-4951	134	6	chain	chain	NOUN
fumecheng-4951	134	7	of	of	ADP
fumecheng-4951	134	8	the	the	DET
fumecheng-4951	134	9	excavator	excavator	NOUN
fumecheng-4951	134	10	in	in	ADP
fumecheng-4951	134	11	which	which	PRON
fumecheng-4951	134	12	the	the	DET
fumecheng-4951	134	13	corresponding	corresponding	ADJ
fumecheng-4951	134	14	equivalent	equivalent	ADJ
fumecheng-4951	134	15	loads	load	NOUN
fumecheng-4951	134	16	for	for	ADP
fumecheng-4951	134	17	the	the	DET
fumecheng-4951	134	18	choice	choice	NOUN
fumecheng-4951	134	19	of	of	ADP
fumecheng-4951	134	20	the	the	DET
fumecheng-4951	134	21	axial	axial	ADJ
fumecheng-4951	134	22	bearing	bearing	NOUN
fumecheng-4951	134	23	size	size	NOUN
fumecheng-4951	134	24	are	be	AUX
fumecheng-4951	134	25	found	find	VERB
fumecheng-4951	134	26	,	,	PUNCT
fumecheng-4951	134	27	is	be	AUX
fumecheng-4951	134	28	determined	determine	VERB
fumecheng-4951	134	29	using	use	VERB
fumecheng-4951	134	30	the	the	DET
fumecheng-4951	134	31	developed	develop	VERB
fumecheng-4951	134	32	program	program	NOUN
fumecheng-4951	134	33	,	,	PUNCT
fumecheng-4951	134	34	on	on	ADP
fumecheng-4951	134	35	the	the	DET
fumecheng-4951	134	36	condition	condition	NOUN
fumecheng-4951	134	37	that	that	SCONJ
fumecheng-4951	134	38	the	the	DET
fumecheng-4951	134	39	point	point	NOUN
fumecheng-4951	134	40	,	,	PUNCT
fumecheng-4951	134	41	from	from	ADP
fumecheng-4951	134	42	the	the	DET
fumecheng-4951	134	43	constellation	constellation	NOUN
fumecheng-4951	134	44	of	of	ADP
fumecheng-4951	134	45	the	the	DET
fumecheng-4951	134	46	spectra	spectra	NOUN
fumecheng-4951	134	47	of	of	ADP
fumecheng-4951	134	48	the	the	DET
fumecheng-4951	134	49	equivalent	equivalent	ADJ
fumecheng-4951	134	50	bearing	bearing	NOUN
fumecheng-4951	134	51	load	load	NOUN
fumecheng-4951	134	52	,	,	PUNCT
fumecheng-4951	134	53	is	be	AUX
fumecheng-4951	134	54	the	the	DET
fumecheng-4951	134	55	least	least	ADV
fumecheng-4951	134	56	removed	remove	VERB
fumecheng-4951	134	57	from	from	ADP
fumecheng-4951	134	58	the	the	DET
fumecheng-4951	134	59	allowed	allow	VERB
fumecheng-4951	134	60	load	load	NOUN
fumecheng-4951	134	61	bearing	bear	VERB
fumecheng-4951	134	62	capacity	capacity	NOUN
fumecheng-4951	134	63	of	of	ADP
fumecheng-4951	134	64	selected	select	VERB
fumecheng-4951	134	65	bearing	bearing	NOUN
fumecheng-4951	134	66	size	size	NOUN
fumecheng-4951	134	67	al6	al6	NOUN
fumecheng-4951	134	68	.	.	PUNCT
fumecheng-4951	135	1	in	in	ADP
fumecheng-4951	135	2	the	the	DET
fumecheng-4951	135	3	isolated	isolated	ADJ
fumecheng-4951	135	4	position	position	NOUN
fumecheng-4951	135	5	of	of	ADP
fumecheng-4951	135	6	the	the	DET
fumecheng-4951	135	7	excavator	excavator	NOUN
fumecheng-4951	135	8	kinematic	kinematic	ADJ
fumecheng-4951	135	9	chain	chain	NOUN
fumecheng-4951	135	10	,	,	PUNCT
fumecheng-4951	135	11	when	when	SCONJ
fumecheng-4951	135	12	the	the	DET
fumecheng-4951	135	13	corresponding	corresponding	ADJ
fumecheng-4951	135	14	bearing	bearing	NOUN
fumecheng-4951	135	15	loads	load	NOUN
fumecheng-4951	135	16	are	be	AUX
fumecheng-4951	135	17	applied	apply	VERB
fumecheng-4951	135	18	,	,	PUNCT
fumecheng-4951	135	19	according	accord	VERB
fumecheng-4951	135	20	to	to	ADP
fumecheng-4951	135	21	the	the	DET
fumecheng-4951	135	22	hodograph	hodograph	NOUN
fumecheng-4951	135	23	of	of	ADP
fumecheng-4951	135	24	the	the	DET
fumecheng-4951	135	25	possible	possible	ADJ
fumecheng-4951	135	26	forces	force	NOUN
fumecheng-4951	135	27	of	of	ADP
fumecheng-4951	135	28	digging	dig	VERB
fumecheng-4951	135	29	resistance	resistance	NOUN
fumecheng-4951	135	30	(	(	PUNCT
fumecheng-4951	135	31	fig	fig	NOUN
fumecheng-4951	135	32	.	.	PUNCT
fumecheng-4951	135	33	3	3	NUM
fumecheng-4951	135	34	)	)	PUNCT
fumecheng-4951	135	35	,	,	PUNCT
fumecheng-4951	135	36	the	the	DET
fumecheng-4951	135	37	boundary	boundary	ADJ
fumecheng-4951	135	38	forces	force	NOUN
fumecheng-4951	135	39	of	of	ADP
fumecheng-4951	135	40	digging	dig	VERB
fumecheng-4951	135	41	resistance	resistance	NOUN
fumecheng-4951	135	42	have	have	VERB
fumecheng-4951	135	43	approximately	approximately	ADV
fumecheng-4951	135	44	the	the	DET
fumecheng-4951	135	45	same	same	ADJ
fumecheng-4951	135	46	values	value	NOUN
fumecheng-4951	135	47	(	(	PUNCT
fumecheng-4951	135	48	table	table	NOUN
fumecheng-4951	135	49	1	1	NUM
fumecheng-4951	135	50	)	)	PUNCT
fumecheng-4951	135	51	,	,	PUNCT
fumecheng-4951	135	52	and	and	CCONJ
fumecheng-4951	135	53	the	the	DET
fumecheng-4951	135	54	force	force	NOUN
fumecheng-4951	135	55	of	of	ADP
fumecheng-4951	135	56	the	the	DET
fumecheng-4951	135	57	possible	possible	ADJ
fumecheng-4951	135	58	digging	digging	NOUN
fumecheng-4951	135	59	resistance	resistance	NOUN
fumecheng-4951	135	60	has	have	VERB
fumecheng-4951	135	61	the	the	DET
fumecheng-4951	135	62	direction	direction	NOUN
fumecheng-4951	135	63	which	which	PRON
fumecheng-4951	135	64	belongs	belong	VERB
fumecheng-4951	135	65	to	to	ADP
fumecheng-4951	135	66	the	the	DET
fumecheng-4951	135	67	zone	zone	NOUN
fumecheng-4951	135	68	with	with	ADP
fumecheng-4951	135	69	the	the	DET
fumecheng-4951	135	70	possible	possible	ADJ
fumecheng-4951	135	71	natural	natural	ADJ
fumecheng-4951	135	72	action	action	NOUN
fumecheng-4951	135	73	directions	direction	NOUN
fumecheng-4951	135	74	that	that	PRON
fumecheng-4951	135	75	correspond	correspond	VERB
fumecheng-4951	135	76	to	to	ADP
fumecheng-4951	135	77	the	the	DET
fumecheng-4951	135	78	digging	dig	VERB
fumecheng-4951	135	79	technology	technology	NOUN
fumecheng-4951	135	80	.	.	PUNCT
fumecheng-4951	136	1	716	716	NUM
fumecheng-4951	136	2	v.	v.	ADP
fumecheng-4951	136	3	jovanović	jovanović	PROPN
fumecheng-4951	136	4	,	,	PUNCT
fumecheng-4951	136	5	d.	d.	PROPN
fumecheng-4951	136	6	janošević	janošević	PROPN
fumecheng-4951	136	7	,	,	PUNCT
fumecheng-4951	136	8	j.	j.	PROPN
fumecheng-4951	136	9	pavlović	pavlović	VERB
fumecheng-4951	136	10	the	the	DET
fumecheng-4951	136	11	analysis	analysis	NOUN
fumecheng-4951	136	12	shows	show	VERB
fumecheng-4951	136	13	that	that	SCONJ
fumecheng-4951	136	14	the	the	DET
fumecheng-4951	136	15	set	set	NOUN
fumecheng-4951	136	16	of	of	ADP
fumecheng-4951	136	17	equivalent	equivalent	ADJ
fumecheng-4951	136	18	loads	load	NOUN
fumecheng-4951	136	19	,	,	PUNCT
fumecheng-4951	136	20	which	which	PRON
fumecheng-4951	136	21	are	be	AUX
fumecheng-4951	136	22	close	close	ADJ
fumecheng-4951	136	23	to	to	ADP
fumecheng-4951	136	24	the	the	DET
fumecheng-4951	136	25	equivalent	equivalent	ADJ
fumecheng-4951	136	26	bearing	bearing	NOUN
fumecheng-4951	136	27	loads	load	NOUN
fumecheng-4951	136	28	,	,	PUNCT
fumecheng-4951	136	29	corresponds	correspond	VERB
fumecheng-4951	136	30	to	to	ADP
fumecheng-4951	136	31	the	the	DET
fumecheng-4951	136	32	positions	position	NOUN
fumecheng-4951	136	33	(	(	PUNCT
fumecheng-4951	136	34	fig	fig	NOUN
fumecheng-4951	136	35	.	.	PUNCT
fumecheng-4951	137	1	4c	4c	NOUN
fumecheng-4951	137	2	)	)	PUNCT
fumecheng-4951	137	3	of	of	ADP
fumecheng-4951	137	4	the	the	DET
fumecheng-4951	137	5	excavator	excavator	NOUN
fumecheng-4951	137	6	kinematic	kinematic	ADJ
fumecheng-4951	137	7	chain	chain	NOUN
fumecheng-4951	137	8	in	in	ADP
fumecheng-4951	137	9	the	the	DET
fumecheng-4951	137	10	zone	zone	NOUN
fumecheng-4951	137	11	of	of	ADP
fumecheng-4951	137	12	the	the	DET
fumecheng-4951	137	13	working	working	NOUN
fumecheng-4951	137	14	area	area	NOUN
fumecheng-4951	137	15	when	when	SCONJ
fumecheng-4951	137	16	the	the	DET
fumecheng-4951	137	17	manipulator	manipulator	NOUN
fumecheng-4951	137	18	drive	drive	NOUN
fumecheng-4951	137	19	mechanisms	mechanism	NOUN
fumecheng-4951	137	20	have	have	VERB
fumecheng-4951	137	21	such	such	ADJ
fumecheng-4951	137	22	positions	position	NOUN
fumecheng-4951	137	23	and	and	CCONJ
fumecheng-4951	137	24	coordinated	coordinate	VERB
fumecheng-4951	137	25	interaction	interaction	NOUN
fumecheng-4951	137	26	that	that	SCONJ
fumecheng-4951	137	27	they	they	PRON
fumecheng-4951	137	28	can	can	AUX
fumecheng-4951	137	29	overcome	overcome	VERB
fumecheng-4951	137	30	the	the	DET
fumecheng-4951	137	31	largest	large	ADJ
fumecheng-4951	137	32	digging	dig	VERB
fumecheng-4951	137	33	resistance	resistance	NOUN
fumecheng-4951	137	34	forces	force	NOUN
fumecheng-4951	137	35	allowed	allow	VERB
fumecheng-4951	137	36	by	by	ADP
fumecheng-4951	137	37	the	the	DET
fumecheng-4951	137	38	excavator	excavator	NOUN
fumecheng-4951	137	39	stability	stability	NOUN
fumecheng-4951	137	40	.	.	PUNCT
fumecheng-4951	138	1	fig	fig	NOUN
fumecheng-4951	138	2	.	.	PUNCT
fumecheng-4951	139	1	4	4	NUM
fumecheng-4951	139	2	analysis	analysis	NOUN
fumecheng-4951	139	3	of	of	ADP
fumecheng-4951	139	4	axial	axial	ADJ
fumecheng-4951	139	5	bearing	bearing	NOUN
fumecheng-4951	139	6	load	load	NOUN
fumecheng-4951	139	7	of	of	ADP
fumecheng-4951	139	8	slewing	slew	VERB
fumecheng-4951	139	9	platform	platform	NOUN
fumecheng-4951	139	10	drive	drive	NOUN
fumecheng-4951	139	11	depending	depend	VERB
fumecheng-4951	139	12	on	on	ADP
fumecheng-4951	139	13	the	the	DET
fumecheng-4951	139	14	position	position	NOUN
fumecheng-4951	139	15	of	of	ADP
fumecheng-4951	139	16	the	the	DET
fumecheng-4951	139	17	loading	loading	NOUN
fumecheng-4951	139	18	manipulator	manipulator	NOUN
fumecheng-4951	139	19	of	of	ADP
fumecheng-4951	139	20	excavator	excavator	NOUN
fumecheng-4951	139	21	:	:	PUNCT
fumecheng-4951	139	22	a	a	X
fumecheng-4951	139	23	)	)	PUNCT
fumecheng-4951	139	24	equivalent	equivalent	ADJ
fumecheng-4951	139	25	loads	load	NOUN
fumecheng-4951	139	26	in	in	ADP
fumecheng-4951	139	27	the	the	DET
fumecheng-4951	139	28	entire	entire	ADJ
fumecheng-4951	139	29	working	working	NOUN
fumecheng-4951	139	30	area	area	NOUN
fumecheng-4951	139	31	,	,	PUNCT
fumecheng-4951	139	32	b	b	X
fumecheng-4951	139	33	)	)	PUNCT
fumecheng-4951	139	34	segmental	segmental	ADJ
fumecheng-4951	139	35	fields	field	NOUN
fumecheng-4951	139	36	of	of	ADP
fumecheng-4951	139	37	the	the	DET
fumecheng-4951	139	38	working	work	VERB
fumecheng-4951	139	39	area	area	NOUN
fumecheng-4951	139	40	of	of	ADP
fumecheng-4951	139	41	the	the	DET
fumecheng-4951	139	42	excavator	excavator	NOUN
fumecheng-4951	139	43	,	,	PUNCT
fumecheng-4951	139	44	and	and	CCONJ
fumecheng-4951	139	45	c	c	X
fumecheng-4951	139	46	)	)	PUNCT
fumecheng-4951	139	47	area	area	NOUN
fumecheng-4951	139	48	of	of	ADP
fumecheng-4951	139	49	relevant	relevant	ADJ
fumecheng-4951	139	50	loads	load	NOUN
fumecheng-4951	139	51	analysis	analysis	NOUN
fumecheng-4951	139	52	of	of	ADP
fumecheng-4951	139	53	the	the	DET
fumecheng-4951	139	54	influence	influence	NOUN
fumecheng-4951	139	55	of	of	ADP
fumecheng-4951	139	56	the	the	DET
fumecheng-4951	139	57	digging	dig	VERB
fumecheng-4951	139	58	position	position	NOUN
fumecheng-4951	139	59	on	on	ADP
fumecheng-4951	139	60	the	the	DET
fumecheng-4951	139	61	loading	loading	NOUN
fumecheng-4951	139	62	of	of	ADP
fumecheng-4951	139	63	the	the	DET
fumecheng-4951	139	64	slewing	slewing	NOUN
fumecheng-4951	139	65	platform	platform	NOUN
fumecheng-4951	139	66	bearing	bearing	NOUN
fumecheng-4951	139	67	…	…	PUNCT
fumecheng-4951	139	68	717	717	NUM
fumecheng-4951	139	69	4	4	NUM
fumecheng-4951	139	70	.	.	PUNCT
fumecheng-4951	139	71	conclusion	conclusion	VERB
fumecheng-4951	139	72	the	the	DET
fumecheng-4951	139	73	choice	choice	NOUN
fumecheng-4951	139	74	of	of	ADP
fumecheng-4951	139	75	the	the	DET
fumecheng-4951	139	76	axial	axial	ADJ
fumecheng-4951	139	77	bearing	bearing	NOUN
fumecheng-4951	139	78	size	size	NOUN
fumecheng-4951	139	79	in	in	ADP
fumecheng-4951	139	80	the	the	DET
fumecheng-4951	139	81	slewing	slewing	NOUN
fumecheng-4951	139	82	platform	platform	NOUN
fumecheng-4951	139	83	drive	drive	NOUN
fumecheng-4951	139	84	mechanism	mechanism	NOUN
fumecheng-4951	139	85	in	in	ADP
fumecheng-4951	139	86	hydraulic	hydraulic	ADJ
fumecheng-4951	139	87	excavators	excavator	NOUN
fumecheng-4951	139	88	is	be	AUX
fumecheng-4951	139	89	very	very	ADV
fumecheng-4951	139	90	complex	complex	ADJ
fumecheng-4951	139	91	due	due	ADP
fumecheng-4951	139	92	to	to	ADP
fumecheng-4951	139	93	a	a	DET
fumecheng-4951	139	94	large	large	ADJ
fumecheng-4951	139	95	number	number	NOUN
fumecheng-4951	139	96	of	of	ADP
fumecheng-4951	139	97	different	different	ADJ
fumecheng-4951	139	98	impacts	impact	NOUN
fumecheng-4951	139	99	on	on	ADP
fumecheng-4951	139	100	the	the	DET
fumecheng-4951	139	101	bearing	bearing	NOUN
fumecheng-4951	139	102	load	load	NOUN
fumecheng-4951	139	103	.	.	PUNCT
fumecheng-4951	140	1	one	one	NUM
fumecheng-4951	140	2	of	of	ADP
fumecheng-4951	140	3	the	the	DET
fumecheng-4951	140	4	more	more	ADV
fumecheng-4951	140	5	important	important	ADJ
fumecheng-4951	140	6	impacts	impact	NOUN
fumecheng-4951	140	7	is	be	AUX
fumecheng-4951	140	8	the	the	DET
fumecheng-4951	140	9	digging	dig	VERB
fumecheng-4951	140	10	position	position	NOUN
fumecheng-4951	140	11	in	in	ADP
fumecheng-4951	140	12	the	the	DET
fumecheng-4951	140	13	excavator	excavator	NOUN
fumecheng-4951	140	14	’s	’s	PART
fumecheng-4951	140	15	working	working	NOUN
fumecheng-4951	140	16	area	area	NOUN
fumecheng-4951	140	17	.	.	PUNCT
fumecheng-4951	141	1	hydraulic	hydraulic	ADJ
fumecheng-4951	141	2	excavators	excavator	NOUN
fumecheng-4951	141	3	are	be	AUX
fumecheng-4951	141	4	distinguished	distinguish	VERB
fumecheng-4951	141	5	by	by	ADP
fumecheng-4951	141	6	the	the	DET
fumecheng-4951	141	7	ability	ability	NOUN
fumecheng-4951	141	8	to	to	PART
fumecheng-4951	141	9	perform	perform	VERB
fumecheng-4951	141	10	various	various	ADJ
fumecheng-4951	141	11	functions	function	NOUN
fumecheng-4951	141	12	with	with	ADP
fumecheng-4951	141	13	various	various	ADJ
fumecheng-4951	141	14	tools	tool	NOUN
fumecheng-4951	141	15	(	(	PUNCT
fumecheng-4951	141	16	bucket	bucket	NOUN
fumecheng-4951	141	17	,	,	PUNCT
fumecheng-4951	141	18	grapple	grapple	ADJ
fumecheng-4951	141	19	,	,	PUNCT
fumecheng-4951	141	20	hook	hook	NOUN
fumecheng-4951	141	21	,	,	PUNCT
fumecheng-4951	141	22	grabber	grabber	NOUN
fumecheng-4951	141	23	)	)	PUNCT
fumecheng-4951	141	24	.	.	PUNCT
fumecheng-4951	142	1	it	it	PRON
fumecheng-4951	142	2	is	be	AUX
fumecheng-4951	142	3	characteristic	characteristic	ADJ
fumecheng-4951	142	4	that	that	SCONJ
fumecheng-4951	142	5	in	in	ADP
fumecheng-4951	142	6	carrying	carry	VERB
fumecheng-4951	142	7	out	out	ADP
fumecheng-4951	142	8	any	any	DET
fumecheng-4951	142	9	possible	possible	ADJ
fumecheng-4951	142	10	functions	function	NOUN
fumecheng-4951	142	11	in	in	ADP
fumecheng-4951	142	12	their	their	PRON
fumecheng-4951	142	13	working	working	NOUN
fumecheng-4951	142	14	area	area	NOUN
fumecheng-4951	142	15	,	,	PUNCT
fumecheng-4951	142	16	hydraulic	hydraulic	ADJ
fumecheng-4951	142	17	excavators	excavator	NOUN
fumecheng-4951	142	18	have	have	VERB
fumecheng-4951	142	19	many	many	ADJ
fumecheng-4951	142	20	different	different	ADJ
fumecheng-4951	142	21	positions	position	NOUN
fumecheng-4951	142	22	and	and	CCONJ
fumecheng-4951	142	23	working	working	NOUN
fumecheng-4951	142	24	conditions	condition	NOUN
fumecheng-4951	142	25	.	.	PUNCT
fumecheng-4951	143	1	using	use	VERB
fumecheng-4951	143	2	the	the	DET
fumecheng-4951	143	3	developed	develop	VERB
fumecheng-4951	143	4	mathematical	mathematical	ADJ
fumecheng-4951	143	5	model	model	NOUN
fumecheng-4951	143	6	and	and	CCONJ
fumecheng-4951	143	7	program	program	NOUN
fumecheng-4951	143	8	,	,	PUNCT
fumecheng-4951	143	9	the	the	DET
fumecheng-4951	143	10	paper	paper	NOUN
fumecheng-4951	143	11	analyzes	analyze	VERB
fumecheng-4951	143	12	the	the	DET
fumecheng-4951	143	13	effects	effect	NOUN
fumecheng-4951	143	14	of	of	ADP
fumecheng-4951	143	15	the	the	DET
fumecheng-4951	143	16	digging	dig	VERB
fumecheng-4951	143	17	position	position	NOUN
fumecheng-4951	143	18	on	on	ADP
fumecheng-4951	143	19	the	the	DET
fumecheng-4951	143	20	load	load	NOUN
fumecheng-4951	143	21	of	of	ADP
fumecheng-4951	143	22	the	the	DET
fumecheng-4951	143	23	axial	axial	ADJ
fumecheng-4951	143	24	bearing	bearing	NOUN
fumecheng-4951	143	25	of	of	ADP
fumecheng-4951	143	26	the	the	DET
fumecheng-4951	143	27	slewing	slewing	NOUN
fumecheng-4951	143	28	platform	platform	NOUN
fumecheng-4951	143	29	drive	drive	NOUN
fumecheng-4951	143	30	mechanism	mechanism	NOUN
fumecheng-4951	143	31	in	in	ADP
fumecheng-4951	143	32	an	an	DET
fumecheng-4951	143	33	excavator	excavator	NOUN
fumecheng-4951	143	34	equipped	equip	VERB
fumecheng-4951	143	35	with	with	ADP
fumecheng-4951	143	36	a	a	DET
fumecheng-4951	143	37	shovel	shovel	ADJ
fumecheng-4951	143	38	bucket	bucket	NOUN
fumecheng-4951	143	39	.	.	PUNCT
fumecheng-4951	144	1	the	the	DET
fumecheng-4951	144	2	analysis	analysis	NOUN
fumecheng-4951	144	3	uses	use	VERB
fumecheng-4951	144	4	the	the	DET
fumecheng-4951	144	5	hodographs	hodographs	NOUN
fumecheng-4951	144	6	of	of	ADP
fumecheng-4951	144	7	the	the	DET
fumecheng-4951	144	8	boundary	boundary	ADJ
fumecheng-4951	144	9	forces	force	NOUN
fumecheng-4951	144	10	of	of	ADP
fumecheng-4951	144	11	digging	dig	VERB
fumecheng-4951	144	12	resistance	resistance	NOUN
fumecheng-4951	144	13	and	and	CCONJ
fumecheng-4951	144	14	the	the	DET
fumecheng-4951	144	15	axial	axial	ADJ
fumecheng-4951	144	16	bearing	bearing	NOUN
fumecheng-4951	144	17	load	load	NOUN
fumecheng-4951	144	18	spectra	spectra	PROPN
fumecheng-4951	144	19	.	.	PUNCT
fumecheng-4951	145	1	the	the	DET
fumecheng-4951	145	2	hodographs	hodographs	NOUN
fumecheng-4951	145	3	of	of	ADP
fumecheng-4951	145	4	the	the	DET
fumecheng-4951	145	5	digging	dig	VERB
fumecheng-4951	145	6	resistance	resistance	NOUN
fumecheng-4951	145	7	forces	force	NOUN
fumecheng-4951	145	8	show	show	VERB
fumecheng-4951	145	9	that	that	SCONJ
fumecheng-4951	145	10	the	the	DET
fumecheng-4951	145	11	possible	possible	ADJ
fumecheng-4951	145	12	forces	force	NOUN
fumecheng-4951	145	13	of	of	ADP
fumecheng-4951	145	14	digging	dig	VERB
fumecheng-4951	145	15	resistance	resistance	NOUN
fumecheng-4951	145	16	,	,	PUNCT
fumecheng-4951	145	17	as	as	ADP
fumecheng-4951	145	18	a	a	DET
fumecheng-4951	145	19	primary	primary	ADJ
fumecheng-4951	145	20	load	load	NOUN
fumecheng-4951	145	21	of	of	ADP
fumecheng-4951	145	22	the	the	DET
fumecheng-4951	145	23	axial	axial	ADJ
fumecheng-4951	145	24	bearing	bearing	NOUN
fumecheng-4951	145	25	,	,	PUNCT
fumecheng-4951	145	26	are	be	AUX
fumecheng-4951	145	27	very	very	ADV
fumecheng-4951	145	28	variable	variable	ADJ
fumecheng-4951	145	29	and	and	CCONJ
fumecheng-4951	145	30	depend	depend	VERB
fumecheng-4951	145	31	on	on	ADP
fumecheng-4951	145	32	the	the	DET
fumecheng-4951	145	33	digging	dig	VERB
fumecheng-4951	145	34	position	position	NOUN
fumecheng-4951	145	35	or	or	CCONJ
fumecheng-4951	145	36	the	the	DET
fumecheng-4951	145	37	position	position	NOUN
fumecheng-4951	145	38	of	of	ADP
fumecheng-4951	145	39	the	the	DET
fumecheng-4951	145	40	excavator	excavator	NOUN
fumecheng-4951	145	41	kinematic	kinematic	ADJ
fumecheng-4951	145	42	chain	chain	NOUN
fumecheng-4951	145	43	.	.	PUNCT
fumecheng-4951	146	1	using	use	VERB
fumecheng-4951	146	2	the	the	DET
fumecheng-4951	146	3	axial	axial	ADJ
fumecheng-4951	146	4	bearing	bearing	NOUN
fumecheng-4951	146	5	load	load	NOUN
fumecheng-4951	146	6	spectrum	spectrum	NOUN
fumecheng-4951	146	7	,	,	PUNCT
fumecheng-4951	146	8	the	the	DET
fumecheng-4951	146	9	working	work	VERB
fumecheng-4951	146	10	area	area	NOUN
fumecheng-4951	146	11	fields	field	NOUN
fumecheng-4951	146	12	are	be	AUX
fumecheng-4951	146	13	determined	determine	VERB
fumecheng-4951	146	14	–	–	PUNCT
fumecheng-4951	146	15	i.e.	i.e.	X
fumecheng-4951	146	16	the	the	DET
fumecheng-4951	146	17	position	position	NOUN
fumecheng-4951	146	18	of	of	ADP
fumecheng-4951	146	19	the	the	DET
fumecheng-4951	146	20	excavator	excavator	NOUN
fumecheng-4951	146	21	kinematic	kinematic	ADJ
fumecheng-4951	146	22	chain	chain	NOUN
fumecheng-4951	146	23	,	,	PUNCT
fumecheng-4951	146	24	and	and	CCONJ
fumecheng-4951	146	25	the	the	DET
fumecheng-4951	146	26	vectors	vector	NOUN
fumecheng-4951	146	27	and	and	CCONJ
fumecheng-4951	146	28	the	the	DET
fumecheng-4951	146	29	hodographs	hodographs	NOUN
fumecheng-4951	146	30	of	of	ADP
fumecheng-4951	146	31	the	the	DET
fumecheng-4951	146	32	digging	dig	VERB
fumecheng-4951	146	33	resistance	resistance	NOUN
fumecheng-4951	146	34	forces	force	NOUN
fumecheng-4951	146	35	,	,	PUNCT
fumecheng-4951	146	36	as	as	ADV
fumecheng-4951	146	37	well	well	ADV
fumecheng-4951	146	38	as	as	ADP
fumecheng-4951	146	39	the	the	DET
fumecheng-4951	146	40	possible	possible	ADJ
fumecheng-4951	146	41	digging	dig	VERB
fumecheng-4951	146	42	resistance	resistance	NOUN
fumecheng-4951	146	43	vectors	vector	NOUN
fumecheng-4951	146	44	,	,	PUNCT
fumecheng-4951	146	45	which	which	PRON
fumecheng-4951	146	46	yield	yield	VERB
fumecheng-4951	146	47	the	the	DET
fumecheng-4951	146	48	equivalent	equivalent	ADJ
fumecheng-4951	146	49	loads	load	NOUN
fumecheng-4951	146	50	relevant	relevant	ADJ
fumecheng-4951	146	51	to	to	ADP
fumecheng-4951	146	52	the	the	DET
fumecheng-4951	146	53	choice	choice	NOUN
fumecheng-4951	146	54	of	of	ADP
fumecheng-4951	146	55	the	the	DET
fumecheng-4951	146	56	axial	axial	ADJ
fumecheng-4951	146	57	bearing	bearing	NOUN
fumecheng-4951	146	58	of	of	ADP
fumecheng-4951	146	59	the	the	DET
fumecheng-4951	146	60	slewing	slewing	NOUN
fumecheng-4951	146	61	platform	platform	NOUN
fumecheng-4951	146	62	drive	drive	NOUN
fumecheng-4951	146	63	mechanism	mechanism	NOUN
fumecheng-4951	146	64	in	in	ADP
fumecheng-4951	146	65	hydraulic	hydraulic	ADJ
fumecheng-4951	146	66	excavators	excavator	NOUN
fumecheng-4951	146	67	.	.	PUNCT
fumecheng-4951	147	1	acknowledgements	acknowledgement	NOUN
fumecheng-4951	147	2	:	:	PUNCT
fumecheng-4951	147	3	this	this	DET
fumecheng-4951	147	4	paper	paper	NOUN
fumecheng-4951	147	5	presents	present	VERB
fumecheng-4951	147	6	the	the	DET
fumecheng-4951	147	7	results	result	NOUN
fumecheng-4951	147	8	of	of	ADP
fumecheng-4951	147	9	the	the	DET
fumecheng-4951	147	10	research	research	NOUN
fumecheng-4951	147	11	conducted	conduct	VERB
fumecheng-4951	147	12	within	within	ADP
fumecheng-4951	147	13	the	the	DET
fumecheng-4951	147	14	project	project	NOUN
fumecheng-4951	147	15	"	"	PUNCT
fumecheng-4951	147	16	research	research	NOUN
fumecheng-4951	147	17	and	and	CCONJ
fumecheng-4951	147	18	development	development	NOUN
fumecheng-4951	147	19	of	of	ADP
fumecheng-4951	147	20	new	new	ADJ
fumecheng-4951	147	21	generation	generation	NOUN
fumecheng-4951	147	22	machine	machine	NOUN
fumecheng-4951	147	23	systems	system	NOUN
fumecheng-4951	147	24	in	in	ADP
fumecheng-4951	147	25	the	the	DET
fumecheng-4951	147	26	function	function	NOUN
fumecheng-4951	147	27	of	of	ADP
fumecheng-4951	147	28	the	the	DET
fumecheng-4951	147	29	technological	technological	ADJ
fumecheng-4951	147	30	development	development	NOUN
fumecheng-4951	147	31	of	of	ADP
fumecheng-4951	147	32	serbia	serbia	PROPN
fumecheng-4951	147	33	"	"	PUNCT
fumecheng-4951	147	34	funded	fund	VERB
fumecheng-4951	147	35	by	by	ADP
fumecheng-4951	147	36	the	the	DET
fumecheng-4951	147	37	faculty	faculty	NOUN
fumecheng-4951	147	38	of	of	ADP
fumecheng-4951	147	39	mechanical	mechanical	ADJ
fumecheng-4951	147	40	engineering	engineering	NOUN
fumecheng-4951	147	41	,	,	PUNCT
fumecheng-4951	147	42	university	university	NOUN
fumecheng-4951	147	43	of	of	ADP
fumecheng-4951	147	44	niš	niš	PROPN
fumecheng-4951	147	45	,	,	PUNCT
fumecheng-4951	147	46	serbia	serbia	PROPN
fumecheng-4951	147	47	.	.	PUNCT
fumecheng-4951	148	1	references	reference	NOUN
fumecheng-4951	148	2	1	1	NUM
fumecheng-4951	148	3	.	.	PUNCT
fumecheng-4951	149	1	jiaqi	jiaqi	PROPN
fumecheng-4951	149	2	,	,	PUNCT
fumecheng-4951	149	3	x.	x.	PROPN
fumecheng-4951	149	4	,	,	PUNCT
fumecheng-4951	149	5	hwan	hwan	PROPN
fumecheng-4951	149	6	-	-	PUNCT
fumecheng-4951	149	7	sik	sik	NOUN
fumecheng-4951	149	8	,	,	PUNCT
fumecheng-4951	149	9	y.	y.	NOUN
fumecheng-4951	149	10	,	,	PUNCT
fumecheng-4951	149	11	2016	2016	NUM
fumecheng-4951	149	12	,	,	PUNCT
fumecheng-4951	149	13	a	a	DET
fumecheng-4951	149	14	review	review	NOUN
fumecheng-4951	149	15	on	on	ADP
fumecheng-4951	149	16	mechanical	mechanical	ADJ
fumecheng-4951	149	17	and	and	CCONJ
fumecheng-4951	149	18	hydraulic	hydraulic	ADJ
fumecheng-4951	149	19	system	system	NOUN
fumecheng-4951	149	20	modeling	modeling	NOUN
fumecheng-4951	149	21	of	of	ADP
fumecheng-4951	149	22	excavator	excavator	NOUN
fumecheng-4951	149	23	manipulator	manipulator	NOUN
fumecheng-4951	149	24	system	system	NOUN
fumecheng-4951	149	25	,	,	PUNCT
fumecheng-4951	149	26	journal	journal	NOUN
fumecheng-4951	149	27	of	of	ADP
fumecheng-4951	149	28	construction	construction	NOUN
fumecheng-4951	149	29	engineering	engineering	NOUN
fumecheng-4951	149	30	,	,	PUNCT
fumecheng-4951	149	31	2016	2016	NUM
fumecheng-4951	149	32	,	,	PUNCT
fumecheng-4951	149	33	pp	pp	ADJ
fumecheng-4951	149	34	.	.	PUNCT
fumecheng-4951	150	1	1	1	NUM
fumecheng-4951	150	2	-	-	SYM
fumecheng-4951	150	3	11	11	NUM
fumecheng-4951	150	4	.	.	NOUN
fumecheng-4951	151	1	2	2	X
fumecheng-4951	151	2	.	.	X
fumecheng-4951	151	3	mitrev	mitrev	PROPN
fumecheng-4951	151	4	,	,	PUNCT
fumecheng-4951	151	5	r.	r.	PROPN
fumecheng-4951	151	6	,	,	PUNCT
fumecheng-4951	151	7	janošević	janošević	PROPN
fumecheng-4951	151	8	,	,	PUNCT
fumecheng-4951	151	9	d.	d.	PROPN
fumecheng-4951	151	10	,	,	PUNCT
fumecheng-4951	151	11	marinković	marinković	PROPN
fumecheng-4951	151	12	,	,	PUNCT
fumecheng-4951	151	13	d.	d.	PROPN
fumecheng-4951	151	14	,	,	PUNCT
fumecheng-4951	151	15	2017	2017	NUM
fumecheng-4951	151	16	,	,	PUNCT
fumecheng-4951	151	17	dynamical	dynamical	ADJ
fumecheng-4951	151	18	modelling	modelling	NOUN
fumecheng-4951	151	19	of	of	ADP
fumecheng-4951	151	20	hydraulic	hydraulic	ADJ
fumecheng-4951	151	21	excavator	excavator	NOUN
fumecheng-4951	151	22	considered	consider	VERB
fumecheng-4951	151	23	as	as	ADP
fumecheng-4951	151	24	a	a	DET
fumecheng-4951	151	25	multibody	multibody	ADJ
fumecheng-4951	151	26	system	system	NOUN
fumecheng-4951	151	27	,	,	PUNCT
fumecheng-4951	151	28	tehnički	tehnički	PROPN
fumecheng-4951	151	29	vjesnik	vjesnik	PROPN
fumecheng-4951	151	30	,	,	PUNCT
fumecheng-4951	151	31	24	24	NUM
fumecheng-4951	151	32	,	,	PUNCT
fumecheng-4951	151	33	pp	pp	ADJ
fumecheng-4951	151	34	.	.	PUNCT
fumecheng-4951	152	1	831	831	NUM
fumecheng-4951	152	2	-	-	SYM
fumecheng-4951	152	3	836	836	NUM
fumecheng-4951	152	4	.	.	PUNCT
fumecheng-4951	153	1	3	3	X
fumecheng-4951	153	2	.	.	X
fumecheng-4951	153	3	vujić	vujić	NOUN
fumecheng-4951	153	4	,	,	PUNCT
fumecheng-4951	153	5	d.	d.	PROPN
fumecheng-4951	153	6	,	,	PUNCT
fumecheng-4951	153	7	lazarević	lazarević	ADJ
fumecheng-4951	153	8	,	,	PUNCT
fumecheng-4951	153	9	o.	o.	NOUN
fumecheng-4951	153	10	,	,	PUNCT
fumecheng-4951	153	11	batinić	batinić	PROPN
fumecheng-4951	153	12	,	,	PUNCT
fumecheng-4951	153	13	v.	v.	ADP
fumecheng-4951	153	14	,	,	PUNCT
fumecheng-4951	153	15	2017	2017	NUM
fumecheng-4951	153	16	,	,	PUNCT
fumecheng-4951	153	17	development	development	NOUN
fumecheng-4951	153	18	of	of	ADP
fumecheng-4951	153	19	dynamic	dynamic	ADJ
fumecheng-4951	153	20	-	-	PUNCT
fumecheng-4951	153	21	mathematical	mathematical	ADJ
fumecheng-4951	153	22	model	model	NOUN
fumecheng-4951	153	23	of	of	ADP
fumecheng-4951	153	24	hydraulic	hydraulic	ADJ
fumecheng-4951	153	25	excavator	excavator	NOUN
fumecheng-4951	153	26	,	,	PUNCT
fumecheng-4951	153	27	journal	journal	NOUN
fumecheng-4951	153	28	of	of	ADP
fumecheng-4951	153	29	central	central	PROPN
fumecheng-4951	153	30	south	south	PROPN
fumecheng-4951	153	31	university	university	PROPN
fumecheng-4951	153	32	,	,	PUNCT
fumecheng-4951	153	33	24	24	NUM
fumecheng-4951	153	34	,	,	PUNCT
fumecheng-4951	153	35	pp	pp	ADJ
fumecheng-4951	153	36	.	.	PUNCT
fumecheng-4951	154	1	2010	2010	NUM
fumecheng-4951	154	2	-	-	SYM
fumecheng-4951	154	3	2018	2018	NUM
fumecheng-4951	154	4	.	.	PUNCT
fumecheng-4951	155	1	4	4	X
fumecheng-4951	155	2	.	.	X
fumecheng-4951	155	3	mitrev	mitrev	PROPN
fumecheng-4951	155	4	,	,	PUNCT
fumecheng-4951	155	5	r.	r.	PROPN
fumecheng-4951	155	6	,	,	PUNCT
fumecheng-4951	155	7	marinkovic	marinkovic	PROPN
fumecheng-4951	155	8	,	,	PUNCT
fumecheng-4951	155	9	d.	d.	PROPN
fumecheng-4951	155	10	,	,	PUNCT
fumecheng-4951	155	11	2019	2019	NUM
fumecheng-4951	155	12	,	,	PUNCT
fumecheng-4951	155	13	numerical	numerical	ADJ
fumecheng-4951	155	14	study	study	NOUN
fumecheng-4951	155	15	of	of	ADP
fumecheng-4951	155	16	the	the	DET
fumecheng-4951	155	17	hydraulic	hydraulic	ADJ
fumecheng-4951	155	18	excavator	excavator	NOUN
fumecheng-4951	155	19	overturning	overturn	VERB
fumecheng-4951	155	20	stability	stability	NOUN
fumecheng-4951	155	21	during	during	ADP
fumecheng-4951	155	22	performing	perform	VERB
fumecheng-4951	155	23	lifting	lift	VERB
fumecheng-4951	155	24	operations	operation	NOUN
fumecheng-4951	155	25	,	,	PUNCT
fumecheng-4951	155	26	advances	advance	NOUN
fumecheng-4951	155	27	in	in	ADP
fumecheng-4951	155	28	mechanical	mechanical	ADJ
fumecheng-4951	155	29	engineering	engineering	NOUN
fumecheng-4951	155	30	,	,	PUNCT
fumecheng-4951	155	31	11(5	11(5	NUM
fumecheng-4951	155	32	)	)	PUNCT
fumecheng-4951	155	33	,	,	PUNCT
fumecheng-4951	155	34	doi	doi	NOUN
fumecheng-4951	155	35	:	:	PUNCT
fumecheng-4951	155	36	10.1177/1687814019841779	10.1177/1687814019841779	NUM
fumecheng-4951	155	37	.	.	NOUN
fumecheng-4951	155	38	5	5	NUM
fumecheng-4951	155	39	.	.	X
fumecheng-4951	155	40	hua	hua	PROPN
fumecheng-4951	155	41	,	,	PUNCT
fumecheng-4951	155	42	w.	w.	PROPN
fumecheng-4951	155	43	,	,	PUNCT
fumecheng-4951	155	44	peiyu	peiyu	NOUN
fumecheng-4951	155	45	,	,	PUNCT
fumecheng-4951	155	46	h.	h.	PROPN
fumecheng-4951	155	47	,	,	PUNCT
fumecheng-4951	155	48	bitao	bitao	PROPN
fumecheng-4951	155	49	,	,	PUNCT
fumecheng-4951	155	50	p.	p.	PROPN
fumecheng-4951	155	51	,	,	PUNCT
fumecheng-4951	155	52	xuehai	xuehai	PROPN
fumecheng-4951	155	53	,	,	PUNCT
fumecheng-4951	155	54	g.	g.	PROPN
fumecheng-4951	155	55	,	,	PUNCT
fumecheng-4951	155	56	2017	2017	NUM
fumecheng-4951	155	57	,	,	PUNCT
fumecheng-4951	155	58	a	a	DET
fumecheng-4951	155	59	new	new	ADJ
fumecheng-4951	155	60	computational	computational	ADJ
fumecheng-4951	155	61	model	model	NOUN
fumecheng-4951	155	62	of	of	ADP
fumecheng-4951	155	63	large	large	ADJ
fumecheng-4951	155	64	three	three	NUM
fumecheng-4951	155	65	-	-	PUNCT
fumecheng-4951	155	66	row	row	NOUN
fumecheng-4951	155	67	roller	roller	NOUN
fumecheng-4951	155	68	slewing	slewing	NOUN
fumecheng-4951	155	69	bearings	bearing	NOUN
fumecheng-4951	155	70	using	use	VERB
fumecheng-4951	155	71	nonlinear	nonlinear	ADJ
fumecheng-4951	155	72	springs	spring	NOUN
fumecheng-4951	155	73	,	,	PUNCT
fumecheng-4951	155	74	proc	proc	NOUN
fumecheng-4951	155	75	.	.	PUNCT
fumecheng-4951	156	1	institution	institution	NOUN
fumecheng-4951	156	2	of	of	ADP
fumecheng-4951	156	3	mechanical	mechanical	ADJ
fumecheng-4951	156	4	engineers	engineer	NOUN
fumecheng-4951	156	5	,	,	PUNCT
fumecheng-4951	156	6	part	part	NOUN
fumecheng-4951	156	7	c	c	NOUN
fumecheng-4951	156	8	:	:	PUNCT
fumecheng-4951	156	9	journal	journal	NOUN
fumecheng-4951	156	10	of	of	ADP
fumecheng-4951	156	11	mechanical	mechanical	ADJ
fumecheng-4951	156	12	engineering	engineering	NOUN
fumecheng-4951	156	13	science	science	NOUN
fumecheng-4951	156	14	,	,	PUNCT
fumecheng-4951	156	15	231(20	231(20	NUM
fumecheng-4951	156	16	)	)	PUNCT
fumecheng-4951	156	17	,	,	PUNCT
fumecheng-4951	156	18	pp	pp	PROPN
fumecheng-4951	156	19	.	.	PUNCT
fumecheng-4951	157	1	3831	3831	NUM
fumecheng-4951	157	2	-	-	SYM
fumecheng-4951	157	3	3839	3839	NUM
fumecheng-4951	157	4	.	.	PUNCT
fumecheng-4951	158	1	6	6	NUM
fumecheng-4951	158	2	.	.	X
fumecheng-4951	158	3	smolnicki	smolnicki	NOUN
fumecheng-4951	158	4	,	,	PUNCT
fumecheng-4951	158	5	t.	t.	PROPN
fumecheng-4951	158	6	,	,	PUNCT
fumecheng-4951	158	7	stańco	stańco	NOUN
fumecheng-4951	158	8	,	,	PUNCT
fumecheng-4951	158	9	m.	m.	NOUN
fumecheng-4951	158	10	,	,	PUNCT
fumecheng-4951	158	11	derlukiewicz	derlukiewicz	NOUN
fumecheng-4951	158	12	,	,	PUNCT
fumecheng-4951	158	13	d.	d.	PROPN
fumecheng-4951	158	14	,	,	PUNCT
fumecheng-4951	158	15	2013	2013	NUM
fumecheng-4951	158	16	,	,	PUNCT
fumecheng-4951	158	17	distribution	distribution	NOUN
fumecheng-4951	158	18	of	of	ADP
fumecheng-4951	158	19	loads	load	NOUN
fumecheng-4951	158	20	in	in	ADP
fumecheng-4951	158	21	the	the	DET
fumecheng-4951	158	22	large	large	ADJ
fumecheng-4951	158	23	size	size	NOUN
fumecheng-4951	158	24	bearing	bear	VERB
fumecheng-4951	158	25	problems	problem	NOUN
fumecheng-4951	158	26	of	of	ADP
fumecheng-4951	158	27	identification	identification	NOUN
fumecheng-4951	158	28	,	,	PUNCT
fumecheng-4951	158	29	tehnički	tehnički	PROPN
fumecheng-4951	158	30	vjesnik	vjesnik	PROPN
fumecheng-4951	158	31	,	,	PUNCT
fumecheng-4951	158	32	20(5	20(5	NOUN
fumecheng-4951	158	33	)	)	PUNCT
fumecheng-4951	158	34	,	,	PUNCT
fumecheng-4951	159	1	pp	pp	PROPN
fumecheng-4951	159	2	.	.	PUNCT
fumecheng-4951	160	1	831	831	NUM
fumecheng-4951	160	2	-	-	SYM
fumecheng-4951	160	3	836	836	NUM
fumecheng-4951	160	4	.	.	PUNCT
fumecheng-4951	161	1	7	7	X
fumecheng-4951	161	2	.	.	X
fumecheng-4951	161	3	aguirrebeitia	aguirrebeitia	PROPN
fumecheng-4951	161	4	,	,	PUNCT
fumecheng-4951	161	5	j.	j.	PROPN
fumecheng-4951	161	6	,	,	PUNCT
fumecheng-4951	161	7	abasolo	abasolo	PROPN
fumecheng-4951	161	8	,	,	PUNCT
fumecheng-4951	161	9	m.	m.	NOUN
fumecheng-4951	161	10	,	,	PUNCT
fumecheng-4951	161	11	aviles	aviles	PROPN
fumecheng-4951	161	12	,	,	PUNCT
fumecheng-4951	161	13	r.	r.	PROPN
fumecheng-4951	161	14	,	,	PUNCT
fumecheng-4951	161	15	fernandez	fernandez	PROPN
fumecheng-4951	161	16	,	,	PUNCT
fumecheng-4951	161	17	i.	i.	NOUN
fumecheng-4951	161	18	,	,	PUNCT
fumecheng-4951	161	19	2011	2011	NUM
fumecheng-4951	161	20	,	,	PUNCT
fumecheng-4951	161	21	general	general	ADJ
fumecheng-4951	161	22	static	static	ADJ
fumecheng-4951	161	23	load	load	NOUN
fumecheng-4951	161	24	capacity	capacity	NOUN
fumecheng-4951	161	25	in	in	ADP
fumecheng-4951	161	26	slewing	slewing	NOUN
fumecheng-4951	161	27	bearings	bearing	NOUN
fumecheng-4951	161	28	.	.	PUNCT
fumecheng-4951	162	1	unified	unify	VERB
fumecheng-4951	162	2	theoretical	theoretical	ADJ
fumecheng-4951	162	3	approach	approach	NOUN
fumecheng-4951	162	4	for	for	ADP
fumecheng-4951	162	5	crossed	cross	VERB
fumecheng-4951	162	6	roller	roller	NOUN
fumecheng-4951	162	7	bearings	bearing	NOUN
fumecheng-4951	162	8	and	and	CCONJ
fumecheng-4951	162	9	four	four	NUM
fumecheng-4951	162	10	contact	contact	NOUN
fumecheng-4951	162	11	point	point	NOUN
fumecheng-4951	162	12	angular	angular	ADJ
fumecheng-4951	162	13	ball	ball	NOUN
fumecheng-4951	162	14	bearings	bearing	NOUN
fumecheng-4951	162	15	,	,	PUNCT
fumecheng-4951	162	16	13th	13th	ADJ
fumecheng-4951	162	17	world	world	NOUN
fumecheng-4951	162	18	congress	congress	PROPN
fumecheng-4951	162	19	in	in	ADP
fumecheng-4951	162	20	mechanism	mechanism	NOUN
fumecheng-4951	162	21	and	and	CCONJ
fumecheng-4951	162	22	machine	machine	NOUN
fumecheng-4951	162	23	science	science	PROPN
fumecheng-4951	162	24	,	,	PUNCT
fumecheng-4951	162	25	guanajuato	guanajuato	PROPN
fumecheng-4951	162	26	,	,	PUNCT
fumecheng-4951	162	27	méxico	méxico	PROPN
fumecheng-4951	162	28	19	19	NUM
fumecheng-4951	162	29	-	-	SYM
fumecheng-4951	162	30	25	25	NUM
fumecheng-4951	162	31	june	june	PROPN
fumecheng-4951	162	32	,	,	PUNCT
fumecheng-4951	162	33	a19_362	a19_362	PUNCT
fumecheng-4951	162	34	.	.	PUNCT
fumecheng-4951	163	1	8	8	NUM
fumecheng-4951	163	2	.	.	X
fumecheng-4951	164	1	krynke	krynke	NOUN
fumecheng-4951	164	2	,	,	PUNCT
fumecheng-4951	164	3	m.	m.	NOUN
fumecheng-4951	164	4	,	,	PUNCT
fumecheng-4951	164	5	selejdak	selejdak	PROPN
fumecheng-4951	164	6	,	,	PUNCT
fumecheng-4951	164	7	j.	j.	PROPN
fumecheng-4951	164	8	,	,	PUNCT
fumecheng-4951	164	9	borkowski	borkowski	PROPN
fumecheng-4951	164	10	,	,	PUNCT
fumecheng-4951	164	11	s.	s.	PROPN
fumecheng-4951	164	12	,	,	PUNCT
fumecheng-4951	164	13	2013	2013	NUM
fumecheng-4951	164	14	,	,	PUNCT
fumecheng-4951	164	15	determination	determination	NOUN
fumecheng-4951	164	16	of	of	ADP
fumecheng-4951	164	17	static	static	ADJ
fumecheng-4951	164	18	limiting	limiting	NOUN
fumecheng-4951	164	19	load	load	NOUN
fumecheng-4951	164	20	curves	curve	NOUN
fumecheng-4951	164	21	for	for	ADP
fumecheng-4951	164	22	slewing	slew	VERB
fumecheng-4951	164	23	bearing	bearing	NOUN
fumecheng-4951	164	24	with	with	ADP
fumecheng-4951	164	25	application	application	NOUN
fumecheng-4951	164	26	of	of	ADP
fumecheng-4951	164	27	the	the	DET
fumecheng-4951	164	28	finite	finite	ADJ
fumecheng-4951	164	29	element	element	NOUN
fumecheng-4951	164	30	method	method	NOUN
fumecheng-4951	164	31	,	,	PUNCT
fumecheng-4951	164	32	materials	material	NOUN
fumecheng-4951	164	33	engineering	engineering	NOUN
fumecheng-4951	164	34	materiálové	materiálové	PROPN
fumecheng-4951	164	35	inžinierstvo	inžinierstvo	NOUN
fumecheng-4951	164	36	,	,	PUNCT
fumecheng-4951	164	37	20	20	NUM
fumecheng-4951	164	38	,	,	PUNCT
fumecheng-4951	164	39	pp	pp	ADJ
fumecheng-4951	164	40	.	.	PUNCT
fumecheng-4951	165	1	64	64	NUM
fumecheng-4951	165	2	-	-	SYM
fumecheng-4951	165	3	70	70	NUM
fumecheng-4951	165	4	.	.	PUNCT
fumecheng-4951	166	1	9	9	NUM
fumecheng-4951	166	2	.	.	X
fumecheng-4951	166	3	potočnik	potočnik	PROPN
fumecheng-4951	166	4	,	,	PUNCT
fumecheng-4951	166	5	r.	r.	PROPN
fumecheng-4951	166	6	,	,	PUNCT
fumecheng-4951	166	7	göncz	göncz	NOUN
fumecheng-4951	166	8	,	,	PUNCT
fumecheng-4951	166	9	p.	p.	PROPN
fumecheng-4951	166	10	,	,	PUNCT
fumecheng-4951	166	11	glodež	glodež	PROPN
fumecheng-4951	166	12	,	,	PUNCT
fumecheng-4951	166	13	s.	s.	PROPN
fumecheng-4951	166	14	,	,	PUNCT
fumecheng-4951	166	15	2013	2013	NUM
fumecheng-4951	166	16	,	,	PUNCT
fumecheng-4951	166	17	static	static	ADJ
fumecheng-4951	166	18	capacity	capacity	NOUN
fumecheng-4951	166	19	of	of	ADP
fumecheng-4951	166	20	a	a	DET
fumecheng-4951	166	21	large	large	ADJ
fumecheng-4951	166	22	double	double	ADJ
fumecheng-4951	166	23	row	row	NOUN
fumecheng-4951	166	24	slewing	slewing	NOUN
fumecheng-4951	166	25	ball	ball	NOUN
fumecheng-4951	166	26	bearing	bear	VERB
fumecheng-4951	166	27	with	with	ADP
fumecheng-4951	166	28	predefined	predefine	VERB
fumecheng-4951	166	29	irregular	irregular	ADJ
fumecheng-4951	166	30	geometry	geometry	NOUN
fumecheng-4951	166	31	,	,	PUNCT
fumecheng-4951	166	32	mechanism	mechanism	NOUN
fumecheng-4951	166	33	and	and	CCONJ
fumecheng-4951	166	34	machine	machine	NOUN
fumecheng-4951	166	35	theory	theory	NOUN
fumecheng-4951	166	36	,	,	PUNCT
fumecheng-4951	166	37	64	64	NUM
fumecheng-4951	166	38	,	,	PUNCT
fumecheng-4951	166	39	pp	pp	ADJ
fumecheng-4951	166	40	.	.	PUNCT
fumecheng-4951	167	1	67	67	NUM
fumecheng-4951	167	2	-	-	SYM
fumecheng-4951	167	3	79	79	NUM
fumecheng-4951	167	4	.	.	PUNCT
fumecheng-4951	168	1	10	10	NUM
fumecheng-4951	168	2	.	.	PUNCT
fumecheng-4951	169	1	kania	kania	PROPN
fumecheng-4951	169	2	,	,	PUNCT
fumecheng-4951	169	3	l.	l.	PROPN
fumecheng-4951	169	4	,	,	PUNCT
fumecheng-4951	169	5	krynke	krynke	NOUN
fumecheng-4951	169	6	,	,	PUNCT
fumecheng-4951	169	7	m.	m.	NOUN
fumecheng-4951	169	8	,	,	PUNCT
fumecheng-4951	169	9	2013	2013	NUM
fumecheng-4951	169	10	,	,	PUNCT
fumecheng-4951	169	11	computation	computation	NOUN
fumecheng-4951	169	12	of	of	ADP
fumecheng-4951	169	13	the	the	DET
fumecheng-4951	169	14	general	general	ADJ
fumecheng-4951	169	15	carrying	carry	VERB
fumecheng-4951	169	16	capacity	capacity	NOUN
fumecheng-4951	169	17	of	of	ADP
fumecheng-4951	169	18	slewing	slewing	NOUN
fumecheng-4951	169	19	bearings	bearing	NOUN
fumecheng-4951	169	20	,	,	PUNCT
fumecheng-4951	169	21	engineering	engineering	NOUN
fumecheng-4951	169	22	computations	computation	NOUN
fumecheng-4951	169	23	,	,	PUNCT
fumecheng-4951	169	24	30(7	30(7	NUM
fumecheng-4951	169	25	)	)	PUNCT
fumecheng-4951	169	26	,	,	PUNCT
fumecheng-4951	169	27	pp	pp	ADJ
fumecheng-4951	169	28	.	.	PUNCT
fumecheng-4951	170	1	1011	1011	NUM
fumecheng-4951	170	2	-	-	SYM
fumecheng-4951	170	3	1028	1028	NUM
fumecheng-4951	170	4	.	.	PUNCT
fumecheng-4951	171	1	718	718	NUM
fumecheng-4951	171	2	v.	v.	ADP
fumecheng-4951	171	3	jovanović	jovanović	PROPN
fumecheng-4951	171	4	,	,	PUNCT
fumecheng-4951	171	5	d.	d.	PROPN
fumecheng-4951	171	6	janošević	janošević	PROPN
fumecheng-4951	171	7	,	,	PUNCT
fumecheng-4951	171	8	j.	j.	PROPN
fumecheng-4951	171	9	pavlović	pavlović	PROPN
fumecheng-4951	171	10	11	11	NUM
fumecheng-4951	171	11	.	.	PUNCT
fumecheng-4951	172	1	wang	wang	PROPN
fumecheng-4951	172	2	,	,	PUNCT
fumecheng-4951	172	3	y.	y.	PROPN
fumecheng-4951	172	4	,	,	PUNCT
fumecheng-4951	172	5	yuan	yuan	PROPN
fumecheng-4951	172	6	,	,	PUNCT
fumecheng-4951	172	7	q.	q.	PROPN
fumecheng-4951	172	8	,	,	PUNCT
fumecheng-4951	172	9	2014	2014	NUM
fumecheng-4951	172	10	,	,	PUNCT
fumecheng-4951	172	11	static	static	ADJ
fumecheng-4951	172	12	load	load	NOUN
fumecheng-4951	172	13	-	-	PUNCT
fumecheng-4951	172	14	carrying	carry	VERB
fumecheng-4951	172	15	capacity	capacity	NOUN
fumecheng-4951	172	16	and	and	CCONJ
fumecheng-4951	172	17	fatigue	fatigue	NOUN
fumecheng-4951	172	18	life	life	NOUN
fumecheng-4951	172	19	of	of	ADP
fumecheng-4951	172	20	a	a	DET
fumecheng-4951	172	21	double	double	ADJ
fumecheng-4951	172	22	row	row	NOUN
fumecheng-4951	172	23	pitch	pitch	NOUN
fumecheng-4951	172	24	bearing	bear	VERB
fumecheng-4951	172	25	with	with	ADP
fumecheng-4951	172	26	radial	radial	ADJ
fumecheng-4951	172	27	interference	interference	NOUN
fumecheng-4951	172	28	,	,	PUNCT
fumecheng-4951	172	29	the	the	DET
fumecheng-4951	172	30	journal	journal	NOUN
fumecheng-4951	172	31	of	of	ADP
fumecheng-4951	172	32	mechanical	mechanical	ADJ
fumecheng-4951	172	33	engineering	engineering	NOUN
fumecheng-4951	172	34	science	science	NOUN
fumecheng-4951	172	35	,	,	PUNCT
fumecheng-4951	172	36	228(2	228(2	NUM
fumecheng-4951	172	37	)	)	PUNCT
fumecheng-4951	172	38	,	,	PUNCT
fumecheng-4951	172	39	pp	pp	PROPN
fumecheng-4951	172	40	.	.	PUNCT
fumecheng-4951	173	1	307	307	NUM
fumecheng-4951	173	2	-	-	SYM
fumecheng-4951	173	3	316	316	NUM
fumecheng-4951	173	4	.	.	NOUN
fumecheng-4951	173	5	12	12	NUM
fumecheng-4951	173	6	.	.	PUNCT
fumecheng-4951	174	1	jovanović	jovanović	PROPN
fumecheng-4951	174	2	,	,	PUNCT
fumecheng-4951	174	3	v.	v.	ADV
fumecheng-4951	174	4	,	,	PUNCT
fumecheng-4951	174	5	2018	2018	NUM
fumecheng-4951	174	6	,	,	PUNCT
fumecheng-4951	174	7	a	a	DET
fumecheng-4951	174	8	contribution	contribution	NOUN
fumecheng-4951	174	9	to	to	ADP
fumecheng-4951	174	10	the	the	DET
fumecheng-4951	174	11	synthesis	synthesis	NOUN
fumecheng-4951	174	12	of	of	ADP
fumecheng-4951	174	13	the	the	DET
fumecheng-4951	174	14	slewing	slewing	NOUN
fumecheng-4951	174	15	platform	platform	NOUN
fumecheng-4951	174	16	drive	drive	NOUN
fumecheng-4951	174	17	mechanism	mechanism	NOUN
fumecheng-4951	174	18	of	of	ADP
fumecheng-4951	174	19	hydraulic	hydraulic	ADJ
fumecheng-4951	174	20	excavators	excavator	NOUN
fumecheng-4951	174	21	,	,	PUNCT
fumecheng-4951	174	22	phd	phd	NOUN
fumecheng-4951	174	23	dissertation	dissertation	NOUN
fumecheng-4951	174	24	,	,	PUNCT
fumecheng-4951	174	25	(	(	PUNCT
fumecheng-4951	174	26	in	in	ADP
fumecheng-4951	174	27	serbian	serbian	ADJ
fumecheng-4951	174	28	)	)	PUNCT
fumecheng-4951	174	29	,	,	PUNCT
fumecheng-4951	174	30	university	university	NOUN
fumecheng-4951	174	31	of	of	ADP
fumecheng-4951	174	32	niš	niš	PROPN
fumecheng-4951	174	33	,	,	PUNCT
fumecheng-4951	174	34	faculty	faculty	NOUN
fumecheng-4951	174	35	of	of	ADP
fumecheng-4951	174	36	mechanical	mechanical	ADJ
fumecheng-4951	174	37	engineering	engineering	NOUN
fumecheng-4951	174	38	,	,	PUNCT
fumecheng-4951	174	39	186p	186p	PROPN
fumecheng-4951	174	40	.	.	PUNCT
fumecheng-4951	175	1	13	13	NUM
fumecheng-4951	175	2	.	.	PUNCT
fumecheng-4951	176	1	kagoshima	kagoshima	PROPN
fumecheng-4951	176	2	,	,	PUNCT
fumecheng-4951	176	3	m.	m.	NOUN
fumecheng-4951	176	4	,	,	PUNCT
fumecheng-4951	176	5	2013	2013	NUM
fumecheng-4951	176	6	,	,	PUNCT
fumecheng-4951	176	7	the	the	DET
fumecheng-4951	176	8	development	development	NOUN
fumecheng-4951	176	9	of	of	ADP
fumecheng-4951	176	10	an	an	DET
fumecheng-4951	176	11	8	8	NUM
fumecheng-4951	176	12	tonne	tonne	NOUN
fumecheng-4951	176	13	class	class	NOUN
fumecheng-4951	176	14	hybrid	hybrid	ADJ
fumecheng-4951	176	15	hydraulic	hydraulic	ADJ
fumecheng-4951	176	16	excavator	excavator	NOUN
fumecheng-4951	176	17	sk80h	sk80h	ADV
fumecheng-4951	176	18	,	,	PUNCT
fumecheng-4951	176	19	kobelco	kobelco	NOUN
fumecheng-4951	176	20	technology	technology	PROPN
fumecheng-4951	176	21	review	review	PROPN
fumecheng-4951	176	22	,	,	PUNCT
fumecheng-4951	176	23	31	31	NUM
fumecheng-4951	176	24	,	,	PUNCT
fumecheng-4951	176	25	pp	pp	ADJ
fumecheng-4951	176	26	.	.	PUNCT
fumecheng-4951	177	1	6	6	NUM
fumecheng-4951	177	2	-	-	SYM
fumecheng-4951	177	3	11	11	NUM
fumecheng-4951	177	4	.	.	PUNCT
fumecheng-4951	178	1	14	14	NUM
fumecheng-4951	178	2	.	.	PUNCT
fumecheng-4951	179	1	joo	joo	PROPN
fumecheng-4951	179	2	,	,	PUNCT
fumecheng-4951	179	3	c.	c.	PROPN
fumecheng-4951	179	4	,	,	PUNCT
fumecheng-4951	179	5	stangl	stangl	ADJ
fumecheng-4951	179	6	,	,	PUNCT
fumecheng-4951	179	7	m.	m.	NOUN
fumecheng-4951	179	8	,	,	PUNCT
fumecheng-4951	179	9	2016	2016	NUM
fumecheng-4951	179	10	,	,	PUNCT
fumecheng-4951	179	11	application	application	NOUN
fumecheng-4951	179	12	of	of	ADP
fumecheng-4951	179	13	power	power	NOUN
fumecheng-4951	179	14	regenerative	regenerative	ADJ
fumecheng-4951	179	15	boom	boom	NOUN
fumecheng-4951	179	16	system	system	NOUN
fumecheng-4951	179	17	to	to	ADP
fumecheng-4951	179	18	excavator	excavator	NOUN
fumecheng-4951	179	19	,	,	PUNCT
fumecheng-4951	179	20	10th	10th	ADJ
fumecheng-4951	179	21	international	international	ADJ
fumecheng-4951	179	22	fluid	fluid	ADJ
fumecheng-4951	179	23	power	power	NOUN
fumecheng-4951	179	24	conference	conference	NOUN
fumecheng-4951	179	25	,	,	PUNCT
fumecheng-4951	179	26	dresden	dresden	PROPN
fumecheng-4951	179	27	,	,	PUNCT
fumecheng-4951	179	28	group	group	NOUN
fumecheng-4951	179	29	10	10	NUM
fumecheng-4951	179	30	mobile	mobile	ADJ
fumecheng-4951	179	31	hydraulics	hydraulic	NOUN
fumecheng-4951	179	32	,	,	PUNCT
fumecheng-4951	179	33	paper	paper	NOUN
fumecheng-4951	179	34	10	10	NUM
fumecheng-4951	179	35	-	-	SYM
fumecheng-4951	179	36	3	3	NUM
fumecheng-4951	179	37	,	,	PUNCT
fumecheng-4951	179	38	pp	pp	ADJ
fumecheng-4951	179	39	.	.	PUNCT
fumecheng-4951	180	1	175	175	NUM
fumecheng-4951	180	2	-	-	SYM
fumecheng-4951	180	3	184	184	NUM
fumecheng-4951	180	4	.	.	NOUN
fumecheng-4951	181	1	15	15	NUM
fumecheng-4951	181	2	.	.	PUNCT
fumecheng-4951	182	1	li	li	PROPN
fumecheng-4951	182	2	,	,	PUNCT
fumecheng-4951	182	3	w.	w.	PROPN
fumecheng-4951	182	4	,	,	PUNCT
fumecheng-4951	182	5	cao	cao	PROPN
fumecheng-4951	182	6	,	,	PUNCT
fumecheng-4951	182	7	b.	b.	PROPN
fumecheng-4951	182	8	,	,	PUNCT
fumecheng-4951	182	9	zhu	zhu	PROPN
fumecheng-4951	182	10	,	,	PUNCT
fumecheng-4951	182	11	z.	z.	PROPN
fumecheng-4951	182	12	,	,	PUNCT
fumecheng-4951	182	13	chen	chen	PROPN
fumecheng-4951	182	14	,	,	PUNCT
fumecheng-4951	182	15	g.	g.	PROPN
fumecheng-4951	182	16	,	,	PUNCT
fumecheng-4951	182	17	2014	2014	NUM
fumecheng-4951	182	18	,	,	PUNCT
fumecheng-4951	182	19	a	a	DET
fumecheng-4951	182	20	novel	novel	ADJ
fumecheng-4951	182	21	energy	energy	NOUN
fumecheng-4951	182	22	recovery	recovery	NOUN
fumecheng-4951	182	23	system	system	NOUN
fumecheng-4951	182	24	for	for	ADP
fumecheng-4951	182	25	parallel	parallel	ADJ
fumecheng-4951	182	26	hybrid	hybrid	ADJ
fumecheng-4951	182	27	hydraulic	hydraulic	ADJ
fumecheng-4951	182	28	excavator	excavator	NOUN
fumecheng-4951	182	29	,	,	PUNCT
fumecheng-4951	182	30	the	the	DET
fumecheng-4951	182	31	scientific	scientific	ADJ
fumecheng-4951	182	32	world	world	NOUN
fumecheng-4951	182	33	journal	journal	NOUN
fumecheng-4951	182	34	,	,	PUNCT
fumecheng-4951	182	35	2014	2014	NUM
fumecheng-4951	182	36	,	,	PUNCT
fumecheng-4951	182	37	article	article	NOUN
fumecheng-4951	182	38	i	i	PROPN
fumecheng-4951	182	39	d	d	PROPN
fumecheng-4951	182	40	184909	184909	NUM
fumecheng-4951	182	41	,	,	PUNCT
fumecheng-4951	182	42	pp	pp	ADJ
fumecheng-4951	182	43	.	.	PUNCT
fumecheng-4951	183	1	1	1	NUM
fumecheng-4951	183	2	-	-	SYM
fumecheng-4951	183	3	14	14	NUM
fumecheng-4951	183	4	.	.	PUNCT
fumecheng-4951	184	1	16	16	NUM
fumecheng-4951	184	2	.	.	PUNCT
fumecheng-4951	185	1	jovanović	jovanović	PROPN
fumecheng-4951	185	2	,	,	PUNCT
fumecheng-4951	185	3	v.	v.	ADV
fumecheng-4951	185	4	,	,	PUNCT
fumecheng-4951	185	5	janošević	janošević	PROPN
fumecheng-4951	185	6	,	,	PUNCT
fumecheng-4951	185	7	d.	d.	PROPN
fumecheng-4951	185	8	,	,	PUNCT
fumecheng-4951	185	9	petrović	petrović	NOUN
fumecheng-4951	185	10	,	,	PUNCT
fumecheng-4951	185	11	n.	n.	NOUN
fumecheng-4951	185	12	,	,	PUNCT
fumecheng-4951	185	13	2014	2014	NUM
fumecheng-4951	185	14	,	,	PUNCT
fumecheng-4951	185	15	experimental	experimental	ADJ
fumecheng-4951	185	16	determination	determination	NOUN
fumecheng-4951	185	17	of	of	ADP
fumecheng-4951	185	18	bearing	bear	VERB
fumecheng-4951	185	19	loads	load	NOUN
fumecheng-4951	185	20	in	in	ADP
fumecheng-4951	185	21	rotating	rotate	VERB
fumecheng-4951	185	22	platform	platform	NOUN
fumecheng-4951	185	23	drive	drive	NOUN
fumecheng-4951	185	24	mechanisms	mechanism	NOUN
fumecheng-4951	185	25	of	of	ADP
fumecheng-4951	185	26	hydraulic	hydraulic	ADJ
fumecheng-4951	185	27	excavators	excavator	NOUN
fumecheng-4951	185	28	,	,	PUNCT
fumecheng-4951	185	29	facta	facta	PROPN
fumecheng-4951	185	30	univesitatis	univesitatis	NOUN
fumecheng-4951	185	31	-	-	PUNCT
fumecheng-4951	185	32	series	series	NOUN
fumecheng-4951	185	33	mechanical	mechanical	ADJ
fumecheng-4951	185	34	engineering	engineering	NOUN
fumecheng-4951	185	35	,	,	PUNCT
fumecheng-4951	185	36	12(2	12(2	NUM
fumecheng-4951	185	37	)	)	PUNCT
fumecheng-4951	185	38	,	,	PUNCT
fumecheng-4951	185	39	pp	pp	PROPN
fumecheng-4951	185	40	.	.	PUNCT
fumecheng-4951	186	1	157	157	NUM
fumecheng-4951	186	2	-	-	SYM
fumecheng-4951	186	3	169	169	NUM
fumecheng-4951	186	4	.	.	PUNCT
fumecheng-4951	187	1	17	17	NUM
fumecheng-4951	187	2	.	.	PUNCT
fumecheng-4951	188	1	jovanović	jovanović	PROPN
fumecheng-4951	188	2	,	,	PUNCT
fumecheng-4951	188	3	v.	v.	ADV
fumecheng-4951	188	4	,	,	PUNCT
fumecheng-4951	188	5	janošević	janošević	PROPN
fumecheng-4951	188	6	,	,	PUNCT
fumecheng-4951	188	7	d.	d.	PROPN
fumecheng-4951	188	8	,	,	PUNCT
fumecheng-4951	188	9	pavlović	pavlović	VERB
fumecheng-4951	188	10	,	,	PUNCT
fumecheng-4951	188	11	j.	j.	PROPN
fumecheng-4951	188	12	,	,	PUNCT
fumecheng-4951	188	13	petrović	petrović	NOUN
fumecheng-4951	188	14	,	,	PUNCT
fumecheng-4951	188	15	n.	n.	NOUN
fumecheng-4951	188	16	,	,	PUNCT
fumecheng-4951	188	17	2014	2014	NUM
fumecheng-4951	188	18	,	,	PUNCT
fumecheng-4951	188	19	definition	definition	NOUN
fumecheng-4951	188	20	of	of	ADP
fumecheng-4951	188	21	directed	direct	VERB
fumecheng-4951	188	22	digging	dig	VERB
fumecheng-4951	188	23	force	force	NOUN
fumecheng-4951	188	24	for	for	ADP
fumecheng-4951	188	25	assessment	assessment	NOUN
fumecheng-4951	188	26	of	of	ADP
fumecheng-4951	188	27	the	the	DET
fumecheng-4951	188	28	hydraulic	hydraulic	ADJ
fumecheng-4951	188	29	excavator	excavator	NOUN
fumecheng-4951	188	30	work	work	NOUN
fumecheng-4951	188	31	,	,	PUNCT
fumecheng-4951	188	32	the	the	DET
fumecheng-4951	188	33	8th	8th	ADJ
fumecheng-4951	188	34	international	international	ADJ
fumecheng-4951	188	35	symposium	symposium	NOUN
fumecheng-4951	188	36	kod	kod	PROPN
fumecheng-4951	188	37	2014	2014	NUM
fumecheng-4951	188	38	,	,	PUNCT
fumecheng-4951	188	39	faculty	faculty	NOUN
fumecheng-4951	188	40	of	of	ADP
fumecheng-4951	188	41	tehnical	tehnical	ADJ
fumecheng-4951	188	42	sciences	science	NOUN
fumecheng-4951	188	43	,	,	PUNCT
fumecheng-4951	188	44	university	university	NOUN
fumecheng-4951	188	45	of	of	ADP
fumecheng-4951	188	46	novi	novi	PROPN
fumecheng-4951	188	47	sad	sad	ADJ
fumecheng-4951	188	48	slovak	slovak	ADJ
fumecheng-4951	188	49	university	university	PROPN
fumecheng-4951	188	50	of	of	ADP
fumecheng-4951	188	51	technology	technology	NOUN
fumecheng-4951	188	52	in	in	ADP
fumecheng-4951	188	53	bratislava	bratislava	PROPN
fumecheng-4951	188	54	international	international	PROPN
fumecheng-4951	188	55	federation	federation	PROPN
fumecheng-4951	188	56	for	for	ADP
fumecheng-4951	188	57	the	the	DET
fumecheng-4951	188	58	promotion	promotion	NOUN
fumecheng-4951	188	59	of	of	ADP
fumecheng-4951	188	60	mechanism	mechanism	NOUN
fumecheng-4951	188	61	and	and	CCONJ
fumecheng-4951	188	62	machine	machine	NOUN
fumecheng-4951	188	63	science	science	NOUN
fumecheng-4951	188	64	–	–	PUNCT
fumecheng-4951	188	65	iftomm	iftomm	PROPN
fumecheng-4951	188	66	association	association	PROPN
fumecheng-4951	188	67	for	for	ADP
fumecheng-4951	188	68	design	design	NOUN
fumecheng-4951	188	69	,	,	PUNCT
fumecheng-4951	188	70	elements	element	NOUN
fumecheng-4951	188	71	and	and	CCONJ
fumecheng-4951	188	72	constructions	construction	NOUN
fumecheng-4951	188	73	–	–	PUNCT
fumecheng-4951	188	74	adeko	adeko	NOUN
fumecheng-4951	188	75	,	,	PUNCT
fumecheng-4951	188	76	pp	pp	ADJ
fumecheng-4951	188	77	.	.	PUNCT
fumecheng-4951	189	1	51	51	NUM
fumecheng-4951	189	2	-	-	SYM
fumecheng-4951	189	3	54	54	NUM
fumecheng-4951	189	4	.	.	PUNCT
fumecheng-4951	190	1	18	18	NUM
fumecheng-4951	190	2	.	.	PUNCT
fumecheng-4951	190	3	janošević	janošević	PROPN
fumecheng-4951	190	4	,	,	PUNCT
fumecheng-4951	190	5	d.	d.	PROPN
fumecheng-4951	190	6	,	,	PUNCT
fumecheng-4951	190	7	pavlović	pavlović	VERB
fumecheng-4951	190	8	,	,	PUNCT
fumecheng-4951	190	9	j.	j.	PROPN
fumecheng-4951	190	10	,	,	PUNCT
fumecheng-4951	190	11	jovanović	jovanović	PROPN
fumecheng-4951	190	12	,	,	PUNCT
fumecheng-4951	190	13	v.	v.	ADV
fumecheng-4951	190	14	,	,	PUNCT
fumecheng-4951	190	15	petrović	petrović	NOUN
fumecheng-4951	190	16	,	,	PUNCT
fumecheng-4951	190	17	g.	g.	NOUN
fumecheng-4951	190	18	,	,	PUNCT
fumecheng-4951	190	19	2018	2018	NUM
fumecheng-4951	190	20	,	,	PUNCT
fumecheng-4951	190	21	a	a	DET
fumecheng-4951	190	22	numerical	numerical	ADJ
fumecheng-4951	190	23	and	and	CCONJ
fumecheng-4951	190	24	experimental	experimental	ADJ
fumecheng-4951	190	25	analysis	analysis	NOUN
fumecheng-4951	190	26	of	of	ADP
fumecheng-4951	190	27	the	the	DET
fumecheng-4951	190	28	dynamic	dynamic	ADJ
fumecheng-4951	190	29	stability	stability	NOUN
fumecheng-4951	190	30	of	of	ADP
fumecheng-4951	190	31	hydraulic	hydraulic	ADJ
fumecheng-4951	190	32	excavators	excavator	NOUN
fumecheng-4951	190	33	,	,	PUNCT
fumecheng-4951	190	34	facta	facta	PROPN
fumecheng-4951	190	35	univesitatis	univesitatis	NOUN
fumecheng-4951	190	36	-	-	PUNCT
fumecheng-4951	190	37	series	series	NOUN
fumecheng-4951	190	38	mechanical	mechanical	ADJ
fumecheng-4951	190	39	engineering	engineering	NOUN
fumecheng-4951	190	40	,	,	PUNCT
fumecheng-4951	190	41	16(2	16(2	NUM
fumecheng-4951	190	42	)	)	PUNCT
fumecheng-4951	190	43	,	,	PUNCT
fumecheng-4951	191	1	pp	pp	ADP
fumecheng-4951	191	2	.	.	PUNCT
fumecheng-4951	192	1	157	157	NUM
fumecheng-4951	192	2	-	-	SYM
fumecheng-4951	192	3	170	170	NUM
fumecheng-4951	192	4	.	.	PUNCT
fumecheng-4951	193	1	19	19	NUM
fumecheng-4951	193	2	.	.	X
fumecheng-4951	194	1	jovanović	jovanović	PROPN
fumecheng-4951	194	2	,	,	PUNCT
fumecheng-4951	194	3	v.	v.	ADV
fumecheng-4951	194	4	,	,	PUNCT
fumecheng-4951	194	5	janošević	janošević	PROPN
fumecheng-4951	194	6	,	,	PUNCT
fumecheng-4951	194	7	d.	d.	PROPN
fumecheng-4951	194	8	,	,	PUNCT
fumecheng-4951	194	9	marinković	marinković	PROPN
fumecheng-4951	194	10	,	,	PUNCT
fumecheng-4951	194	11	d.	d.	PROPN
fumecheng-4951	194	12	,	,	PUNCT
fumecheng-4951	194	13	2015	2015	NUM
fumecheng-4951	194	14	,	,	PUNCT
fumecheng-4951	194	15	determination	determination	NOUN
fumecheng-4951	194	16	of	of	ADP
fumecheng-4951	194	17	the	the	DET
fumecheng-4951	194	18	load	load	NOUN
fumecheng-4951	194	19	acting	act	VERB
fumecheng-4951	194	20	on	on	ADP
fumecheng-4951	194	21	the	the	DET
fumecheng-4951	194	22	axial	axial	ADJ
fumecheng-4951	194	23	bearing	bearing	NOUN
fumecheng-4951	194	24	of	of	ADP
fumecheng-4951	194	25	a	a	DET
fumecheng-4951	194	26	slewing	slew	VERB
fumecheng-4951	194	27	platform	platform	NOUN
fumecheng-4951	194	28	drive	drive	NOUN
fumecheng-4951	194	29	in	in	ADP
fumecheng-4951	194	30	hydraulic	hydraulic	ADJ
fumecheng-4951	194	31	excavators	excavator	NOUN
fumecheng-4951	194	32	,	,	PUNCT
fumecheng-4951	194	33	acta	acta	PROPN
fumecheng-4951	194	34	polytechnica	polytechnica	PROPN
fumecheng-4951	194	35	hungarica	hungarica	PROPN
fumecheng-4951	194	36	,	,	PUNCT
fumecheng-4951	194	37	12(1	12(1	NUM
fumecheng-4951	194	38	)	)	PUNCT
fumecheng-4951	194	39	,	,	PUNCT
fumecheng-4951	194	40	pp	pp	ADJ
fumecheng-4951	194	41	.	.	PUNCT
fumecheng-4951	195	1	5	5	NUM
fumecheng-4951	195	2	-	-	SYM
fumecheng-4951	195	3	22	22	NUM
fumecheng-4951	195	4	.	.	PUNCT
fumecheng-4951	196	1	20	20	NUM
fumecheng-4951	196	2	.	.	PUNCT
fumecheng-4951	196	3	janošević	janošević	PROPN
fumecheng-4951	196	4	,	,	PUNCT
fumecheng-4951	196	5	d.	d.	PROPN
fumecheng-4951	196	6	,	,	PUNCT
fumecheng-4951	196	7	jovanović	jovanović	PROPN
fumecheng-4951	196	8	,	,	PUNCT
fumecheng-4951	196	9	v.	v.	ADP
fumecheng-4951	196	10	,	,	PUNCT
fumecheng-4951	196	11	2015	2015	NUM
fumecheng-4951	196	12	,	,	PUNCT
fumecheng-4951	196	13	synthesis	synthesis	NOUN
fumecheng-4951	196	14	of	of	ADP
fumecheng-4951	196	15	drive	drive	ADJ
fumecheng-4951	196	16	mechanisms	mechanism	NOUN
fumecheng-4951	196	17	of	of	ADP
fumecheng-4951	196	18	a	a	DET
fumecheng-4951	196	19	hydraulic	hydraulic	ADJ
fumecheng-4951	196	20	excavator	excavator	NOUN
fumecheng-4951	196	21	,	,	PUNCT
fumecheng-4951	196	22	monograph	monograph	NOUN
fumecheng-4951	196	23	,	,	PUNCT
fumecheng-4951	196	24	(	(	PUNCT
fumecheng-4951	196	25	in	in	ADP
fumecheng-4951	196	26	serbian	serbian	ADJ
fumecheng-4951	196	27	)	)	PUNCT
fumecheng-4951	196	28	,	,	PUNCT
fumecheng-4951	196	29	university	university	NOUN
fumecheng-4951	196	30	of	of	ADP
fumecheng-4951	196	31	niš	niš	PROPN
fumecheng-4951	196	32	,	,	PUNCT
fumecheng-4951	196	33	faculty	faculty	NOUN
fumecheng-4951	196	34	of	of	ADP
fumecheng-4951	196	35	mechanical	mechanical	ADJ
fumecheng-4951	196	36	engineering	engineering	NOUN
fumecheng-4951	196	37	.	.	PUNCT
fumecheng-4951	197	1	21	21	NUM
fumecheng-4951	197	2	.	.	PUNCT
fumecheng-4951	198	1	catalog	catalog	PROPN
fumecheng-4951	198	2	thyssenkrupp	thyssenkrupp	PROPN
fumecheng-4951	198	3	rothe	rothe	PROPN
fumecheng-4951	198	4	erde	erde	PROPN
fumecheng-4951	198	5	,	,	PUNCT
fumecheng-4951	198	6	slewing	slewing	NOUN
fumecheng-4951	198	7	bearings	bearing	NOUN
fumecheng-4951	198	8	,	,	PUNCT
fumecheng-4951	198	9	2007	2007	NUM
fumecheng-4951	198	10	,	,	PUNCT
fumecheng-4951	198	11	gmbh	gmbh	PROPN
fumecheng-4951	198	12	d-44137	d-44137	PROPN
fumecheng-4951	198	13	dortmund	dortmund	PROPN
fumecheng-4951	198	14	.	.	PUNCT
fumecheng-4951	199	1	22	22	NUM
fumecheng-4951	199	2	.	.	PUNCT
fumecheng-4951	200	1	pavlović	pavlović	NOUN
fumecheng-4951	200	2	,	,	PUNCT
fumecheng-4951	200	3	j.	j.	PROPN
fumecheng-4951	200	4	,	,	PUNCT
fumecheng-4951	200	5	janošević	janošević	PROPN
fumecheng-4951	200	6	,	,	PUNCT
fumecheng-4951	200	7	d.	d.	PROPN
fumecheng-4951	200	8	,	,	PUNCT
fumecheng-4951	200	9	jovanović	jovanović	PROPN
fumecheng-4951	200	10	,	,	PUNCT
fumecheng-4951	200	11	v.	v.	ADP
fumecheng-4951	200	12	,	,	PUNCT
fumecheng-4951	200	13	2018	2018	NUM
fumecheng-4951	200	14	,	,	PUNCT
fumecheng-4951	200	15	optimization	optimization	NOUN
fumecheng-4951	200	16	of	of	ADP
fumecheng-4951	200	17	a	a	DET
fumecheng-4951	200	18	loader	loader	NOUN
fumecheng-4951	200	19	mechanism	mechanism	NOUN
fumecheng-4951	200	20	on	on	ADP
fumecheng-4951	200	21	the	the	DET
fumecheng-4951	200	22	basis	basis	NOUN
fumecheng-4951	200	23	of	of	ADP
fumecheng-4951	200	24	the	the	DET
fumecheng-4951	200	25	directed	direct	VERB
fumecheng-4951	200	26	digging	digging	NOUN
fumecheng-4951	200	27	force	force	NOUN
fumecheng-4951	200	28	,	,	PUNCT
fumecheng-4951	200	29	iranian	iranian	ADJ
fumecheng-4951	200	30	journal	journal	PROPN
fumecheng-4951	200	31	of	of	ADP
fumecheng-4951	200	32	science	science	NOUN
fumecheng-4951	200	33	and	and	CCONJ
fumecheng-4951	200	34	technology	technology	NOUN
fumecheng-4951	200	35	,	,	PUNCT
fumecheng-4951	200	36	transactions	transaction	NOUN
fumecheng-4951	200	37	of	of	ADP
fumecheng-4951	200	38	mechanical	mechanical	ADJ
fumecheng-4951	200	39	engineering	engineering	NOUN
fumecheng-4951	200	40	,	,	PUNCT
fumecheng-4951	200	41	doi	doi	NOUN
fumecheng-4951	200	42	:	:	PUNCT
fumecheng-4951	200	43	10.1007	10.1007	NUM
fumecheng-4951	200	44	/	/	SYM
fumecheng-4951	200	45	s40997	s40997	NOUN
fumecheng-4951	200	46	-	-	PUNCT
fumecheng-4951	200	47	018	018	NUM
fumecheng-4951	200	48	-	-	PUNCT
fumecheng-4951	200	49	0236	0236	NUM
fumecheng-4951	200	50	-	-	PUNCT
fumecheng-4951	200	51	z.	z.	PROPN