id	sid	tid	token	lemma	pos
fumecheng-94	1	1	plane	plane	NOUN
fumecheng-94	1	2	thermoelastic	thermoelastic	ADJ
fumecheng-94	1	3	waves	wave	NOUN
fumecheng-94	1	4	in	in	ADP
fumecheng-94	1	5	infinite	infinite	ADJ
fumecheng-94	1	6	half	half	ADJ
fumecheng-94	1	7	-	-	PUNCT
fumecheng-94	1	8	space	space	NOUN
fumecheng-94	1	9	caused	cause	VERB
fumecheng-94	1	10	facta	facta	PROPN
fumecheng-94	1	11	universitatis	universitatis	PROPN
fumecheng-94	1	12	series	series	NOUN
fumecheng-94	1	13	:	:	PUNCT
fumecheng-94	1	14	mechanical	mechanical	ADJ
fumecheng-94	1	15	engineering	engineering	NOUN
fumecheng-94	1	16	vol	vol	NOUN
fumecheng-94	1	17	.	.	PUNCT
fumecheng-94	2	1	11	11	NUM
fumecheng-94	2	2	,	,	PUNCT
fumecheng-94	2	3	no	no	DET
fumecheng-94	2	4	2	2	NUM
fumecheng-94	2	5	,	,	PUNCT
fumecheng-94	2	6	2013	2013	NUM
fumecheng-94	2	7	,	,	PUNCT
fumecheng-94	2	8	pp	pp	ADJ
fumecheng-94	2	9	.	.	PUNCT
fumecheng-94	3	1	153	153	NUM
fumecheng-94	3	2	168	168	NUM
fumecheng-94	3	3	software	software	NOUN
fumecheng-94	3	4	for	for	ADP
fumecheng-94	3	5	synthesis	synthesis	NOUN
fumecheng-94	3	6	of	of	ADP
fumecheng-94	3	7	compliant	compliant	ADJ
fumecheng-94	3	8	mechanisms	mechanism	NOUN
fumecheng-94	3	9	without	without	ADP
fumecheng-94	3	10	intersecting	intersect	VERB
fumecheng-94	3	11	elements	element	NOUN
fumecheng-94	3	12			PUNCT
fumecheng-94	3	13	udc	udc	NOUN
fumecheng-94	3	14	621	621	NUM
fumecheng-94	3	15	+	+	NOUN
fumecheng-94	3	16	004.42	004.42	NUM
fumecheng-94	3	17	;	;	PUNCT
fumecheng-94	3	18	515.1	515.1	NUM
fumecheng-94	3	19	;	;	PUNCT
fumecheng-94	3	20	62	62	NUM
fumecheng-94	3	21	-	-	SYM
fumecheng-94	3	22	4	4	NUM
fumecheng-94	3	23	andrija	andrija	NOUN
fumecheng-94	3	24	milojević	milojević	NOUN
fumecheng-94	3	25	,	,	PUNCT
fumecheng-94	3	26	nenad	nenad	PROPN
fumecheng-94	3	27	d.	d.	PROPN
fumecheng-94	3	28	pavlović	pavlović	PROPN
fumecheng-94	3	29	university	university	PROPN
fumecheng-94	3	30	of	of	ADP
fumecheng-94	3	31	niš	niš	PROPN
fumecheng-94	3	32	,	,	PUNCT
fumecheng-94	3	33	faculty	faculty	NOUN
fumecheng-94	3	34	of	of	ADP
fumecheng-94	3	35	mechanical	mechanical	ADJ
fumecheng-94	3	36	engineering	engineering	NOUN
fumecheng-94	3	37	,	,	PUNCT
fumecheng-94	3	38	niš	niš	NOUN
fumecheng-94	3	39	,	,	PUNCT
fumecheng-94	3	40	serbia	serbia	PROPN
fumecheng-94	3	41	abstract	abstract	ADJ
fumecheng-94	3	42	.	.	PUNCT
fumecheng-94	4	1	a	a	DET
fumecheng-94	4	2	compliant	compliant	ADJ
fumecheng-94	4	3	mechanism	mechanism	NOUN
fumecheng-94	4	4	is	be	AUX
fumecheng-94	4	5	defined	define	VERB
fumecheng-94	4	6	as	as	ADP
fumecheng-94	4	7	a	a	DET
fumecheng-94	4	8	single	single	ADJ
fumecheng-94	4	9	-	-	PUNCT
fumecheng-94	4	10	piece	piece	NOUN
fumecheng-94	4	11	structure	structure	NOUN
fumecheng-94	4	12	that	that	PRON
fumecheng-94	4	13	transfers	transfer	VERB
fumecheng-94	4	14	motion	motion	NOUN
fumecheng-94	4	15	or	or	CCONJ
fumecheng-94	4	16	force	force	NOUN
fumecheng-94	4	17	through	through	ADP
fumecheng-94	4	18	elastic	elastic	ADJ
fumecheng-94	4	19	deformation	deformation	NOUN
fumecheng-94	4	20	.	.	PUNCT
fumecheng-94	5	1	the	the	DET
fumecheng-94	5	2	synthesis	synthesis	NOUN
fumecheng-94	5	3	of	of	ADP
fumecheng-94	5	4	this	this	DET
fumecheng-94	5	5	kind	kind	NOUN
fumecheng-94	5	6	of	of	ADP
fumecheng-94	5	7	mechanisms	mechanism	NOUN
fumecheng-94	5	8	represents	represent	VERB
fumecheng-94	5	9	a	a	DET
fumecheng-94	5	10	challenging	challenging	ADJ
fumecheng-94	5	11	task	task	NOUN
fumecheng-94	5	12	,	,	PUNCT
fumecheng-94	5	13	especially	especially	ADV
fumecheng-94	5	14	because	because	SCONJ
fumecheng-94	5	15	their	their	PRON
fumecheng-94	5	16	flexible	flexible	ADJ
fumecheng-94	5	17	segments	segment	NOUN
fumecheng-94	5	18	usually	usually	ADV
fumecheng-94	5	19	must	must	AUX
fumecheng-94	5	20	undergo	undergo	VERB
fumecheng-94	5	21	large	large	ADJ
fumecheng-94	5	22	,	,	PUNCT
fumecheng-94	5	23	nonlinear	nonlinear	ADJ
fumecheng-94	5	24	deflections	deflection	NOUN
fumecheng-94	5	25	which	which	PRON
fumecheng-94	5	26	include	include	VERB
fumecheng-94	5	27	a	a	DET
fumecheng-94	5	28	difficult	difficult	ADJ
fumecheng-94	5	29	nonlinear	nonlinear	ADJ
fumecheng-94	5	30	analysis	analysis	NOUN
fumecheng-94	5	31	.	.	PUNCT
fumecheng-94	6	1	in	in	ADP
fumecheng-94	6	2	this	this	DET
fumecheng-94	6	3	paper	paper	NOUN
fumecheng-94	6	4	the	the	DET
fumecheng-94	6	5	new	new	ADJ
fumecheng-94	6	6	software	software	NOUN
fumecheng-94	6	7	for	for	ADP
fumecheng-94	6	8	synthesis	synthesis	NOUN
fumecheng-94	6	9	of	of	ADP
fumecheng-94	6	10	compliant	compliant	ADJ
fumecheng-94	6	11	mechanisms	mechanism	NOUN
fumecheng-94	6	12	is	be	AUX
fumecheng-94	6	13	described	describe	VERB
fumecheng-94	6	14	.	.	PUNCT
fumecheng-94	7	1	the	the	DET
fumecheng-94	7	2	software	software	NOUN
fumecheng-94	7	3	uses	use	VERB
fumecheng-94	7	4	an	an	DET
fumecheng-94	7	5	improved	improve	VERB
fumecheng-94	7	6	topology	topology	NOUN
fumecheng-94	7	7	optimization	optimization	NOUN
fumecheng-94	7	8	technique	technique	NOUN
fumecheng-94	7	9	that	that	PRON
fumecheng-94	7	10	is	be	AUX
fumecheng-94	7	11	especially	especially	ADV
fumecheng-94	7	12	useful	useful	ADJ
fumecheng-94	7	13	when	when	SCONJ
fumecheng-94	7	14	the	the	DET
fumecheng-94	7	15	designer	designer	NOUN
fumecheng-94	7	16	does	do	AUX
fumecheng-94	7	17	not	not	PART
fumecheng-94	7	18	have	have	VERB
fumecheng-94	7	19	a	a	DET
fumecheng-94	7	20	particular	particular	ADJ
fumecheng-94	7	21	compliant	compliant	ADJ
fumecheng-94	7	22	mechanism	mechanism	NOUN
fumecheng-94	7	23	already	already	ADV
fumecheng-94	7	24	in	in	ADP
fumecheng-94	7	25	mind	mind	NOUN
fumecheng-94	7	26	.	.	PUNCT
fumecheng-94	8	1	the	the	DET
fumecheng-94	8	2	intersection	intersection	NOUN
fumecheng-94	8	3	between	between	ADP
fumecheng-94	8	4	the	the	DET
fumecheng-94	8	5	elements	element	NOUN
fumecheng-94	8	6	in	in	ADP
fumecheng-94	8	7	the	the	DET
fumecheng-94	8	8	compliant	compliant	ADJ
fumecheng-94	8	9	mechanisms	mechanism	NOUN
fumecheng-94	8	10	obtained	obtain	VERB
fumecheng-94	8	11	by	by	ADP
fumecheng-94	8	12	using	use	VERB
fumecheng-94	8	13	the	the	DET
fumecheng-94	8	14	existing	exist	VERB
fumecheng-94	8	15	topology	topology	NOUN
fumecheng-94	8	16	optimization	optimization	NOUN
fumecheng-94	8	17	technique	technique	NOUN
fumecheng-94	8	18	often	often	ADV
fumecheng-94	8	19	increases	increase	VERB
fumecheng-94	8	20	stiffness	stiffness	NOUN
fumecheng-94	8	21	of	of	ADP
fumecheng-94	8	22	the	the	DET
fumecheng-94	8	23	structure	structure	NOUN
fumecheng-94	8	24	which	which	PRON
fumecheng-94	8	25	needs	need	VERB
fumecheng-94	8	26	to	to	PART
fumecheng-94	8	27	be	be	AUX
fumecheng-94	8	28	flexible	flexible	ADJ
fumecheng-94	8	29	.	.	PUNCT
fumecheng-94	9	1	the	the	DET
fumecheng-94	9	2	topology	topology	NOUN
fumecheng-94	9	3	optimization	optimization	NOUN
fumecheng-94	9	4	technique	technique	NOUN
fumecheng-94	9	5	is	be	AUX
fumecheng-94	9	6	improved	improve	VERB
fumecheng-94	9	7	in	in	ADP
fumecheng-94	9	8	the	the	DET
fumecheng-94	9	9	software	software	NOUN
fumecheng-94	9	10	so	so	SCONJ
fumecheng-94	9	11	that	that	SCONJ
fumecheng-94	9	12	compliant	compliant	ADJ
fumecheng-94	9	13	mechanisms	mechanism	NOUN
fumecheng-94	9	14	without	without	ADP
fumecheng-94	9	15	intersecting	intersect	VERB
fumecheng-94	9	16	elements	element	NOUN
fumecheng-94	9	17	are	be	AUX
fumecheng-94	9	18	obtained	obtain	VERB
fumecheng-94	9	19	.	.	PUNCT
fumecheng-94	10	1	the	the	DET
fumecheng-94	10	2	methodology	methodology	NOUN
fumecheng-94	10	3	that	that	PRON
fumecheng-94	10	4	the	the	DET
fumecheng-94	10	5	software	software	NOUN
fumecheng-94	10	6	uses	use	VERB
fumecheng-94	10	7	and	and	CCONJ
fumecheng-94	10	8	its	its	PRON
fumecheng-94	10	9	capability	capability	NOUN
fumecheng-94	10	10	will	will	AUX
fumecheng-94	10	11	be	be	AUX
fumecheng-94	10	12	shown	show	VERB
fumecheng-94	10	13	on	on	ADP
fumecheng-94	10	14	the	the	DET
fumecheng-94	10	15	examples	example	NOUN
fumecheng-94	10	16	of	of	ADP
fumecheng-94	10	17	the	the	DET
fumecheng-94	10	18	synthesis	synthesis	NOUN
fumecheng-94	10	19	of	of	ADP
fumecheng-94	10	20	a	a	DET
fumecheng-94	10	21	compliant	compliant	ADJ
fumecheng-94	10	22	gripper	gripper	NOUN
fumecheng-94	10	23	and	and	CCONJ
fumecheng-94	10	24	a	a	DET
fumecheng-94	10	25	compliant	compliant	ADJ
fumecheng-94	10	26	displacement	displacement	ADJ
fumecheng-94	10	27	inverter	inverter	NOUN
fumecheng-94	10	28	.	.	PUNCT
fumecheng-94	11	1	key	key	ADJ
fumecheng-94	11	2	words	word	NOUN
fumecheng-94	11	3	:	:	PUNCT
fumecheng-94	11	4	compliant	compliant	ADJ
fumecheng-94	11	5	mechanism	mechanism	NOUN
fumecheng-94	11	6	,	,	PUNCT
fumecheng-94	11	7	synthesis	synthesis	NOUN
fumecheng-94	11	8	,	,	PUNCT
fumecheng-94	11	9	topology	topology	NOUN
fumecheng-94	11	10	optimization	optimization	NOUN
fumecheng-94	11	11	,	,	PUNCT
fumecheng-94	11	12	compliant	compliant	ADJ
fumecheng-94	11	13	gripper	gripper	NOUN
fumecheng-94	11	14	,	,	PUNCT
fumecheng-94	11	15	compliant	compliant	ADJ
fumecheng-94	11	16	displacement	displacement	ADJ
fumecheng-94	11	17	inverter	inverter	NOUN
fumecheng-94	11	18	1	1	NUM
fumecheng-94	11	19	.	.	PUNCT
fumecheng-94	12	1	introduction	introduction	NOUN
fumecheng-94	12	2	a	a	DET
fumecheng-94	12	3	compliant	compliant	ADJ
fumecheng-94	12	4	mechanism	mechanism	NOUN
fumecheng-94	12	5	can	can	AUX
fumecheng-94	12	6	be	be	AUX
fumecheng-94	12	7	defined	define	VERB
fumecheng-94	12	8	as	as	ADP
fumecheng-94	12	9	a	a	DET
fumecheng-94	12	10	single	single	ADJ
fumecheng-94	12	11	-	-	PUNCT
fumecheng-94	12	12	piece	piece	NOUN
fumecheng-94	12	13	flexible	flexible	ADJ
fumecheng-94	12	14	structure	structure	NOUN
fumecheng-94	12	15	which	which	PRON
fumecheng-94	12	16	uses	use	VERB
fumecheng-94	12	17	elastic	elastic	ADJ
fumecheng-94	12	18	deformation	deformation	NOUN
fumecheng-94	12	19	to	to	PART
fumecheng-94	12	20	achieve	achieve	VERB
fumecheng-94	12	21	force	force	NOUN
fumecheng-94	12	22	and	and	CCONJ
fumecheng-94	12	23	motion	motion	NOUN
fumecheng-94	12	24	transmission	transmission	NOUN
fumecheng-94	13	1	[	[	X
fumecheng-94	13	2	1	1	NUM
fumecheng-94	13	3	]	]	PUNCT
fumecheng-94	13	4	.	.	PUNCT
fumecheng-94	14	1	compliant	compliant	ADJ
fumecheng-94	14	2	mechanisms	mechanism	NOUN
fumecheng-94	14	3	differ	differ	VERB
fumecheng-94	14	4	from	from	ADP
fumecheng-94	14	5	conventional	conventional	ADJ
fumecheng-94	14	6	rigid	rigid	ADJ
fumecheng-94	14	7	-	-	PUNCT
fumecheng-94	14	8	link	link	NOUN
fumecheng-94	14	9	mechanisms	mechanism	NOUN
fumecheng-94	14	10	in	in	ADP
fumecheng-94	14	11	that	that	SCONJ
fumecheng-94	14	12	they	they	PRON
fumecheng-94	14	13	gain	gain	VERB
fumecheng-94	14	14	their	their	PRON
fumecheng-94	14	15	mobility	mobility	NOUN
fumecheng-94	14	16	from	from	ADP
fumecheng-94	14	17	the	the	DET
fumecheng-94	14	18	deflection	deflection	NOUN
fumecheng-94	14	19	of	of	ADP
fumecheng-94	14	20	the	the	DET
fumecheng-94	14	21	flexible	flexible	ADJ
fumecheng-94	14	22	members	member	NOUN
fumecheng-94	14	23	,	,	PUNCT
fumecheng-94	14	24	contain	contain	VERB
fumecheng-94	14	25	no	no	DET
fumecheng-94	14	26	pin	pin	NOUN
fumecheng-94	14	27	joints	joint	NOUN
fumecheng-94	14	28	and	and	CCONJ
fumecheng-94	14	29	are	be	AUX
fumecheng-94	14	30	intentionally	intentionally	ADV
fumecheng-94	14	31	flexible	flexible	ADJ
fumecheng-94	14	32	.	.	PUNCT
fumecheng-94	15	1	a	a	DET
fumecheng-94	15	2	compliant	compliant	ADJ
fumecheng-94	15	3	mechanism	mechanism	NOUN
fumecheng-94	15	4	is	be	AUX
fumecheng-94	15	5	a	a	DET
fumecheng-94	15	6	combination	combination	NOUN
fumecheng-94	15	7	of	of	ADP
fumecheng-94	15	8	a	a	DET
fumecheng-94	15	9	structure	structure	NOUN
fumecheng-94	15	10	and	and	CCONJ
fumecheng-94	15	11	a	a	DET
fumecheng-94	15	12	mechanism	mechanism	NOUN
fumecheng-94	15	13	,	,	PUNCT
fumecheng-94	15	14	since	since	SCONJ
fumecheng-94	15	15	the	the	DET
fumecheng-94	15	16	jointless	jointless	ADJ
fumecheng-94	15	17	feature	feature	NOUN
fumecheng-94	15	18	resembles	resemble	VERB
fumecheng-94	15	19	a	a	DET
fumecheng-94	15	20	structure	structure	NOUN
fumecheng-94	15	21	,	,	PUNCT
fumecheng-94	15	22	while	while	SCONJ
fumecheng-94	15	23	the	the	DET
fumecheng-94	15	24	function	function	NOUN
fumecheng-94	15	25	of	of	ADP
fumecheng-94	15	26	the	the	DET
fumecheng-94	15	27	structure	structure	NOUN
fumecheng-94	15	28	resembles	resemble	VERB
fumecheng-94	15	29	a	a	DET
fumecheng-94	15	30	mechanism	mechanism	NOUN
fumecheng-94	15	31	.	.	PUNCT
fumecheng-94	16	1	compliant	compliant	ADJ
fumecheng-94	16	2	mechanisms	mechanism	NOUN
fumecheng-94	16	3	are	be	AUX
fumecheng-94	16	4	designed	design	VERB
fumecheng-94	16	5	to	to	PART
fumecheng-94	16	6	be	be	AUX
fumecheng-94	16	7	flexible	flexible	ADJ
fumecheng-94	16	8	enough	enough	ADV
fumecheng-94	16	9	to	to	PART
fumecheng-94	16	10	transmit	transmit	VERB
fumecheng-94	16	11	motions	motion	NOUN
fumecheng-94	16	12	,	,	PUNCT
fumecheng-94	16	13	yet	yet	ADV
fumecheng-94	16	14	stiff	stiff	ADJ
fumecheng-94	16	15	enough	enough	ADV
fumecheng-94	16	16	to	to	PART
fumecheng-94	16	17	withstand	withstand	VERB
fumecheng-94	16	18	external	external	ADJ
fumecheng-94	16	19	loads	load	NOUN
fumecheng-94	16	20	.	.	PUNCT
fumecheng-94	17	1	the	the	DET
fumecheng-94	17	2	transition	transition	NOUN
fumecheng-94	17	3	from	from	ADP
fumecheng-94	17	4	the	the	DET
fumecheng-94	17	5	conventional	conventional	ADJ
fumecheng-94	17	6	mechanism	mechanism	NOUN
fumecheng-94	17	7	to	to	ADP
fumecheng-94	17	8	the	the	DET
fumecheng-94	17	9	compliant	compliant	NOUN
fumecheng-94	17	10			PUNCT
fumecheng-94	17	11	received	receive	VERB
fumecheng-94	17	12	december	december	PROPN
fumecheng-94	17	13	2	2	NUM
fumecheng-94	17	14	,	,	PUNCT
fumecheng-94	17	15	2013	2013	NUM
fumecheng-94	17	16	corresponding	correspond	VERB
fumecheng-94	17	17	author	author	NOUN
fumecheng-94	17	18	:	:	PUNCT
fumecheng-94	17	19	andrija	andrija	NOUN
fumecheng-94	17	20	milojević	milojević	NOUN
fumecheng-94	17	21	faculty	faculty	NOUN
fumecheng-94	17	22	of	of	ADP
fumecheng-94	17	23	mechanical	mechanical	ADJ
fumecheng-94	17	24	engineering	engineering	NOUN
fumecheng-94	17	25	,	,	PUNCT
fumecheng-94	17	26	a.	a.	PROPN
fumecheng-94	17	27	medvedeva	medvedeva	PROPN
fumecheng-94	17	28	14	14	NUM
fumecheng-94	17	29	,	,	PUNCT
fumecheng-94	17	30	18000	18000	NUM
fumecheng-94	17	31	niš	niš	NOUN
fumecheng-94	17	32	,	,	PUNCT
fumecheng-94	17	33	serbia	serbia	PROPN
fumecheng-94	17	34	e	e	NOUN
fumecheng-94	17	35	-	-	NOUN
fumecheng-94	17	36	mail	mail	NOUN
fumecheng-94	17	37	:	:	PUNCT
fumecheng-94	17	38	andrijamilojevic87@gmail.com	andrijamilojevic87@gmail.com	X
fumecheng-94	17	39	154	154	NUM
fumecheng-94	17	40	a.	a.	NOUN
fumecheng-94	17	41	milojević	milojević	NOUN
fumecheng-94	17	42	,	,	PUNCT
fumecheng-94	17	43	n.	n.	PROPN
fumecheng-94	17	44	d.	d.	PROPN
fumecheng-94	17	45	pavlović	pavlović	NOUN
fumecheng-94	17	46	one	one	NUM
fumecheng-94	17	47	is	be	AUX
fumecheng-94	17	48	shown	show	VERB
fumecheng-94	17	49	in	in	ADP
fumecheng-94	17	50	fig	fig	NOUN
fumecheng-94	17	51	.	.	PUNCT
fumecheng-94	18	1	1	1	X
fumecheng-94	18	2	.	.	X
fumecheng-94	18	3	the	the	DET
fumecheng-94	18	4	function	function	NOUN
fumecheng-94	18	5	of	of	ADP
fumecheng-94	18	6	both	both	CCONJ
fumecheng-94	18	7	the	the	DET
fumecheng-94	18	8	grippers	gripper	NOUN
fumecheng-94	18	9	is	be	AUX
fumecheng-94	18	10	to	to	PART
fumecheng-94	18	11	transfer	transfer	VERB
fumecheng-94	18	12	the	the	DET
fumecheng-94	18	13	input	input	NOUN
fumecheng-94	18	14	force	force	NOUN
fumecheng-94	18	15	to	to	ADP
fumecheng-94	18	16	the	the	DET
fumecheng-94	18	17	output	output	NOUN
fumecheng-94	18	18	and	and	CCONJ
fumecheng-94	18	19	to	to	PART
fumecheng-94	18	20	grasp	grasp	VERB
fumecheng-94	18	21	an	an	DET
fumecheng-94	18	22	object	object	NOUN
fumecheng-94	18	23	.	.	PUNCT
fumecheng-94	19	1	while	while	SCONJ
fumecheng-94	19	2	the	the	DET
fumecheng-94	19	3	rigid	rigid	ADJ
fumecheng-94	19	4	-	-	PUNCT
fumecheng-94	19	5	link	link	NOUN
fumecheng-94	19	6	gripper	gripper	NOUN
fumecheng-94	19	7	gains	gain	NOUN
fumecheng-94	19	8	functionality	functionality	NOUN
fumecheng-94	19	9	by	by	ADP
fumecheng-94	19	10	a	a	DET
fumecheng-94	19	11	rigid	rigid	ADJ
fumecheng-94	19	12	-	-	PUNCT
fumecheng-94	19	13	body	body	NOUN
fumecheng-94	19	14	mechanism	mechanism	NOUN
fumecheng-94	19	15	,	,	PUNCT
fumecheng-94	19	16	the	the	DET
fumecheng-94	19	17	compliant	compliant	ADJ
fumecheng-94	19	18	one	one	NUM
fumecheng-94	19	19	undergoes	undergo	VERB
fumecheng-94	19	20	elastic	elastic	ADJ
fumecheng-94	19	21	deformations	deformation	NOUN
fumecheng-94	19	22	due	due	ADP
fumecheng-94	19	23	to	to	ADP
fumecheng-94	19	24	an	an	DET
fumecheng-94	19	25	input	input	NOUN
fumecheng-94	19	26	actuation	actuation	NOUN
fumecheng-94	19	27	.	.	PUNCT
fumecheng-94	20	1	a	a	DET
fumecheng-94	20	2	)	)	PUNCT
fumecheng-94	20	3	b	b	NOUN
fumecheng-94	20	4	)	)	PUNCT
fumecheng-94	20	5	fig	fig	NOUN
fumecheng-94	20	6	.	.	PUNCT
fumecheng-94	21	1	1	1	NUM
fumecheng-94	21	2	a	a	X
fumecheng-94	21	3	)	)	PUNCT
fumecheng-94	21	4	rigid	rigid	ADJ
fumecheng-94	21	5	-	-	PUNCT
fumecheng-94	21	6	link	link	NOUN
fumecheng-94	21	7	gripper	gripper	NOUN
fumecheng-94	21	8	;	;	PUNCT
fumecheng-94	21	9	b	b	X
fumecheng-94	21	10	)	)	PUNCT
fumecheng-94	21	11	compliant	compliant	ADJ
fumecheng-94	21	12	gripper	gripper	NOUN
fumecheng-94	22	1	[	[	X
fumecheng-94	22	2	2	2	NUM
fumecheng-94	22	3	]	]	PUNCT
fumecheng-94	22	4	the	the	DET
fumecheng-94	22	5	main	main	ADJ
fumecheng-94	22	6	advantages	advantage	NOUN
fumecheng-94	22	7	of	of	ADP
fumecheng-94	22	8	compliant	compliant	ADJ
fumecheng-94	22	9	mechanisms	mechanism	NOUN
fumecheng-94	22	10	over	over	ADP
fumecheng-94	22	11	classical	classical	ADJ
fumecheng-94	22	12	ones	one	NOUN
fumecheng-94	22	13	are	be	AUX
fumecheng-94	22	14	:	:	PUNCT
fumecheng-94	22	15	simplified	simplified	ADJ
fumecheng-94	22	16	manufacturing	manufacturing	NOUN
fumecheng-94	22	17	,	,	PUNCT
fumecheng-94	22	18	reduced	reduce	VERB
fumecheng-94	22	19	assembly	assembly	NOUN
fumecheng-94	22	20	costs	cost	NOUN
fumecheng-94	22	21	,	,	PUNCT
fumecheng-94	22	22	no	no	DET
fumecheng-94	22	23	wear	wear	NOUN
fumecheng-94	22	24	,	,	PUNCT
fumecheng-94	22	25	no	no	DET
fumecheng-94	22	26	backlash	backlash	NOUN
fumecheng-94	22	27	,	,	PUNCT
fumecheng-94	22	28	reduced	reduced	ADJ
fumecheng-94	22	29	noise	noise	NOUN
fumecheng-94	22	30	,	,	PUNCT
fumecheng-94	22	31	easier	easy	ADJ
fumecheng-94	22	32	maintenance	maintenance	NOUN
fumecheng-94	22	33	,	,	PUNCT
fumecheng-94	22	34	no	no	DET
fumecheng-94	22	35	need	need	NOUN
fumecheng-94	22	36	for	for	ADP
fumecheng-94	22	37	lubrication	lubrication	NOUN
fumecheng-94	22	38	,	,	PUNCT
fumecheng-94	22	39	built	build	VERB
fumecheng-94	22	40	-	-	PUNCT
fumecheng-94	22	41	in	in	ADP
fumecheng-94	22	42	restoring	restore	VERB
fumecheng-94	22	43	force	force	NOUN
fumecheng-94	22	44	,	,	PUNCT
fumecheng-94	22	45	better	well	ADJ
fumecheng-94	22	46	scalability	scalability	NOUN
fumecheng-94	22	47	and	and	CCONJ
fumecheng-94	22	48	accuracy	accuracy	NOUN
fumecheng-94	22	49	.	.	PUNCT
fumecheng-94	23	1	because	because	SCONJ
fumecheng-94	23	2	of	of	ADP
fumecheng-94	23	3	these	these	DET
fumecheng-94	23	4	advantages	advantage	NOUN
fumecheng-94	23	5	compliant	compliant	ADJ
fumecheng-94	23	6	mechanisms	mechanism	NOUN
fumecheng-94	23	7	are	be	AUX
fumecheng-94	23	8	used	use	VERB
fumecheng-94	23	9	in	in	ADP
fumecheng-94	23	10	many	many	ADJ
fumecheng-94	23	11	applications	application	NOUN
fumecheng-94	23	12	including	include	VERB
fumecheng-94	23	13	manufacturing	manufacturing	NOUN
fumecheng-94	23	14	,	,	PUNCT
fumecheng-94	23	15	aerospace	aerospace	NOUN
fumecheng-94	23	16	,	,	PUNCT
fumecheng-94	23	17	robotics	robotic	NOUN
fumecheng-94	23	18	,	,	PUNCT
fumecheng-94	23	19	biomedical	biomedical	ADJ
fumecheng-94	23	20	devices	device	NOUN
fumecheng-94	23	21	,	,	PUNCT
fumecheng-94	23	22	mems	mem	NOUN
fumecheng-94	23	23	,	,	PUNCT
fumecheng-94	23	24	grippers	gripper	NOUN
fumecheng-94	23	25	,	,	PUNCT
fumecheng-94	23	26	motion	motion	NOUN
fumecheng-94	23	27	amplifiers	amplifier	NOUN
fumecheng-94	23	28	,	,	PUNCT
fumecheng-94	23	29	positioning	positioning	NOUN
fumecheng-94	23	30	devices	device	NOUN
fumecheng-94	23	31	,	,	PUNCT
fumecheng-94	23	32	adaptive	adaptive	ADJ
fumecheng-94	23	33	structures	structure	NOUN
fumecheng-94	23	34	,	,	PUNCT
fumecheng-94	23	35	shape	shape	VERB
fumecheng-94	23	36	morphing	morph	VERB
fumecheng-94	23	37	structures	structure	NOUN
fumecheng-94	23	38	,	,	PUNCT
fumecheng-94	23	39	surgical	surgical	ADJ
fumecheng-94	23	40	tools	tool	NOUN
fumecheng-94	23	41	,	,	PUNCT
fumecheng-94	23	42	etc	etc	X
fumecheng-94	23	43	.	.	X
fumecheng-94	24	1	(	(	PUNCT
fumecheng-94	24	2	see	see	VERB
fumecheng-94	24	3	e.g.	e.g.	ADV
fumecheng-94	24	4	[	[	X
fumecheng-94	24	5	2	2	NUM
fumecheng-94	24	6	]	]	PUNCT
fumecheng-94	24	7	,	,	PUNCT
fumecheng-94	24	8	[	[	X
fumecheng-94	24	9	3	3	NUM
fumecheng-94	24	10	]	]	PUNCT
fumecheng-94	24	11	,	,	PUNCT
fumecheng-94	24	12	[	[	X
fumecheng-94	24	13	4	4	NUM
fumecheng-94	24	14	]	]	NUM
fumecheng-94	24	15	)	)	PUNCT
fumecheng-94	24	16	.	.	PUNCT
fumecheng-94	25	1	the	the	DET
fumecheng-94	25	2	compliant	compliant	ADJ
fumecheng-94	25	3	mechanism	mechanism	NOUN
fumecheng-94	25	4	synthesis	synthesis	NOUN
fumecheng-94	25	5	represents	represent	VERB
fumecheng-94	25	6	a	a	DET
fumecheng-94	25	7	challenging	challenging	ADJ
fumecheng-94	25	8	task	task	NOUN
fumecheng-94	25	9	and	and	CCONJ
fumecheng-94	25	10	has	have	AUX
fumecheng-94	25	11	been	be	AUX
fumecheng-94	25	12	well	well	ADV
fumecheng-94	25	13	studied	study	VERB
fumecheng-94	25	14	in	in	ADP
fumecheng-94	25	15	the	the	DET
fumecheng-94	25	16	past	past	NOUN
fumecheng-94	25	17	[	[	X
fumecheng-94	25	18	5	5	NUM
fumecheng-94	25	19	]	]	PUNCT
fumecheng-94	25	20	,	,	PUNCT
fumecheng-94	25	21	[	[	X
fumecheng-94	25	22	6	6	NUM
fumecheng-94	25	23	]	]	PUNCT
fumecheng-94	25	24	.	.	PUNCT
fumecheng-94	26	1	the	the	DET
fumecheng-94	26	2	compliant	compliant	ADJ
fumecheng-94	26	3	mechanism	mechanism	NOUN
fumecheng-94	26	4	synthesis	synthesis	NOUN
fumecheng-94	26	5	is	be	AUX
fumecheng-94	26	6	not	not	PART
fumecheng-94	26	7	so	so	ADV
fumecheng-94	26	8	straightforward	straightforward	ADJ
fumecheng-94	26	9	because	because	SCONJ
fumecheng-94	26	10	the	the	DET
fumecheng-94	26	11	flexible	flexible	ADJ
fumecheng-94	26	12	segments	segment	NOUN
fumecheng-94	26	13	usually	usually	ADV
fumecheng-94	26	14	must	must	AUX
fumecheng-94	26	15	undergo	undergo	VERB
fumecheng-94	26	16	large	large	ADJ
fumecheng-94	26	17	,	,	PUNCT
fumecheng-94	26	18	nonlinear	nonlinear	ADJ
fumecheng-94	26	19	deflections	deflection	NOUN
fumecheng-94	26	20	,	,	PUNCT
fumecheng-94	26	21	introducing	introduce	VERB
fumecheng-94	26	22	high	high	ADJ
fumecheng-94	26	23	stresses	stress	NOUN
fumecheng-94	26	24	and	and	CCONJ
fumecheng-94	26	25	a	a	DET
fumecheng-94	26	26	difficult	difficult	ADJ
fumecheng-94	26	27	nonlinear	nonlinear	ADJ
fumecheng-94	26	28	analysis	analysis	NOUN
fumecheng-94	26	29	.	.	PUNCT
fumecheng-94	27	1	a	a	DET
fumecheng-94	27	2	nonlinear	nonlinear	ADJ
fumecheng-94	27	3	analysis	analysis	NOUN
fumecheng-94	27	4	usually	usually	ADV
fumecheng-94	27	5	includes	include	VERB
fumecheng-94	27	6	solving	solve	VERB
fumecheng-94	27	7	nonlinear	nonlinear	ADJ
fumecheng-94	27	8	differential	differential	ADJ
fumecheng-94	27	9	equations	equation	NOUN
fumecheng-94	27	10	for	for	ADP
fumecheng-94	27	11	accurate	accurate	ADJ
fumecheng-94	27	12	prediction	prediction	NOUN
fumecheng-94	27	13	of	of	ADP
fumecheng-94	27	14	flexible	flexible	ADJ
fumecheng-94	27	15	segments	segment	NOUN
fumecheng-94	27	16	motion	motion	NOUN
fumecheng-94	27	17	.	.	PUNCT
fumecheng-94	28	1	to	to	PART
fumecheng-94	28	2	include	include	VERB
fumecheng-94	28	3	the	the	DET
fumecheng-94	28	4	solutions	solution	NOUN
fumecheng-94	28	5	to	to	ADP
fumecheng-94	28	6	these	these	DET
fumecheng-94	28	7	equations	equation	NOUN
fumecheng-94	28	8	in	in	ADP
fumecheng-94	28	9	the	the	DET
fumecheng-94	28	10	design	design	NOUN
fumecheng-94	28	11	process	process	NOUN
fumecheng-94	28	12	would	would	AUX
fumecheng-94	28	13	be	be	AUX
fumecheng-94	28	14	tedious	tedious	ADJ
fumecheng-94	28	15	and	and	CCONJ
fumecheng-94	28	16	overly	overly	ADV
fumecheng-94	28	17	complex	complex	ADJ
fumecheng-94	28	18	,	,	PUNCT
fumecheng-94	28	19	thus	thus	ADV
fumecheng-94	28	20	it	it	PRON
fumecheng-94	28	21	is	be	AUX
fumecheng-94	28	22	efficient	efficient	ADJ
fumecheng-94	28	23	and	and	CCONJ
fumecheng-94	28	24	easy	easy	ADJ
fumecheng-94	28	25	to	to	PART
fumecheng-94	28	26	use	use	VERB
fumecheng-94	28	27	tools	tool	NOUN
fumecheng-94	28	28	for	for	ADP
fumecheng-94	28	29	compliant	compliant	ADJ
fumecheng-94	28	30	mechanism	mechanism	NOUN
fumecheng-94	28	31	synthesis	synthesis	NOUN
fumecheng-94	28	32	.	.	PUNCT
fumecheng-94	29	1	different	different	ADJ
fumecheng-94	29	2	methods	method	NOUN
fumecheng-94	29	3	are	be	AUX
fumecheng-94	29	4	used	use	VERB
fumecheng-94	29	5	for	for	ADP
fumecheng-94	29	6	the	the	DET
fumecheng-94	29	7	optimal	optimal	ADJ
fumecheng-94	29	8	synthesis	synthesis	NOUN
fumecheng-94	29	9	of	of	ADP
fumecheng-94	29	10	compliant	compliant	ADJ
fumecheng-94	29	11	mechanisms	mechanism	NOUN
fumecheng-94	29	12	[	[	X
fumecheng-94	29	13	7	7	NUM
fumecheng-94	29	14	]	]	PUNCT
fumecheng-94	29	15	,	,	PUNCT
fumecheng-94	29	16	[	[	X
fumecheng-94	29	17	8	8	NUM
fumecheng-94	29	18	]	]	PUNCT
fumecheng-94	29	19	,	,	PUNCT
fumecheng-94	30	1	[	[	X
fumecheng-94	30	2	9	9	NUM
fumecheng-94	30	3	]	]	PUNCT
fumecheng-94	30	4	,	,	PUNCT
fumecheng-94	30	5	but	but	CCONJ
fumecheng-94	30	6	more	more	ADV
fumecheng-94	30	7	appropriate	appropriate	ADJ
fumecheng-94	30	8	and	and	CCONJ
fumecheng-94	30	9	more	more	ADV
fumecheng-94	30	10	robust	robust	ADJ
fumecheng-94	30	11	tools	tool	NOUN
fumecheng-94	30	12	for	for	ADP
fumecheng-94	30	13	the	the	DET
fumecheng-94	30	14	synthesis	synthesis	NOUN
fumecheng-94	30	15	of	of	ADP
fumecheng-94	30	16	compliant	compliant	ADJ
fumecheng-94	30	17	mechanisms	mechanism	NOUN
fumecheng-94	30	18	for	for	ADP
fumecheng-94	30	19	real	real	ADJ
fumecheng-94	30	20	-	-	PUNCT
fumecheng-94	30	21	world	world	NOUN
fumecheng-94	30	22	applications	application	NOUN
fumecheng-94	30	23	are	be	AUX
fumecheng-94	30	24	missing	miss	VERB
fumecheng-94	30	25	.	.	PUNCT
fumecheng-94	31	1	this	this	DET
fumecheng-94	31	2	paper	paper	NOUN
fumecheng-94	31	3	presents	present	VERB
fumecheng-94	31	4	a	a	DET
fumecheng-94	31	5	new	new	ADJ
fumecheng-94	31	6	software	software	NOUN
fumecheng-94	31	7	and	and	CCONJ
fumecheng-94	31	8	a	a	DET
fumecheng-94	31	9	novel	novel	ADJ
fumecheng-94	31	10	approach	approach	NOUN
fumecheng-94	31	11	to	to	ADP
fumecheng-94	31	12	the	the	DET
fumecheng-94	31	13	compliant	compliant	ADJ
fumecheng-94	31	14	mechanisms	mechanism	NOUN
fumecheng-94	31	15	synthesis	synthesis	NOUN
fumecheng-94	31	16	.	.	PUNCT
fumecheng-94	32	1	the	the	DET
fumecheng-94	32	2	software	software	NOUN
fumecheng-94	32	3	uses	use	VERB
fumecheng-94	32	4	a	a	DET
fumecheng-94	32	5	topology	topology	NOUN
fumecheng-94	32	6	optimization	optimization	NOUN
fumecheng-94	32	7	technique	technique	NOUN
fumecheng-94	32	8	that	that	PRON
fumecheng-94	32	9	is	be	AUX
fumecheng-94	32	10	especially	especially	ADV
fumecheng-94	32	11	useful	useful	ADJ
fumecheng-94	32	12	when	when	SCONJ
fumecheng-94	32	13	the	the	DET
fumecheng-94	32	14	designer	designer	NOUN
fumecheng-94	32	15	does	do	AUX
fumecheng-94	32	16	not	not	PART
fumecheng-94	32	17	have	have	VERB
fumecheng-94	32	18	a	a	DET
fumecheng-94	32	19	particular	particular	ADJ
fumecheng-94	32	20	compliant	compliant	ADJ
fumecheng-94	32	21	mechanism	mechanism	NOUN
fumecheng-94	32	22	already	already	ADV
fumecheng-94	32	23	in	in	ADP
fumecheng-94	32	24	mind	mind	NOUN
fumecheng-94	32	25	.	.	PUNCT
fumecheng-94	33	1	the	the	DET
fumecheng-94	33	2	intersection	intersection	NOUN
fumecheng-94	33	3	between	between	ADP
fumecheng-94	33	4	the	the	DET
fumecheng-94	33	5	elements	element	NOUN
fumecheng-94	33	6	in	in	ADP
fumecheng-94	33	7	compliant	compliant	ADJ
fumecheng-94	33	8	mechanisms	mechanism	NOUN
fumecheng-94	33	9	obtained	obtain	VERB
fumecheng-94	33	10	by	by	ADP
fumecheng-94	33	11	using	use	VERB
fumecheng-94	33	12	the	the	DET
fumecheng-94	33	13	existing	exist	VERB
fumecheng-94	33	14	topology	topology	NOUN
fumecheng-94	33	15	optimization	optimization	NOUN
fumecheng-94	33	16	technique	technique	NOUN
fumecheng-94	33	17	often	often	ADV
fumecheng-94	33	18	increases	increase	VERB
fumecheng-94	33	19	complexity	complexity	NOUN
fumecheng-94	33	20	and	and	CCONJ
fumecheng-94	33	21	stiffness	stiffness	NOUN
fumecheng-94	33	22	of	of	ADP
fumecheng-94	33	23	the	the	DET
fumecheng-94	33	24	structure	structure	NOUN
fumecheng-94	33	25	which	which	PRON
fumecheng-94	33	26	can	can	AUX
fumecheng-94	33	27	significantly	significantly	ADV
fumecheng-94	33	28	lower	lower	VERB
fumecheng-94	33	29	the	the	DET
fumecheng-94	33	30	mechanism	mechanism	NOUN
fumecheng-94	33	31	functionality	functionality	NOUN
fumecheng-94	33	32	.	.	PUNCT
fumecheng-94	34	1	the	the	DET
fumecheng-94	34	2	topology	topology	NOUN
fumecheng-94	34	3	optimization	optimization	NOUN
fumecheng-94	34	4	technique	technique	NOUN
fumecheng-94	34	5	is	be	AUX
fumecheng-94	34	6	improved	improve	VERB
fumecheng-94	34	7	in	in	ADP
fumecheng-94	34	8	the	the	DET
fumecheng-94	34	9	novel	novel	ADJ
fumecheng-94	34	10	developed	develop	VERB
fumecheng-94	34	11	software	software	NOUN
fumecheng-94	34	12	,	,	PUNCT
fumecheng-94	34	13	so	so	SCONJ
fumecheng-94	34	14	that	that	SCONJ
fumecheng-94	34	15	compliant	compliant	ADJ
fumecheng-94	34	16	mechanisms	mechanism	NOUN
fumecheng-94	34	17	without	without	ADP
fumecheng-94	34	18	intersecting	intersect	VERB
fumecheng-94	34	19	elements	element	NOUN
fumecheng-94	34	20	are	be	AUX
fumecheng-94	34	21	obtained	obtain	VERB
fumecheng-94	34	22	.	.	PUNCT
fumecheng-94	35	1	the	the	DET
fumecheng-94	35	2	software	software	NOUN
fumecheng-94	35	3	,	,	PUNCT
fumecheng-94	35	4	its	its	PRON
fumecheng-94	35	5	efficiency	efficiency	NOUN
fumecheng-94	35	6	,	,	PUNCT
fumecheng-94	35	7	functionality	functionality	NOUN
fumecheng-94	35	8	,	,	PUNCT
fumecheng-94	35	9	capability	capability	NOUN
fumecheng-94	35	10	and	and	CCONJ
fumecheng-94	35	11	methodology	methodology	NOUN
fumecheng-94	35	12	will	will	AUX
fumecheng-94	35	13	be	be	AUX
fumecheng-94	35	14	shown	show	VERB
fumecheng-94	35	15	on	on	ADP
fumecheng-94	35	16	the	the	DET
fumecheng-94	35	17	example	example	NOUN
fumecheng-94	35	18	of	of	ADP
fumecheng-94	35	19	the	the	DET
fumecheng-94	35	20	synthesis	synthesis	NOUN
fumecheng-94	35	21	of	of	ADP
fumecheng-94	35	22	a	a	DET
fumecheng-94	35	23	complaint	complaint	NOUN
fumecheng-94	35	24	gripper	gripper	NOUN
fumecheng-94	35	25	and	and	CCONJ
fumecheng-94	35	26	a	a	DET
fumecheng-94	35	27	compliant	compliant	ADJ
fumecheng-94	35	28	displacement	displacement	ADJ
fumecheng-94	35	29	inverter	inverter	NOUN
fumecheng-94	35	30	which	which	PRON
fumecheng-94	35	31	are	be	AUX
fumecheng-94	35	32	common	common	ADJ
fumecheng-94	35	33	benchmarking	benchmarking	NOUN
fumecheng-94	35	34	problems	problem	NOUN
fumecheng-94	35	35	that	that	PRON
fumecheng-94	35	36	have	have	AUX
fumecheng-94	35	37	been	be	AUX
fumecheng-94	35	38	broadly	broadly	ADV
fumecheng-94	35	39	studied	study	VERB
fumecheng-94	35	40	[	[	PUNCT
fumecheng-94	35	41	8	8	NUM
fumecheng-94	35	42	]	]	PUNCT
fumecheng-94	35	43	,	,	PUNCT
fumecheng-94	35	44	software	software	NOUN
fumecheng-94	35	45	for	for	ADP
fumecheng-94	35	46	synthesis	synthesis	NOUN
fumecheng-94	35	47	of	of	ADP
fumecheng-94	35	48	compliant	compliant	ADJ
fumecheng-94	35	49	mechanisms	mechanism	NOUN
fumecheng-94	35	50	without	without	ADP
fumecheng-94	35	51	intersecting	intersect	VERB
fumecheng-94	35	52	elements	element	NOUN
fumecheng-94	35	53	155	155	NUM
fumecheng-94	36	1	[	[	X
fumecheng-94	36	2	9	9	NUM
fumecheng-94	36	3	]	]	PUNCT
fumecheng-94	36	4	.	.	PUNCT
fumecheng-94	37	1	the	the	DET
fumecheng-94	37	2	synthesis	synthesis	NOUN
fumecheng-94	37	3	of	of	ADP
fumecheng-94	37	4	the	the	DET
fumecheng-94	37	5	mechanisms	mechanism	NOUN
fumecheng-94	37	6	(	(	PUNCT
fumecheng-94	37	7	gripper	gripper	NOUN
fumecheng-94	37	8	and	and	CCONJ
fumecheng-94	37	9	displacement	displacement	ADJ
fumecheng-94	37	10	inverter	inverter	NOUN
fumecheng-94	37	11	)	)	PUNCT
fumecheng-94	37	12	with	with	ADP
fumecheng-94	37	13	and	and	CCONJ
fumecheng-94	37	14	without	without	ADP
fumecheng-94	37	15	intersecting	intersecting	ADJ
fumecheng-94	37	16	elements	element	NOUN
fumecheng-94	37	17	will	will	AUX
fumecheng-94	37	18	be	be	AUX
fumecheng-94	37	19	shown	show	VERB
fumecheng-94	37	20	for	for	ADP
fumecheng-94	37	21	comparison	comparison	NOUN
fumecheng-94	37	22	.	.	PUNCT
fumecheng-94	38	1	the	the	DET
fumecheng-94	38	2	developed	develop	VERB
fumecheng-94	38	3	software	software	NOUN
fumecheng-94	38	4	intends	intend	VERB
fumecheng-94	38	5	to	to	PART
fumecheng-94	38	6	provide	provide	VERB
fumecheng-94	38	7	an	an	DET
fumecheng-94	38	8	easy	easy	ADJ
fumecheng-94	38	9	-	-	PUNCT
fumecheng-94	38	10	to	to	ADP
fumecheng-94	38	11	-	-	PUNCT
fumecheng-94	38	12	use	use	VERB
fumecheng-94	38	13	tool	tool	NOUN
fumecheng-94	38	14	for	for	ADP
fumecheng-94	38	15	compliant	compliant	ADJ
fumecheng-94	38	16	mechanism	mechanism	NOUN
fumecheng-94	38	17	design	design	NOUN
fumecheng-94	38	18	,	,	PUNCT
fumecheng-94	38	19	which	which	PRON
fumecheng-94	38	20	,	,	PUNCT
fumecheng-94	38	21	we	we	PRON
fumecheng-94	38	22	hope	hope	VERB
fumecheng-94	38	23	,	,	PUNCT
fumecheng-94	38	24	will	will	AUX
fumecheng-94	38	25	lead	lead	VERB
fumecheng-94	38	26	to	to	ADP
fumecheng-94	38	27	novel	novel	ADJ
fumecheng-94	38	28	solutions	solution	NOUN
fumecheng-94	38	29	for	for	ADP
fumecheng-94	38	30	today	today	NOUN
fumecheng-94	38	31	's	's	PART
fumecheng-94	38	32	engineering	engineering	NOUN
fumecheng-94	38	33	problems	problem	NOUN
fumecheng-94	38	34	.	.	PUNCT
fumecheng-94	39	1	2	2	X
fumecheng-94	39	2	.	.	X
fumecheng-94	39	3	synthesis	synthesis	NOUN
fumecheng-94	39	4	of	of	ADP
fumecheng-94	39	5	compliant	compliant	ADJ
fumecheng-94	39	6	mechanisms	mechanism	NOUN
fumecheng-94	39	7	with	with	ADP
fumecheng-94	39	8	distributed	distribute	VERB
fumecheng-94	39	9	compliance	compliance	NOUN
fumecheng-94	39	10	compliant	compliant	ADJ
fumecheng-94	39	11	mechanisms	mechanism	NOUN
fumecheng-94	39	12	can	can	AUX
fumecheng-94	39	13	be	be	AUX
fumecheng-94	39	14	subdivided	subdivide	VERB
fumecheng-94	39	15	into	into	ADP
fumecheng-94	39	16	two	two	NUM
fumecheng-94	39	17	groups	group	NOUN
fumecheng-94	39	18	:	:	PUNCT
fumecheng-94	39	19	mechanisms	mechanism	NOUN
fumecheng-94	39	20	with	with	ADP
fumecheng-94	39	21	lumped	lump	VERB
fumecheng-94	39	22	compliance	compliance	NOUN
fumecheng-94	39	23	and	and	CCONJ
fumecheng-94	39	24	mechanisms	mechanism	NOUN
fumecheng-94	39	25	with	with	ADP
fumecheng-94	39	26	distributed	distributed	ADJ
fumecheng-94	39	27	compliance	compliance	NOUN
fumecheng-94	39	28	[	[	X
fumecheng-94	39	29	10	10	NUM
fumecheng-94	39	30	]	]	PUNCT
fumecheng-94	39	31	,	,	PUNCT
fumecheng-94	39	32	[	[	X
fumecheng-94	39	33	11	11	NUM
fumecheng-94	39	34	]	]	PUNCT
fumecheng-94	39	35	,	,	PUNCT
fumecheng-94	39	36	[	[	X
fumecheng-94	39	37	13	13	NUM
fumecheng-94	39	38	]	]	PUNCT
fumecheng-94	39	39	.	.	PUNCT
fumecheng-94	40	1	mechanisms	mechanism	NOUN
fumecheng-94	40	2	with	with	ADP
fumecheng-94	40	3	distributed	distribute	VERB
fumecheng-94	40	4	compliance	compliance	NOUN
fumecheng-94	40	5	(	(	PUNCT
fumecheng-94	40	6	fig	fig	NOUN
fumecheng-94	40	7	.	.	PUNCT
fumecheng-94	41	1	7	7	NUM
fumecheng-94	41	2	,	,	PUNCT
fumecheng-94	41	3	fig	fig	NOUN
fumecheng-94	41	4	.	.	PUNCT
fumecheng-94	42	1	9	9	NUM
fumecheng-94	42	2	,	,	PUNCT
fumecheng-94	42	3	fig	fig	NOUN
fumecheng-94	42	4	.	.	PUNCT
fumecheng-94	43	1	15	15	NUM
fumecheng-94	43	2	)	)	PUNCT
fumecheng-94	43	3	make	make	VERB
fumecheng-94	43	4	use	use	NOUN
fumecheng-94	43	5	of	of	ADP
fumecheng-94	43	6	longer	long	ADJ
fumecheng-94	43	7	and	and	CCONJ
fumecheng-94	43	8	thicker	thick	ADJ
fumecheng-94	43	9	bending	bend	VERB
fumecheng-94	43	10	elements	element	NOUN
fumecheng-94	43	11	.	.	PUNCT
fumecheng-94	44	1	they	they	PRON
fumecheng-94	44	2	gain	gain	VERB
fumecheng-94	44	3	their	their	PRON
fumecheng-94	44	4	mobility	mobility	NOUN
fumecheng-94	44	5	through	through	ADP
fumecheng-94	44	6	elastic	elastic	ADJ
fumecheng-94	44	7	deformation	deformation	NOUN
fumecheng-94	44	8	of	of	ADP
fumecheng-94	44	9	flexible	flexible	ADJ
fumecheng-94	44	10	members	member	NOUN
fumecheng-94	44	11	and	and	CCONJ
fumecheng-94	44	12	compliance	compliance	NOUN
fumecheng-94	44	13	is	be	AUX
fumecheng-94	44	14	distributed	distribute	VERB
fumecheng-94	44	15	more	more	ADV
fumecheng-94	44	16	or	or	CCONJ
fumecheng-94	44	17	less	less	ADV
fumecheng-94	44	18	equally	equally	ADV
fumecheng-94	44	19	in	in	ADP
fumecheng-94	44	20	the	the	DET
fumecheng-94	44	21	entire	entire	ADJ
fumecheng-94	44	22	mechanism	mechanism	NOUN
fumecheng-94	44	23	(	(	PUNCT
fumecheng-94	44	24	i.e.	i.e.	X
fumecheng-94	44	25	they	they	PRON
fumecheng-94	44	26	deform	deform	VERB
fumecheng-94	44	27	as	as	ADP
fumecheng-94	44	28	a	a	DET
fumecheng-94	44	29	whole	whole	NOUN
fumecheng-94	44	30	)	)	PUNCT
fumecheng-94	44	31	.	.	PUNCT
fumecheng-94	45	1	the	the	DET
fumecheng-94	45	2	continuum	continuum	ADJ
fumecheng-94	45	3	synthesis	synthesis	NOUN
fumecheng-94	45	4	approach	approach	NOUN
fumecheng-94	45	5	is	be	AUX
fumecheng-94	45	6	used	use	VERB
fumecheng-94	45	7	for	for	ADP
fumecheng-94	45	8	the	the	DET
fumecheng-94	45	9	design	design	NOUN
fumecheng-94	45	10	of	of	ADP
fumecheng-94	45	11	mechanisms	mechanism	NOUN
fumecheng-94	45	12	with	with	ADP
fumecheng-94	45	13	distributed	distributed	ADJ
fumecheng-94	45	14	compliance	compliance	NOUN
fumecheng-94	45	15	[	[	X
fumecheng-94	45	16	5	5	NUM
fumecheng-94	45	17	]	]	PUNCT
fumecheng-94	45	18	,	,	PUNCT
fumecheng-94	46	1	[	[	X
fumecheng-94	46	2	7	7	NUM
fumecheng-94	46	3	]	]	PUNCT
fumecheng-94	46	4	,	,	PUNCT
fumecheng-94	46	5	[	[	X
fumecheng-94	46	6	9	9	NUM
fumecheng-94	46	7	]	]	PUNCT
fumecheng-94	46	8	,	,	PUNCT
fumecheng-94	46	9	[	[	X
fumecheng-94	46	10	10	10	NUM
fumecheng-94	46	11	]	]	PUNCT
fumecheng-94	46	12	.	.	PUNCT
fumecheng-94	47	1	the	the	DET
fumecheng-94	47	2	synthesis	synthesis	NOUN
fumecheng-94	47	3	methodology	methodology	NOUN
fumecheng-94	47	4	used	use	VERB
fumecheng-94	47	5	in	in	ADP
fumecheng-94	47	6	the	the	DET
fumecheng-94	47	7	continuum	continuum	ADJ
fumecheng-94	47	8	based	base	VERB
fumecheng-94	47	9	approach	approach	NOUN
fumecheng-94	47	10	involves	involve	VERB
fumecheng-94	47	11	two	two	NUM
fumecheng-94	47	12	stages	stage	NOUN
fumecheng-94	47	13	:	:	PUNCT
fumecheng-94	47	14	generation	generation	NOUN
fumecheng-94	47	15	of	of	ADP
fumecheng-94	47	16	the	the	DET
fumecheng-94	47	17	mechanism	mechanism	NOUN
fumecheng-94	47	18	topology	topology	NOUN
fumecheng-94	47	19	and	and	CCONJ
fumecheng-94	47	20	determination	determination	NOUN
fumecheng-94	47	21	of	of	ADP
fumecheng-94	47	22	optimum	optimum	ADJ
fumecheng-94	47	23	size	size	NOUN
fumecheng-94	47	24	,	,	PUNCT
fumecheng-94	47	25	geometry	geometry	NOUN
fumecheng-94	47	26	,	,	PUNCT
fumecheng-94	47	27	and	and	CCONJ
fumecheng-94	47	28	shape	shape	NOUN
fumecheng-94	47	29	of	of	ADP
fumecheng-94	47	30	various	various	ADJ
fumecheng-94	47	31	constituent	constituent	ADJ
fumecheng-94	47	32	elements	element	NOUN
fumecheng-94	47	33	of	of	ADP
fumecheng-94	47	34	the	the	DET
fumecheng-94	47	35	mechanism	mechanism	NOUN
fumecheng-94	47	36	(	(	PUNCT
fumecheng-94	47	37	dimensional	dimensional	ADJ
fumecheng-94	47	38	synthesis	synthesis	NOUN
fumecheng-94	47	39	)	)	PUNCT
fumecheng-94	47	40	.	.	PUNCT
fumecheng-94	48	1	in	in	ADP
fumecheng-94	48	2	this	this	DET
fumecheng-94	48	3	paper	paper	NOUN
fumecheng-94	48	4	more	more	ADJ
fumecheng-94	48	5	attention	attention	NOUN
fumecheng-94	48	6	is	be	AUX
fumecheng-94	48	7	paid	pay	VERB
fumecheng-94	48	8	to	to	ADP
fumecheng-94	48	9	topology	topology	NOUN
fumecheng-94	48	10	optimization	optimization	NOUN
fumecheng-94	48	11	,	,	PUNCT
fumecheng-94	48	12	because	because	SCONJ
fumecheng-94	48	13	this	this	PRON
fumecheng-94	48	14	is	be	AUX
fumecheng-94	48	15	a	a	DET
fumecheng-94	48	16	more	more	ADV
fumecheng-94	48	17	difficult	difficult	ADJ
fumecheng-94	48	18	and	and	CCONJ
fumecheng-94	48	19	"	"	PUNCT
fumecheng-94	48	20	creative	creative	ADJ
fumecheng-94	48	21	"	"	PUNCT
fumecheng-94	48	22	part	part	NOUN
fumecheng-94	48	23	of	of	ADP
fumecheng-94	48	24	the	the	DET
fumecheng-94	48	25	design	design	NOUN
fumecheng-94	48	26	process	process	NOUN
fumecheng-94	48	27	.	.	PUNCT
fumecheng-94	49	1	the	the	DET
fumecheng-94	49	2	allowable	allowable	ADJ
fumecheng-94	49	3	space	space	NOUN
fumecheng-94	49	4	for	for	ADP
fumecheng-94	49	5	the	the	DET
fumecheng-94	49	6	design	design	NOUN
fumecheng-94	49	7	in	in	ADP
fumecheng-94	49	8	a	a	DET
fumecheng-94	49	9	topology	topology	NOUN
fumecheng-94	49	10	optimization	optimization	NOUN
fumecheng-94	49	11	problem	problem	NOUN
fumecheng-94	49	12	is	be	AUX
fumecheng-94	49	13	called	call	VERB
fumecheng-94	49	14	the	the	DET
fumecheng-94	49	15	design	design	NOUN
fumecheng-94	49	16	domain	domain	NOUN
fumecheng-94	49	17	(	(	PUNCT
fumecheng-94	49	18	fig	fig	NOUN
fumecheng-94	49	19	.	.	PUNCT
fumecheng-94	50	1	3	3	NUM
fumecheng-94	50	2	)	)	PUNCT
fumecheng-94	50	3	.	.	PUNCT
fumecheng-94	51	1	the	the	DET
fumecheng-94	51	2	topology	topology	NOUN
fumecheng-94	51	3	is	be	AUX
fumecheng-94	51	4	defined	define	VERB
fumecheng-94	51	5	by	by	ADP
fumecheng-94	51	6	the	the	DET
fumecheng-94	51	7	distribution	distribution	NOUN
fumecheng-94	51	8	of	of	ADP
fumecheng-94	51	9	material	material	NOUN
fumecheng-94	51	10	and	and	CCONJ
fumecheng-94	51	11	void	void	VERB
fumecheng-94	51	12	within	within	ADP
fumecheng-94	51	13	the	the	DET
fumecheng-94	51	14	design	design	NOUN
fumecheng-94	51	15	domain	domain	NOUN
fumecheng-94	51	16	or	or	CCONJ
fumecheng-94	51	17	as	as	ADP
fumecheng-94	51	18	the	the	DET
fumecheng-94	51	19	pattern	pattern	NOUN
fumecheng-94	51	20	of	of	ADP
fumecheng-94	51	21	connectivity	connectivity	NOUN
fumecheng-94	51	22	of	of	ADP
fumecheng-94	51	23	elements	element	NOUN
fumecheng-94	51	24	in	in	ADP
fumecheng-94	51	25	a	a	DET
fumecheng-94	51	26	structure	structure	NOUN
fumecheng-94	51	27	(	(	PUNCT
fumecheng-94	51	28	fig	fig	NOUN
fumecheng-94	51	29	.	.	PUNCT
fumecheng-94	52	1	7	7	NUM
fumecheng-94	52	2	,	,	PUNCT
fumecheng-94	52	3	fig	fig	NOUN
fumecheng-94	52	4	.	.	PUNCT
fumecheng-94	53	1	9	9	NUM
fumecheng-94	53	2	,	,	PUNCT
fumecheng-94	53	3	fig	fig	NOUN
fumecheng-94	53	4	.	.	PUNCT
fumecheng-94	53	5	15	15	NUM
fumecheng-94	53	6	)	)	PUNCT
fumecheng-94	53	7	.	.	PUNCT
fumecheng-94	54	1	the	the	DET
fumecheng-94	54	2	continuum	continuum	PROPN
fumecheng-94	54	3	based	base	VERB
fumecheng-94	54	4	approach	approach	NOUN
fumecheng-94	54	5	focuses	focus	VERB
fumecheng-94	54	6	on	on	ADP
fumecheng-94	54	7	the	the	DET
fumecheng-94	54	8	determination	determination	NOUN
fumecheng-94	54	9	of	of	ADP
fumecheng-94	54	10	the	the	DET
fumecheng-94	54	11	optimal	optimal	ADJ
fumecheng-94	54	12	topology	topology	NOUN
fumecheng-94	54	13	(	(	PUNCT
fumecheng-94	54	14	the	the	DET
fumecheng-94	54	15	best	good	ADJ
fumecheng-94	54	16	material	material	NOUN
fumecheng-94	54	17	connectivity	connectivity	NOUN
fumecheng-94	54	18	in	in	ADP
fumecheng-94	54	19	a	a	DET
fumecheng-94	54	20	compliant	compliant	ADJ
fumecheng-94	54	21	structure	structure	NOUN
fumecheng-94	54	22	)	)	PUNCT
fumecheng-94	54	23	.	.	PUNCT
fumecheng-94	55	1	the	the	DET
fumecheng-94	55	2	designer	designer	NOUN
fumecheng-94	55	3	only	only	ADV
fumecheng-94	55	4	needs	need	VERB
fumecheng-94	55	5	to	to	PART
fumecheng-94	55	6	define	define	VERB
fumecheng-94	55	7	the	the	DET
fumecheng-94	55	8	size	size	NOUN
fumecheng-94	55	9	of	of	ADP
fumecheng-94	55	10	the	the	DET
fumecheng-94	55	11	design	design	NOUN
fumecheng-94	55	12	domain	domain	NOUN
fumecheng-94	55	13	in	in	ADP
fumecheng-94	55	14	which	which	PRON
fumecheng-94	55	15	the	the	DET
fumecheng-94	55	16	mechanism	mechanism	NOUN
fumecheng-94	55	17	should	should	AUX
fumecheng-94	55	18	fit	fit	VERB
fumecheng-94	55	19	,	,	PUNCT
fumecheng-94	55	20	location	location	NOUN
fumecheng-94	55	21	of	of	ADP
fumecheng-94	55	22	the	the	DET
fumecheng-94	55	23	supports	support	NOUN
fumecheng-94	55	24	,	,	PUNCT
fumecheng-94	55	25	input	input	NOUN
fumecheng-94	55	26	and	and	CCONJ
fumecheng-94	55	27	output	output	NOUN
fumecheng-94	55	28	ports	port	NOUN
fumecheng-94	55	29	,	,	PUNCT
fumecheng-94	55	30	size	size	NOUN
fumecheng-94	55	31	of	of	ADP
fumecheng-94	55	32	applied	apply	VERB
fumecheng-94	55	33	loads	load	NOUN
fumecheng-94	55	34	(	(	PUNCT
fumecheng-94	55	35	fig	fig	NOUN
fumecheng-94	55	36	.	.	PUNCT
fumecheng-94	56	1	3	3	NUM
fumecheng-94	56	2	)	)	PUNCT
fumecheng-94	56	3	as	as	ADV
fumecheng-94	56	4	well	well	ADV
fumecheng-94	56	5	as	as	ADP
fumecheng-94	56	6	properties	property	NOUN
fumecheng-94	56	7	of	of	ADP
fumecheng-94	56	8	the	the	DET
fumecheng-94	56	9	material	material	NOUN
fumecheng-94	56	10	from	from	ADP
fumecheng-94	56	11	which	which	PRON
fumecheng-94	56	12	the	the	DET
fumecheng-94	56	13	mechanism	mechanism	NOUN
fumecheng-94	56	14	should	should	AUX
fumecheng-94	56	15	be	be	AUX
fumecheng-94	56	16	produced	produce	VERB
fumecheng-94	56	17	.	.	PUNCT
fumecheng-94	57	1	then	then	ADV
fumecheng-94	57	2	,	,	PUNCT
fumecheng-94	57	3	through	through	ADP
fumecheng-94	57	4	the	the	DET
fumecheng-94	57	5	topology	topology	NOUN
fumecheng-94	57	6	optimization	optimization	NOUN
fumecheng-94	57	7	,	,	PUNCT
fumecheng-94	57	8	the	the	DET
fumecheng-94	57	9	optimal	optimal	ADJ
fumecheng-94	57	10	structural	structural	ADJ
fumecheng-94	57	11	form	form	NOUN
fumecheng-94	57	12	(	(	PUNCT
fumecheng-94	57	13	optimal	optimal	ADJ
fumecheng-94	57	14	topology	topology	NOUN
fumecheng-94	57	15	)	)	PUNCT
fumecheng-94	57	16	of	of	ADP
fumecheng-94	57	17	a	a	DET
fumecheng-94	57	18	compliant	compliant	ADJ
fumecheng-94	57	19	mechanism	mechanism	NOUN
fumecheng-94	57	20	for	for	ADP
fumecheng-94	57	21	a	a	DET
fumecheng-94	57	22	specified	specify	VERB
fumecheng-94	57	23	input	input	NOUN
fumecheng-94	57	24	force	force	NOUN
fumecheng-94	57	25	and	and	CCONJ
fumecheng-94	57	26	output	output	NOUN
fumecheng-94	57	27	deflection	deflection	NOUN
fumecheng-94	57	28	requirements	requirement	NOUN
fumecheng-94	57	29	is	be	AUX
fumecheng-94	57	30	automatically	automatically	ADV
fumecheng-94	57	31	generated	generate	VERB
fumecheng-94	57	32	(	(	PUNCT
fumecheng-94	57	33	fig	fig	NOUN
fumecheng-94	57	34	.	.	PUNCT
fumecheng-94	58	1	7	7	NUM
fumecheng-94	58	2	,	,	PUNCT
fumecheng-94	58	3	fig	fig	NOUN
fumecheng-94	58	4	.	.	PUNCT
fumecheng-94	59	1	9	9	NUM
fumecheng-94	59	2	,	,	PUNCT
fumecheng-94	59	3	fig	fig	NOUN
fumecheng-94	59	4	.	.	PUNCT
fumecheng-94	59	5	15	15	NUM
fumecheng-94	59	6	)	)	PUNCT
fumecheng-94	59	7	.	.	PUNCT
fumecheng-94	60	1	3	3	X
fumecheng-94	60	2	.	.	X
fumecheng-94	60	3	new	new	ADJ
fumecheng-94	60	4	software	software	NOUN
fumecheng-94	60	5	for	for	ADP
fumecheng-94	60	6	optimal	optimal	ADJ
fumecheng-94	60	7	synthesis	synthesis	NOUN
fumecheng-94	60	8	of	of	ADP
fumecheng-94	60	9	compliant	compliant	ADJ
fumecheng-94	60	10	mechanisms	mechanism	NOUN
fumecheng-94	60	11	in	in	ADP
fumecheng-94	60	12	the	the	DET
fumecheng-94	60	13	past	past	ADJ
fumecheng-94	60	14	many	many	ADJ
fumecheng-94	60	15	computer	computer	NOUN
fumecheng-94	60	16	-	-	PUNCT
fumecheng-94	60	17	coded	code	VERB
fumecheng-94	60	18	algorithms	algorithm	NOUN
fumecheng-94	60	19	and	and	CCONJ
fumecheng-94	60	20	software	software	NOUN
fumecheng-94	60	21	for	for	ADP
fumecheng-94	60	22	synthesis	synthesis	NOUN
fumecheng-94	60	23	of	of	ADP
fumecheng-94	60	24	compliant	compliant	ADJ
fumecheng-94	60	25	mechanisms	mechanism	NOUN
fumecheng-94	60	26	have	have	AUX
fumecheng-94	60	27	been	be	AUX
fumecheng-94	60	28	developed	develop	VERB
fumecheng-94	60	29	[	[	PUNCT
fumecheng-94	60	30	7	7	NUM
fumecheng-94	60	31	]	]	PUNCT
fumecheng-94	60	32	,	,	PUNCT
fumecheng-94	60	33	[	[	X
fumecheng-94	60	34	9	9	NUM
fumecheng-94	60	35	]	]	PUNCT
fumecheng-94	60	36	,	,	PUNCT
fumecheng-94	60	37	[	[	X
fumecheng-94	60	38	12	12	NUM
fumecheng-94	60	39	]	]	PUNCT
fumecheng-94	60	40	,	,	PUNCT
fumecheng-94	60	41	but	but	CCONJ
fumecheng-94	60	42	most	most	ADJ
fumecheng-94	60	43	of	of	ADP
fumecheng-94	60	44	them	they	PRON
fumecheng-94	60	45	require	require	VERB
fumecheng-94	60	46	some	some	DET
fumecheng-94	60	47	knowledge	knowledge	NOUN
fumecheng-94	60	48	from	from	ADP
fumecheng-94	60	49	the	the	DET
fumecheng-94	60	50	field	field	NOUN
fumecheng-94	60	51	of	of	ADP
fumecheng-94	60	52	topology	topology	NOUN
fumecheng-94	60	53	optimization	optimization	NOUN
fumecheng-94	60	54	.	.	PUNCT
fumecheng-94	61	1	this	this	PRON
fumecheng-94	61	2	has	have	AUX
fumecheng-94	61	3	motivated	motivate	VERB
fumecheng-94	61	4	us	we	PRON
fumecheng-94	61	5	to	to	PART
fumecheng-94	61	6	develop	develop	VERB
fumecheng-94	61	7	a	a	DET
fumecheng-94	61	8	new	new	ADJ
fumecheng-94	61	9	tool	tool	NOUN
fumecheng-94	61	10	for	for	ADP
fumecheng-94	61	11	the	the	DET
fumecheng-94	61	12	synthesis	synthesis	NOUN
fumecheng-94	61	13	of	of	ADP
fumecheng-94	61	14	compliant	compliant	ADJ
fumecheng-94	61	15	mechanisms	mechanism	NOUN
fumecheng-94	61	16	,	,	PUNCT
fumecheng-94	61	17	that	that	PRON
fumecheng-94	61	18	can	can	AUX
fumecheng-94	61	19	be	be	AUX
fumecheng-94	61	20	used	use	VERB
fumecheng-94	61	21	by	by	ADP
fumecheng-94	61	22	experts	expert	NOUN
fumecheng-94	61	23	and	and	CCONJ
fumecheng-94	61	24	designers	designer	NOUN
fumecheng-94	61	25	who	who	PRON
fumecheng-94	61	26	are	be	AUX
fumecheng-94	61	27	not	not	PART
fumecheng-94	61	28	necessarily	necessarily	ADV
fumecheng-94	61	29	familiar	familiar	ADJ
fumecheng-94	61	30	with	with	ADP
fumecheng-94	61	31	the	the	DET
fumecheng-94	61	32	details	detail	NOUN
fumecheng-94	61	33	of	of	ADP
fumecheng-94	61	34	topology	topology	NOUN
fumecheng-94	61	35	optimization	optimization	NOUN
fumecheng-94	61	36	techniques	technique	NOUN
fumecheng-94	61	37	.	.	PUNCT
fumecheng-94	62	1	the	the	DET
fumecheng-94	62	2	software	software	NOUN
fumecheng-94	62	3	provides	provide	VERB
fumecheng-94	62	4	an	an	DET
fumecheng-94	62	5	interactive	interactive	ADJ
fumecheng-94	62	6	and	and	CCONJ
fumecheng-94	62	7	automated	automate	VERB
fumecheng-94	62	8	design	design	NOUN
fumecheng-94	62	9	route	route	NOUN
fumecheng-94	62	10	to	to	PART
fumecheng-94	62	11	synthesize	synthesize	VERB
fumecheng-94	62	12	compliant	compliant	ADJ
fumecheng-94	62	13	mechanisms	mechanism	NOUN
fumecheng-94	62	14	for	for	ADP
fumecheng-94	62	15	any	any	DET
fumecheng-94	62	16	desired	desire	VERB
fumecheng-94	62	17	input	input	NOUN
fumecheng-94	62	18	-	-	PUNCT
fumecheng-94	62	19	output	output	NOUN
fumecheng-94	62	20	force	force	NOUN
fumecheng-94	62	21	/	/	SYM
fumecheng-94	62	22	displacement	displacement	ADJ
fumecheng-94	62	23	characteristics	characteristic	NOUN
fumecheng-94	62	24	while	while	SCONJ
fumecheng-94	62	25	meeting	meet	VERB
fumecheng-94	62	26	given	give	VERB
fumecheng-94	62	27	constraints	constraint	NOUN
fumecheng-94	62	28	.	.	PUNCT
fumecheng-94	63	1	the	the	DET
fumecheng-94	63	2	algorithm	algorithm	NOUN
fumecheng-94	63	3	on	on	ADP
fumecheng-94	63	4	which	which	PRON
fumecheng-94	63	5	the	the	DET
fumecheng-94	63	6	software	software	NOUN
fumecheng-94	63	7	is	be	AUX
fumecheng-94	63	8	built	build	VERB
fumecheng-94	63	9	is	be	AUX
fumecheng-94	63	10	shown	show	VERB
fumecheng-94	63	11	in	in	ADP
fumecheng-94	63	12	fig	fig	NOUN
fumecheng-94	63	13	.	.	PUNCT
fumecheng-94	64	1	2	2	NUM
fumecheng-94	64	2	.	.	NUM
fumecheng-94	64	3	156	156	NUM
fumecheng-94	64	4	a.	a.	NOUN
fumecheng-94	64	5	milojević	milojević	NOUN
fumecheng-94	64	6	,	,	PUNCT
fumecheng-94	64	7	n.	n.	PROPN
fumecheng-94	64	8	d.	d.	PROPN
fumecheng-94	64	9	pavlović	pavlović	PROPN
fumecheng-94	64	10	fig	fig	PROPN
fumecheng-94	64	11	.	.	PUNCT
fumecheng-94	65	1	2	2	NUM
fumecheng-94	65	2	computational	computational	ADJ
fumecheng-94	65	3	procedure	procedure	NOUN
fumecheng-94	65	4	in	in	ADP
fumecheng-94	65	5	the	the	DET
fumecheng-94	65	6	first	first	ADJ
fumecheng-94	65	7	step	step	NOUN
fumecheng-94	65	8	the	the	DET
fumecheng-94	65	9	problem	problem	NOUN
fumecheng-94	65	10	specification	specification	NOUN
fumecheng-94	65	11	is	be	AUX
fumecheng-94	65	12	given	give	VERB
fumecheng-94	65	13	by	by	ADP
fumecheng-94	65	14	the	the	DET
fumecheng-94	65	15	user	user	NOUN
fumecheng-94	65	16	,	,	PUNCT
fumecheng-94	65	17	including	include	VERB
fumecheng-94	65	18	the	the	DET
fumecheng-94	65	19	size	size	NOUN
fumecheng-94	65	20	of	of	ADP
fumecheng-94	65	21	the	the	DET
fumecheng-94	65	22	design	design	NOUN
fumecheng-94	65	23	domain	domain	NOUN
fumecheng-94	65	24	,	,	PUNCT
fumecheng-94	65	25	the	the	DET
fumecheng-94	65	26	input	input	NOUN
fumecheng-94	65	27	force	force	NOUN
fumecheng-94	65	28	(	(	PUNCT
fumecheng-94	65	29	intensity	intensity	NOUN
fumecheng-94	65	30	,	,	PUNCT
fumecheng-94	65	31	point	point	NOUN
fumecheng-94	65	32	and	and	CCONJ
fumecheng-94	65	33	direction	direction	NOUN
fumecheng-94	65	34	)	)	PUNCT
fumecheng-94	65	35	,	,	PUNCT
fumecheng-94	65	36	the	the	DET
fumecheng-94	65	37	desired	desire	VERB
fumecheng-94	65	38	output	output	NOUN
fumecheng-94	65	39	deflection	deflection	NOUN
fumecheng-94	65	40	(	(	PUNCT
fumecheng-94	65	41	size	size	NOUN
fumecheng-94	65	42	,	,	PUNCT
fumecheng-94	65	43	location	location	NOUN
fumecheng-94	65	44	and	and	CCONJ
fumecheng-94	65	45	direction	direction	NOUN
fumecheng-94	65	46	)	)	PUNCT
fumecheng-94	65	47	,	,	PUNCT
fumecheng-94	65	48	the	the	DET
fumecheng-94	65	49	material	material	NOUN
fumecheng-94	65	50	property	property	NOUN
fumecheng-94	65	51	(	(	PUNCT
fumecheng-94	65	52	young	young	ADJ
fumecheng-94	65	53	modulus	modulus	NOUN
fumecheng-94	65	54	)	)	PUNCT
fumecheng-94	65	55	from	from	ADP
fumecheng-94	65	56	which	which	PRON
fumecheng-94	65	57	the	the	DET
fumecheng-94	65	58	mechanism	mechanism	NOUN
fumecheng-94	65	59	should	should	AUX
fumecheng-94	65	60	be	be	AUX
fumecheng-94	65	61	built	build	VERB
fumecheng-94	65	62	and	and	CCONJ
fumecheng-94	65	63	other	other	ADJ
fumecheng-94	65	64	constraints	constraint	NOUN
fumecheng-94	65	65	(	(	PUNCT
fumecheng-94	65	66	such	such	ADJ
fumecheng-94	65	67	as	as	ADP
fumecheng-94	65	68	location	location	NOUN
fumecheng-94	65	69	of	of	ADP
fumecheng-94	65	70	the	the	DET
fumecheng-94	65	71	fixed	fix	VERB
fumecheng-94	65	72	nodes	node	NOUN
fumecheng-94	65	73	)	)	PUNCT
fumecheng-94	65	74	.	.	PUNCT
fumecheng-94	66	1	in	in	ADP
fumecheng-94	66	2	the	the	DET
fumecheng-94	66	3	second	second	ADJ
fumecheng-94	66	4	step	step	NOUN
fumecheng-94	66	5	the	the	DET
fumecheng-94	66	6	design	design	NOUN
fumecheng-94	66	7	domain	domain	NOUN
fumecheng-94	66	8	is	be	AUX
fumecheng-94	66	9	parameterized	parameterize	VERB
fumecheng-94	66	10	.	.	PUNCT
fumecheng-94	67	1	the	the	DET
fumecheng-94	67	2	physical	physical	ADJ
fumecheng-94	67	3	design	design	NOUN
fumecheng-94	67	4	space	space	NOUN
fumecheng-94	67	5	must	must	AUX
fumecheng-94	67	6	be	be	AUX
fumecheng-94	67	7	broken	break	VERB
fumecheng-94	67	8	down	down	ADP
fumecheng-94	67	9	so	so	ADV
fumecheng-94	67	10	as	as	SCONJ
fumecheng-94	67	11	to	to	PART
fumecheng-94	67	12	be	be	AUX
fumecheng-94	67	13	represented	represent	VERB
fumecheng-94	67	14	by	by	ADP
fumecheng-94	67	15	a	a	DET
fumecheng-94	67	16	set	set	NOUN
fumecheng-94	67	17	of	of	ADP
fumecheng-94	67	18	variables	variable	NOUN
fumecheng-94	67	19	that	that	SCONJ
fumecheng-94	67	20	an	an	DET
fumecheng-94	67	21	optimizer	optimizer	NOUN
fumecheng-94	67	22	can	can	AUX
fumecheng-94	67	23	act	act	VERB
fumecheng-94	67	24	on	on	ADP
fumecheng-94	67	25	.	.	PUNCT
fumecheng-94	68	1	since	since	SCONJ
fumecheng-94	68	2	mechanisms	mechanism	NOUN
fumecheng-94	68	3	with	with	ADP
fumecheng-94	68	4	distributed	distribute	VERB
fumecheng-94	68	5	compliance	compliance	NOUN
fumecheng-94	68	6	consist	consist	NOUN
fumecheng-94	68	7	of	of	ADP
fumecheng-94	68	8	individual	individual	ADJ
fumecheng-94	68	9	flexible	flexible	ADJ
fumecheng-94	68	10	members	member	NOUN
fumecheng-94	68	11	,	,	PUNCT
fumecheng-94	68	12	the	the	DET
fumecheng-94	68	13	grounded	ground	VERB
fumecheng-94	68	14	structure	structure	NOUN
fumecheng-94	68	15	approach	approach	NOUN
fumecheng-94	68	16	(	(	PUNCT
fumecheng-94	68	17	gsa	gsa	PROPN
fumecheng-94	68	18	)	)	PUNCT
fumecheng-94	68	19	[	[	X
fumecheng-94	68	20	7	7	X
fumecheng-94	68	21	]	]	PUNCT
fumecheng-94	68	22	is	be	AUX
fumecheng-94	68	23	used	use	VERB
fumecheng-94	68	24	for	for	ADP
fumecheng-94	68	25	the	the	DET
fumecheng-94	68	26	parameterization	parameterization	NOUN
fumecheng-94	68	27	.	.	PUNCT
fumecheng-94	69	1	since	since	SCONJ
fumecheng-94	69	2	a	a	DET
fumecheng-94	69	3	compliant	compliant	ADJ
fumecheng-94	69	4	mechanism	mechanism	NOUN
fumecheng-94	69	5	relies	rely	VERB
fumecheng-94	69	6	on	on	ADP
fumecheng-94	69	7	elastic	elastic	ADJ
fumecheng-94	69	8	deformation	deformation	NOUN
fumecheng-94	69	9	(	(	PUNCT
fumecheng-94	69	10	bending	bending	NOUN
fumecheng-94	69	11	)	)	PUNCT
fumecheng-94	69	12	of	of	ADP
fumecheng-94	69	13	constituent	constituent	NOUN
fumecheng-94	69	14	elements	element	NOUN
fumecheng-94	69	15	,	,	PUNCT
fumecheng-94	69	16	beam	beam	NOUN
fumecheng-94	69	17	elements	element	NOUN
fumecheng-94	69	18	are	be	AUX
fumecheng-94	69	19	used	use	VERB
fumecheng-94	69	20	to	to	PART
fumecheng-94	69	21	generate	generate	VERB
fumecheng-94	69	22	the	the	DET
fumecheng-94	69	23	topology	topology	NOUN
fumecheng-94	69	24	.	.	PUNCT
fumecheng-94	70	1	therefore	therefore	ADV
fumecheng-94	70	2	,	,	PUNCT
fumecheng-94	70	3	the	the	DET
fumecheng-94	70	4	prescribed	prescribed	ADJ
fumecheng-94	70	5	design	design	NOUN
fumecheng-94	70	6	domain	domain	NOUN
fumecheng-94	70	7	is	be	AUX
fumecheng-94	70	8	divided	divide	VERB
fumecheng-94	70	9	into	into	ADP
fumecheng-94	70	10	a	a	DET
fumecheng-94	70	11	number	number	NOUN
fumecheng-94	70	12	of	of	ADP
fumecheng-94	70	13	nodes	node	NOUN
fumecheng-94	70	14	,	,	PUNCT
fumecheng-94	70	15	and	and	CCONJ
fumecheng-94	70	16	a	a	DET
fumecheng-94	70	17	network	network	NOUN
fumecheng-94	70	18	of	of	ADP
fumecheng-94	70	19	beam	beam	NOUN
fumecheng-94	70	20	elements	element	NOUN
fumecheng-94	70	21	connecting	connect	VERB
fumecheng-94	70	22	these	these	DET
fumecheng-94	70	23	nodes	node	NOUN
fumecheng-94	70	24	(	(	PUNCT
fumecheng-94	70	25	fig	fig	NOUN
fumecheng-94	70	26	.	.	PUNCT
fumecheng-94	71	1	4	4	X
fumecheng-94	71	2	)	)	PUNCT
fumecheng-94	71	3	serves	serve	VERB
fumecheng-94	71	4	as	as	ADP
fumecheng-94	71	5	an	an	DET
fumecheng-94	71	6	initial	initial	ADJ
fumecheng-94	71	7	guess	guess	NOUN
fumecheng-94	71	8	.	.	PUNCT
fumecheng-94	72	1	the	the	DET
fumecheng-94	72	2	design	design	NOUN
fumecheng-94	72	3	variable	variable	NOUN
fumecheng-94	72	4	is	be	AUX
fumecheng-94	72	5	the	the	DET
fumecheng-94	72	6	thickness	thickness	NOUN
fumecheng-94	72	7	of	of	ADP
fumecheng-94	72	8	each	each	DET
fumecheng-94	72	9	element	element	NOUN
fumecheng-94	72	10	.	.	PUNCT
fumecheng-94	73	1	a	a	DET
fumecheng-94	73	2	thickness	thickness	NOUN
fumecheng-94	73	3	value	value	NOUN
fumecheng-94	73	4	of	of	ADP
fumecheng-94	73	5	zero	zero	NUM
fumecheng-94	73	6	deactivates	deactivate	VERB
fumecheng-94	73	7	the	the	DET
fumecheng-94	73	8	element	element	NOUN
fumecheng-94	73	9	,	,	PUNCT
fumecheng-94	73	10	removing	remove	VERB
fumecheng-94	73	11	it	it	PRON
fumecheng-94	73	12	from	from	ADP
fumecheng-94	73	13	the	the	DET
fumecheng-94	73	14	structure	structure	NOUN
fumecheng-94	73	15	;	;	PUNCT
fumecheng-94	73	16	other	other	ADJ
fumecheng-94	73	17	values	value	NOUN
fumecheng-94	73	18	represent	represent	VERB
fumecheng-94	73	19	thickness	thickness	NOUN
fumecheng-94	73	20	values	value	NOUN
fumecheng-94	73	21	.	.	PUNCT
fumecheng-94	74	1	in	in	ADP
fumecheng-94	74	2	the	the	DET
fumecheng-94	74	3	software	software	NOUN
fumecheng-94	74	4	,	,	PUNCT
fumecheng-94	74	5	the	the	DET
fumecheng-94	74	6	thickness	thickness	NOUN
fumecheng-94	74	7	of	of	ADP
fumecheng-94	74	8	each	each	DET
fumecheng-94	74	9	element	element	NOUN
fumecheng-94	74	10	can	can	AUX
fumecheng-94	74	11	be	be	AUX
fumecheng-94	74	12	one	one	NUM
fumecheng-94	74	13	of	of	ADP
fumecheng-94	74	14	three	three	NUM
fumecheng-94	74	15	predetermined	predetermine	VERB
fumecheng-94	74	16	discrete	discrete	ADJ
fumecheng-94	74	17	values	value	NOUN
fumecheng-94	74	18	defined	define	VERB
fumecheng-94	74	19	by	by	ADP
fumecheng-94	74	20	the	the	DET
fumecheng-94	74	21	user	user	NOUN
fumecheng-94	74	22	.	.	PUNCT
fumecheng-94	75	1	in	in	ADP
fumecheng-94	75	2	the	the	DET
fumecheng-94	75	3	software	software	NOUN
fumecheng-94	75	4	the	the	DET
fumecheng-94	75	5	designer	designer	NOUN
fumecheng-94	75	6	has	have	VERB
fumecheng-94	75	7	the	the	DET
fumecheng-94	75	8	option	option	NOUN
fumecheng-94	75	9	of	of	ADP
fumecheng-94	75	10	specifying	specify	VERB
fumecheng-94	75	11	the	the	DET
fumecheng-94	75	12	degree	degree	NOUN
fumecheng-94	75	13	of	of	ADP
fumecheng-94	75	14	nodal	nodal	NOUN
fumecheng-94	75	15	connectivity	connectivity	NOUN
fumecheng-94	75	16	,	,	PUNCT
fumecheng-94	75	17	that	that	ADV
fumecheng-94	75	18	is	is	ADV
fumecheng-94	75	19	,	,	PUNCT
fumecheng-94	75	20	every	every	DET
fumecheng-94	75	21	node	node	NOUN
fumecheng-94	75	22	can	can	AUX
fumecheng-94	75	23	be	be	AUX
fumecheng-94	75	24	connected	connect	VERB
fumecheng-94	75	25	by	by	ADP
fumecheng-94	75	26	an	an	DET
fumecheng-94	75	27	element	element	NOUN
fumecheng-94	75	28	to	to	ADP
fumecheng-94	75	29	every	every	DET
fumecheng-94	75	30	other	other	ADJ
fumecheng-94	75	31	node	node	NOUN
fumecheng-94	75	32	in	in	ADP
fumecheng-94	75	33	the	the	DET
fumecheng-94	75	34	grid	grid	NOUN
fumecheng-94	75	35	,	,	PUNCT
fumecheng-94	75	36	or	or	CCONJ
fumecheng-94	75	37	only	only	ADV
fumecheng-94	75	38	to	to	ADP
fumecheng-94	75	39	nearby	nearby	ADJ
fumecheng-94	75	40	neighbors	neighbor	NOUN
fumecheng-94	75	41	.	.	PUNCT
fumecheng-94	76	1	after	after	SCONJ
fumecheng-94	76	2	the	the	DET
fumecheng-94	76	3	parameterization	parameterization	NOUN
fumecheng-94	76	4	is	be	AUX
fumecheng-94	76	5	done	do	VERB
fumecheng-94	76	6	,	,	PUNCT
fumecheng-94	76	7	in	in	ADP
fumecheng-94	76	8	the	the	DET
fumecheng-94	76	9	third	third	ADJ
fumecheng-94	76	10	step	step	NOUN
fumecheng-94	76	11	,	,	PUNCT
fumecheng-94	76	12	the	the	DET
fumecheng-94	76	13	optimization	optimization	NOUN
fumecheng-94	76	14	starts	start	VERB
fumecheng-94	76	15	.	.	PUNCT
fumecheng-94	77	1	because	because	SCONJ
fumecheng-94	77	2	of	of	ADP
fumecheng-94	77	3	the	the	DET
fumecheng-94	77	4	broad	broad	ADJ
fumecheng-94	77	5	design	design	NOUN
fumecheng-94	77	6	space	space	NOUN
fumecheng-94	77	7	and	and	CCONJ
fumecheng-94	77	8	number	number	NOUN
fumecheng-94	77	9	of	of	ADP
fumecheng-94	77	10	elements	element	NOUN
fumecheng-94	77	11	,	,	PUNCT
fumecheng-94	77	12	topology	topology	NOUN
fumecheng-94	77	13	synthesis	synthesis	NOUN
fumecheng-94	77	14	problems	problem	NOUN
fumecheng-94	77	15	are	be	AUX
fumecheng-94	77	16	solved	solve	VERB
fumecheng-94	77	17	with	with	ADP
fumecheng-94	77	18	optimization	optimization	NOUN
fumecheng-94	77	19	methods	method	NOUN
fumecheng-94	77	20	.	.	PUNCT
fumecheng-94	78	1	when	when	SCONJ
fumecheng-94	78	2	the	the	DET
fumecheng-94	78	3	parameterization	parameterization	NOUN
fumecheng-94	78	4	is	be	AUX
fumecheng-94	78	5	discrete	discrete	ADJ
fumecheng-94	78	6	(	(	PUNCT
fumecheng-94	78	7	i.e.	i.e.	X
fumecheng-94	78	8	elements	element	NOUN
fumecheng-94	78	9	are	be	AUX
fumecheng-94	78	10	either	either	CCONJ
fumecheng-94	78	11	on	on	ADP
fumecheng-94	78	12	or	or	CCONJ
fumecheng-94	78	13	off	off	ADP
fumecheng-94	78	14	)	)	PUNCT
fumecheng-94	78	15	,	,	PUNCT
fumecheng-94	78	16	the	the	DET
fumecheng-94	78	17	discrete	discrete	ADJ
fumecheng-94	78	18	optimization	optimization	NOUN
fumecheng-94	78	19	methods	method	NOUN
fumecheng-94	78	20	are	be	AUX
fumecheng-94	78	21	used	use	VERB
fumecheng-94	78	22	.	.	PUNCT
fumecheng-94	79	1	these	these	DET
fumecheng-94	79	2	methods	method	NOUN
fumecheng-94	79	3	include	include	VERB
fumecheng-94	79	4	the	the	DET
fumecheng-94	79	5	field	field	NOUN
fumecheng-94	79	6	of	of	ADP
fumecheng-94	79	7	evolutionary	evolutionary	ADJ
fumecheng-94	79	8	optimization	optimization	NOUN
fumecheng-94	79	9	,	,	PUNCT
fumecheng-94	79	10	of	of	ADP
fumecheng-94	79	11	which	which	PRON
fumecheng-94	79	12	genetic	genetic	ADJ
fumecheng-94	79	13	algorithms	algorithm	NOUN
fumecheng-94	79	14	[	[	X
fumecheng-94	79	15	8	8	NUM
fumecheng-94	79	16	]	]	PUNCT
fumecheng-94	79	17	are	be	AUX
fumecheng-94	79	18	applied	apply	VERB
fumecheng-94	79	19	here	here	ADV
fumecheng-94	79	20	.	.	PUNCT
fumecheng-94	80	1	genetic	genetic	ADJ
fumecheng-94	80	2	algorithms	algorithm	NOUN
fumecheng-94	80	3	are	be	AUX
fumecheng-94	80	4	a	a	DET
fumecheng-94	80	5	commonly	commonly	ADV
fumecheng-94	80	6	used	use	VERB
fumecheng-94	80	7	method	method	NOUN
fumecheng-94	80	8	in	in	ADP
fumecheng-94	80	9	topology	topology	NOUN
fumecheng-94	80	10	optimization	optimization	NOUN
fumecheng-94	80	11	of	of	ADP
fumecheng-94	80	12	compliant	compliant	ADJ
fumecheng-94	80	13	mechanisms	mechanism	NOUN
fumecheng-94	80	14	[	[	X
fumecheng-94	80	15	2	2	NUM
fumecheng-94	80	16	]	]	PUNCT
fumecheng-94	80	17	,	,	PUNCT
fumecheng-94	80	18	[	[	X
fumecheng-94	80	19	4	4	NUM
fumecheng-94	80	20	]	]	PUNCT
fumecheng-94	80	21	,	,	PUNCT
fumecheng-94	80	22	[	[	X
fumecheng-94	80	23	7	7	NUM
fumecheng-94	80	24	]	]	PUNCT
fumecheng-94	80	25	,	,	PUNCT
fumecheng-94	80	26	and	and	CCONJ
fumecheng-94	80	27	they	they	PRON
fumecheng-94	80	28	have	have	AUX
fumecheng-94	80	29	been	be	AUX
fumecheng-94	80	30	well	well	ADV
fumecheng-94	80	31	studied	study	VERB
fumecheng-94	80	32	in	in	ADP
fumecheng-94	80	33	the	the	DET
fumecheng-94	80	34	past	past	NOUN
fumecheng-94	80	35	.	.	PUNCT
fumecheng-94	81	1	after	after	SCONJ
fumecheng-94	81	2	the	the	DET
fumecheng-94	81	3	optimization	optimization	NOUN
fumecheng-94	81	4	procedure	procedure	NOUN
fumecheng-94	81	5	converges	converge	VERB
fumecheng-94	81	6	,	,	PUNCT
fumecheng-94	81	7	some	some	DET
fumecheng-94	81	8	elements	element	NOUN
fumecheng-94	81	9	will	will	AUX
fumecheng-94	81	10	be	be	AUX
fumecheng-94	81	11	removed	remove	VERB
fumecheng-94	81	12	from	from	ADP
fumecheng-94	81	13	the	the	DET
fumecheng-94	81	14	original	original	ADJ
fumecheng-94	81	15	exhaustive	exhaustive	ADJ
fumecheng-94	81	16	set	set	NOUN
fumecheng-94	81	17	.	.	PUNCT
fumecheng-94	82	1	the	the	DET
fumecheng-94	82	2	remaining	remain	VERB
fumecheng-94	82	3	elements	element	NOUN
fumecheng-94	82	4	will	will	AUX
fumecheng-94	82	5	define	define	VERB
fumecheng-94	82	6	the	the	DET
fumecheng-94	82	7	topology	topology	NOUN
fumecheng-94	82	8	for	for	ADP
fumecheng-94	82	9	the	the	DET
fumecheng-94	82	10	compliant	compliant	ADJ
fumecheng-94	82	11	mechanism	mechanism	NOUN
fumecheng-94	82	12	,	,	PUNCT
fumecheng-94	82	13	which	which	PRON
fumecheng-94	82	14	represents	represent	VERB
fumecheng-94	82	15	the	the	DET
fumecheng-94	82	16	optimal	optimal	ADJ
fumecheng-94	82	17	solution	solution	NOUN
fumecheng-94	82	18	for	for	ADP
fumecheng-94	82	19	the	the	DET
fumecheng-94	82	20	given	give	VERB
fumecheng-94	82	21	problem	problem	NOUN
fumecheng-94	82	22	;	;	PUNCT
fumecheng-94	82	23	the	the	DET
fumecheng-94	82	24	optimized	optimize	VERB
fumecheng-94	82	25	compliant	compliant	ADJ
fumecheng-94	82	26	mechanism	mechanism	NOUN
fumecheng-94	82	27	is	be	AUX
fumecheng-94	82	28	a	a	DET
fumecheng-94	82	29	network	network	NOUN
fumecheng-94	82	30	of	of	ADP
fumecheng-94	82	31	a	a	DET
fumecheng-94	82	32	subset	subset	NOUN
fumecheng-94	82	33	of	of	ADP
fumecheng-94	82	34	beam	beam	NOUN
fumecheng-94	82	35	elements	element	NOUN
fumecheng-94	82	36	(	(	PUNCT
fumecheng-94	82	37	fig	fig	NOUN
fumecheng-94	82	38	.	.	PUNCT
fumecheng-94	83	1	6	6	NUM
fumecheng-94	83	2	)	)	PUNCT
fumecheng-94	83	3	.	.	PUNCT
fumecheng-94	84	1	software	software	NOUN
fumecheng-94	84	2	for	for	ADP
fumecheng-94	84	3	synthesis	synthesis	NOUN
fumecheng-94	84	4	of	of	ADP
fumecheng-94	84	5	compliant	compliant	ADJ
fumecheng-94	84	6	mechanisms	mechanism	NOUN
fumecheng-94	84	7	without	without	ADP
fumecheng-94	84	8	intersecting	intersect	VERB
fumecheng-94	84	9	elements	element	NOUN
fumecheng-94	84	10	157	157	NUM
fumecheng-94	84	11	the	the	DET
fumecheng-94	84	12	capabilities	capability	NOUN
fumecheng-94	84	13	of	of	ADP
fumecheng-94	84	14	the	the	DET
fumecheng-94	84	15	developed	develop	VERB
fumecheng-94	84	16	software	software	NOUN
fumecheng-94	84	17	and	and	CCONJ
fumecheng-94	84	18	its	its	PRON
fumecheng-94	84	19	efficiency	efficiency	NOUN
fumecheng-94	84	20	will	will	AUX
fumecheng-94	84	21	be	be	AUX
fumecheng-94	84	22	shown	show	VERB
fumecheng-94	84	23	on	on	ADP
fumecheng-94	84	24	the	the	DET
fumecheng-94	84	25	example	example	NOUN
fumecheng-94	84	26	of	of	ADP
fumecheng-94	84	27	the	the	DET
fumecheng-94	84	28	synthesis	synthesis	NOUN
fumecheng-94	84	29	of	of	ADP
fumecheng-94	84	30	a	a	DET
fumecheng-94	84	31	compliant	compliant	ADJ
fumecheng-94	84	32	gripper	gripper	NOUN
fumecheng-94	84	33	and	and	CCONJ
fumecheng-94	84	34	a	a	DET
fumecheng-94	84	35	compliant	compliant	ADJ
fumecheng-94	84	36	displacement	displacement	ADJ
fumecheng-94	84	37	inverter	inverter	NOUN
fumecheng-94	84	38	,	,	PUNCT
fumecheng-94	84	39	which	which	PRON
fumecheng-94	84	40	are	be	AUX
fumecheng-94	84	41	common	common	ADJ
fumecheng-94	84	42	benchmarking	benchmarking	NOUN
fumecheng-94	84	43	problems	problem	NOUN
fumecheng-94	84	44	in	in	ADP
fumecheng-94	84	45	the	the	DET
fumecheng-94	84	46	topology	topology	NOUN
fumecheng-94	84	47	optimization	optimization	NOUN
fumecheng-94	84	48	field	field	NOUN
fumecheng-94	84	49	[	[	X
fumecheng-94	84	50	5	5	NUM
fumecheng-94	84	51	]	]	PUNCT
fumecheng-94	84	52	,	,	PUNCT
fumecheng-94	84	53	[	[	X
fumecheng-94	84	54	12	12	NUM
fumecheng-94	84	55	]	]	PUNCT
fumecheng-94	84	56	.	.	PUNCT
fumecheng-94	85	1	4	4	X
fumecheng-94	85	2	.	.	X
fumecheng-94	85	3	synthesis	synthesis	NOUN
fumecheng-94	85	4	of	of	ADP
fumecheng-94	85	5	the	the	DET
fumecheng-94	85	6	compliant	compliant	ADJ
fumecheng-94	85	7	gripper	gripper	NOUN
fumecheng-94	85	8	and	and	CCONJ
fumecheng-94	85	9	the	the	DET
fumecheng-94	85	10	displacement	displacement	NOUN
fumecheng-94	85	11	inverter	inverter	NOUN
fumecheng-94	85	12	the	the	DET
fumecheng-94	85	13	goal	goal	NOUN
fumecheng-94	85	14	is	be	AUX
fumecheng-94	85	15	to	to	PART
fumecheng-94	85	16	design	design	VERB
fumecheng-94	85	17	two	two	NUM
fumecheng-94	85	18	compliant	compliant	ADJ
fumecheng-94	85	19	mechanisms	mechanism	NOUN
fumecheng-94	85	20	:	:	PUNCT
fumecheng-94	85	21	a	a	DET
fumecheng-94	85	22	compliant	compliant	ADJ
fumecheng-94	85	23	gripper	gripper	NOUN
fumecheng-94	85	24	and	and	CCONJ
fumecheng-94	85	25	a	a	DET
fumecheng-94	85	26	compliant	compliant	ADJ
fumecheng-94	85	27	displacement	displacement	ADJ
fumecheng-94	85	28	inverter	inverter	NOUN
fumecheng-94	85	29	,	,	PUNCT
fumecheng-94	85	30	by	by	ADP
fumecheng-94	85	31	using	use	VERB
fumecheng-94	85	32	the	the	DET
fumecheng-94	85	33	newly	newly	ADV
fumecheng-94	85	34	-	-	PUNCT
fumecheng-94	85	35	developed	develop	VERB
fumecheng-94	85	36	software	software	NOUN
fumecheng-94	85	37	with	with	ADP
fumecheng-94	85	38	the	the	DET
fumecheng-94	85	39	topology	topology	NOUN
fumecheng-94	85	40	optimization	optimization	NOUN
fumecheng-94	85	41	technique	technique	NOUN
fumecheng-94	85	42	that	that	PRON
fumecheng-94	85	43	is	be	AUX
fumecheng-94	85	44	commonly	commonly	ADV
fumecheng-94	85	45	used	use	VERB
fumecheng-94	85	46	for	for	ADP
fumecheng-94	85	47	the	the	DET
fumecheng-94	85	48	synthesis	synthesis	NOUN
fumecheng-94	85	49	of	of	ADP
fumecheng-94	85	50	compliant	compliant	ADJ
fumecheng-94	85	51	mechanisms	mechanism	NOUN
fumecheng-94	85	52	.	.	PUNCT
fumecheng-94	86	1	in	in	ADP
fumecheng-94	86	2	the	the	DET
fumecheng-94	86	3	first	first	ADJ
fumecheng-94	86	4	case	case	NOUN
fumecheng-94	86	5	we	we	PRON
fumecheng-94	86	6	want	want	VERB
fumecheng-94	86	7	to	to	PART
fumecheng-94	86	8	design	design	VERB
fumecheng-94	86	9	a	a	DET
fumecheng-94	86	10	compliant	compliant	ADJ
fumecheng-94	86	11	gripper	gripper	NOUN
fumecheng-94	86	12	that	that	PRON
fumecheng-94	86	13	can	can	AUX
fumecheng-94	86	14	realize	realize	VERB
fumecheng-94	86	15	desired	desire	VERB
fumecheng-94	86	16	output	output	NOUN
fumecheng-94	86	17	motion	motion	NOUN
fumecheng-94	86	18	δ	δ	PROPN
fumecheng-94	86	19	at	at	ADP
fumecheng-94	86	20	the	the	DET
fumecheng-94	86	21	indicated	indicate	VERB
fumecheng-94	86	22	location	location	NOUN
fumecheng-94	86	23	,	,	PUNCT
fumecheng-94	86	24	when	when	SCONJ
fumecheng-94	86	25	input	input	NOUN
fumecheng-94	86	26	load	load	NOUN
fumecheng-94	86	27	f	f	PROPN
fumecheng-94	86	28	is	be	AUX
fumecheng-94	86	29	applied	apply	VERB
fumecheng-94	86	30	(	(	PUNCT
fumecheng-94	86	31	fig	fig	NOUN
fumecheng-94	86	32	.	.	PUNCT
fumecheng-94	87	1	3a	3a	NUM
fumecheng-94	87	2	)	)	PUNCT
fumecheng-94	87	3	.	.	PUNCT
fumecheng-94	88	1	this	this	PRON
fumecheng-94	88	2	will	will	AUX
fumecheng-94	88	3	allow	allow	VERB
fumecheng-94	88	4	the	the	DET
fumecheng-94	88	5	device	device	NOUN
fumecheng-94	88	6	to	to	PART
fumecheng-94	88	7	grip	grip	VERB
fumecheng-94	88	8	some	some	DET
fumecheng-94	88	9	object	object	NOUN
fumecheng-94	88	10	at	at	ADP
fumecheng-94	88	11	the	the	DET
fumecheng-94	88	12	output	output	NOUN
fumecheng-94	88	13	point	point	NOUN
fumecheng-94	88	14	.	.	PUNCT
fumecheng-94	89	1	in	in	ADP
fumecheng-94	89	2	the	the	DET
fumecheng-94	89	3	case	case	NOUN
fumecheng-94	89	4	of	of	ADP
fumecheng-94	89	5	the	the	DET
fumecheng-94	89	6	displacement	displacement	ADJ
fumecheng-94	89	7	inverter	inverter	NOUN
fumecheng-94	89	8	we	we	PRON
fumecheng-94	89	9	want	want	VERB
fumecheng-94	89	10	to	to	PART
fumecheng-94	89	11	design	design	VERB
fumecheng-94	89	12	a	a	DET
fumecheng-94	89	13	compliant	compliant	ADJ
fumecheng-94	89	14	structure	structure	NOUN
fumecheng-94	89	15	that	that	PRON
fumecheng-94	89	16	can	can	AUX
fumecheng-94	89	17	realize	realize	VERB
fumecheng-94	89	18	desired	desire	VERB
fumecheng-94	89	19	output	output	NOUN
fumecheng-94	89	20	displacement	displacement	PROPN
fumecheng-94	89	21	δ	δ	PROPN
fumecheng-94	89	22	in	in	ADP
fumecheng-94	89	23	the	the	DET
fumecheng-94	89	24	opposite	opposite	ADJ
fumecheng-94	89	25	direction	direction	NOUN
fumecheng-94	89	26	as	as	ADP
fumecheng-94	89	27	input	input	NOUN
fumecheng-94	89	28	force	force	NOUN
fumecheng-94	89	29	f	f	PROPN
fumecheng-94	89	30	(	(	PUNCT
fumecheng-94	89	31	fig	fig	NOUN
fumecheng-94	89	32	.	.	PUNCT
fumecheng-94	89	33	3b	3b	NUM
fumecheng-94	89	34	)	)	PUNCT
fumecheng-94	89	35	.	.	PUNCT
fumecheng-94	90	1	the	the	DET
fumecheng-94	90	2	design	design	NOUN
fumecheng-94	90	3	domain	domain	NOUN
fumecheng-94	90	4	for	for	ADP
fumecheng-94	90	5	both	both	DET
fumecheng-94	90	6	cases	case	NOUN
fumecheng-94	90	7	in	in	ADP
fumecheng-94	90	8	fig	fig	NOUN
fumecheng-94	90	9	.	.	PUNCT
fumecheng-94	91	1	3	3	NUM
fumecheng-94	91	2	represents	represent	VERB
fumecheng-94	91	3	the	the	DET
fumecheng-94	91	4	upper	upper	ADJ
fumecheng-94	91	5	-	-	PUNCT
fumecheng-94	91	6	half	half	NOUN
fumecheng-94	91	7	view	view	NOUN
fumecheng-94	91	8	,	,	PUNCT
fumecheng-94	91	9	since	since	SCONJ
fumecheng-94	91	10	this	this	PRON
fumecheng-94	91	11	is	be	AUX
fumecheng-94	91	12	assumed	assume	VERB
fumecheng-94	91	13	to	to	PART
fumecheng-94	91	14	be	be	AUX
fumecheng-94	91	15	a	a	DET
fumecheng-94	91	16	symmetric	symmetric	ADJ
fumecheng-94	91	17	problem	problem	NOUN
fumecheng-94	91	18	without	without	ADP
fumecheng-94	91	19	any	any	DET
fumecheng-94	91	20	loss	loss	NOUN
fumecheng-94	91	21	of	of	ADP
fumecheng-94	91	22	generality	generality	NOUN
fumecheng-94	91	23	in	in	ADP
fumecheng-94	91	24	the	the	DET
fumecheng-94	91	25	solution	solution	NOUN
fumecheng-94	91	26	procedure	procedure	NOUN
fumecheng-94	91	27	.	.	PUNCT
fumecheng-94	92	1	a	a	DET
fumecheng-94	92	2	)	)	PUNCT
fumecheng-94	92	3	b	b	NOUN
fumecheng-94	92	4	)	)	PUNCT
fumecheng-94	92	5	fig	fig	NOUN
fumecheng-94	92	6	.	.	PUNCT
fumecheng-94	93	1	3	3	NUM
fumecheng-94	93	2	design	design	NOUN
fumecheng-94	93	3	domain	domain	NOUN
fumecheng-94	93	4	and	and	CCONJ
fumecheng-94	93	5	problem	problem	NOUN
fumecheng-94	93	6	setup	setup	NOUN
fumecheng-94	93	7	for	for	ADP
fumecheng-94	93	8	synthesis	synthesis	NOUN
fumecheng-94	93	9	of	of	ADP
fumecheng-94	93	10	the	the	DET
fumecheng-94	93	11	compliant	compliant	ADJ
fumecheng-94	93	12	gripper	gripper	NOUN
fumecheng-94	93	13	(	(	PUNCT
fumecheng-94	93	14	a	a	NOUN
fumecheng-94	93	15	)	)	PUNCT
fumecheng-94	93	16	and	and	CCONJ
fumecheng-94	93	17	the	the	DET
fumecheng-94	93	18	compliant	compliant	ADJ
fumecheng-94	93	19	displacement	displacement	ADJ
fumecheng-94	93	20	inverter	inverter	NOUN
fumecheng-94	93	21	(	(	PUNCT
fumecheng-94	93	22	b	b	NOUN
fumecheng-94	93	23	)	)	PUNCT
fumecheng-94	93	24	4.1	4.1	NUM
fumecheng-94	93	25	.	.	PUNCT
fumecheng-94	93	26	problem	problem	NOUN
fumecheng-94	93	27	specification	specification	NOUN
fumecheng-94	93	28	and	and	CCONJ
fumecheng-94	93	29	parameterization	parameterization	NOUN
fumecheng-94	93	30	in	in	ADP
fumecheng-94	93	31	the	the	DET
fumecheng-94	93	32	software	software	NOUN
fumecheng-94	93	33	,	,	PUNCT
fumecheng-94	93	34	the	the	DET
fumecheng-94	93	35	size	size	NOUN
fumecheng-94	93	36	of	of	ADP
fumecheng-94	93	37	the	the	DET
fumecheng-94	93	38	design	design	NOUN
fumecheng-94	93	39	domain	domain	NOUN
fumecheng-94	93	40	,	,	PUNCT
fumecheng-94	93	41	in	in	ADP
fumecheng-94	93	42	which	which	PRON
fumecheng-94	93	43	the	the	DET
fumecheng-94	93	44	mechanism	mechanism	NOUN
fumecheng-94	93	45	should	should	AUX
fumecheng-94	93	46	fit	fit	VERB
fumecheng-94	93	47	,	,	PUNCT
fumecheng-94	93	48	must	must	AUX
fumecheng-94	93	49	be	be	AUX
fumecheng-94	93	50	defined	define	VERB
fumecheng-94	93	51	first	first	ADV
fumecheng-94	93	52	(	(	PUNCT
fumecheng-94	93	53	only	only	ADV
fumecheng-94	93	54	the	the	DET
fumecheng-94	93	55	rectangular	rectangular	ADJ
fumecheng-94	93	56	design	design	NOUN
fumecheng-94	93	57	domain	domain	NOUN
fumecheng-94	93	58	can	can	AUX
fumecheng-94	93	59	be	be	AUX
fumecheng-94	93	60	defined	define	VERB
fumecheng-94	93	61	)	)	PUNCT
fumecheng-94	93	62	.	.	PUNCT
fumecheng-94	94	1	then	then	ADV
fumecheng-94	94	2	,	,	PUNCT
fumecheng-94	94	3	the	the	DET
fumecheng-94	94	4	user	user	NOUN
fumecheng-94	94	5	needs	need	VERB
fumecheng-94	94	6	to	to	PART
fumecheng-94	94	7	input	input	VERB
fumecheng-94	94	8	the	the	DET
fumecheng-94	94	9	desired	desire	VERB
fumecheng-94	94	10	number	number	NOUN
fumecheng-94	94	11	of	of	ADP
fumecheng-94	94	12	nodes	node	NOUN
fumecheng-94	94	13	,	,	PUNCT
fumecheng-94	94	14	creating	create	VERB
fumecheng-94	94	15	nl	nl	PROPN
fumecheng-94	94	16	x	x	PROPN
fumecheng-94	94	17	nh	nh	PROPN
fumecheng-94	94	18	grid	grid	NOUN
fumecheng-94	94	19	of	of	ADP
fumecheng-94	94	20	nodes	node	NOUN
fumecheng-94	94	21	.	.	PUNCT
fumecheng-94	95	1	this	this	PRON
fumecheng-94	95	2	defines	define	VERB
fumecheng-94	95	3	the	the	DET
fumecheng-94	95	4	resolution	resolution	NOUN
fumecheng-94	95	5	with	with	ADP
fumecheng-94	95	6	which	which	PRON
fumecheng-94	95	7	the	the	DET
fumecheng-94	95	8	design	design	NOUN
fumecheng-94	95	9	domain	domain	NOUN
fumecheng-94	95	10	will	will	AUX
fumecheng-94	95	11	be	be	AUX
fumecheng-94	95	12	parameterized	parameterize	VERB
fumecheng-94	95	13	.	.	PUNCT
fumecheng-94	96	1	after	after	ADP
fumecheng-94	96	2	this	this	PRON
fumecheng-94	96	3	,	,	PUNCT
fumecheng-94	96	4	the	the	DET
fumecheng-94	96	5	software	software	NOUN
fumecheng-94	96	6	automatically	automatically	ADV
fumecheng-94	96	7	parameterizes	parameterize	VERB
fumecheng-94	96	8	the	the	DET
fumecheng-94	96	9	design	design	NOUN
fumecheng-94	96	10	domain	domain	NOUN
fumecheng-94	96	11	using	use	VERB
fumecheng-94	96	12	the	the	DET
fumecheng-94	96	13	gsa	gsa	PROPN
fumecheng-94	96	14	.	.	PUNCT
fumecheng-94	97	1	the	the	DET
fumecheng-94	97	2	design	design	NOUN
fumecheng-94	97	3	domain	domain	NOUN
fumecheng-94	97	4	is	be	AUX
fumecheng-94	97	5	broken	break	VERB
fumecheng-94	97	6	down	down	ADP
fumecheng-94	97	7	so	so	SCONJ
fumecheng-94	97	8	that	that	SCONJ
fumecheng-94	97	9	the	the	DET
fumecheng-94	97	10	grid	grid	NOUN
fumecheng-94	97	11	of	of	ADP
fumecheng-94	97	12	nodes	node	NOUN
fumecheng-94	97	13	is	be	AUX
fumecheng-94	97	14	interconnected	interconnect	VERB
fumecheng-94	97	15	by	by	ADP
fumecheng-94	97	16	beam	beam	NOUN
fumecheng-94	97	17	elements	element	NOUN
fumecheng-94	97	18	(	(	PUNCT
fumecheng-94	97	19	fig	fig	NOUN
fumecheng-94	97	20	.	.	PUNCT
fumecheng-94	98	1	4	4	NUM
fumecheng-94	98	2	)	)	PUNCT
fumecheng-94	98	3	.	.	PUNCT
fumecheng-94	99	1	a	a	DET
fumecheng-94	99	2	)	)	PUNCT
fumecheng-94	99	3	b	b	NOUN
fumecheng-94	99	4	)	)	PUNCT
fumecheng-94	99	5	fig	fig	NOUN
fumecheng-94	99	6	.	.	PUNCT
fumecheng-94	100	1	4	4	NUM
fumecheng-94	100	2	initial	initial	ADJ
fumecheng-94	100	3	ground	ground	NOUN
fumecheng-94	100	4	structure	structure	NOUN
fumecheng-94	100	5	:	:	PUNCT
fumecheng-94	100	6	a	a	X
fumecheng-94	100	7	)	)	PUNCT
fumecheng-94	100	8	compliant	compliant	ADJ
fumecheng-94	100	9	gripper	gripper	NOUN
fumecheng-94	100	10	;	;	PUNCT
fumecheng-94	100	11	b	b	X
fumecheng-94	100	12	)	)	PUNCT
fumecheng-94	100	13	compliant	compliant	ADJ
fumecheng-94	100	14	displacement	displacement	NOUN
fumecheng-94	100	15	inverter	inverter	NOUN
fumecheng-94	100	16	158	158	NUM
fumecheng-94	100	17	a.	a.	NOUN
fumecheng-94	100	18	milojević	milojević	NOUN
fumecheng-94	100	19	,	,	PUNCT
fumecheng-94	100	20	n.	n.	PROPN
fumecheng-94	100	21	d.	d.	PROPN
fumecheng-94	100	22	pavlović	pavlović	VERB
fumecheng-94	100	23	in	in	ADP
fumecheng-94	100	24	the	the	DET
fumecheng-94	100	25	obtained	obtain	VERB
fumecheng-94	100	26	ground	ground	NOUN
fumecheng-94	100	27	structure	structure	NOUN
fumecheng-94	100	28	all	all	DET
fumecheng-94	100	29	the	the	DET
fumecheng-94	100	30	nodes	node	NOUN
fumecheng-94	100	31	are	be	AUX
fumecheng-94	100	32	initially	initially	ADV
fumecheng-94	100	33	interconnected	interconnect	VERB
fumecheng-94	100	34	i.e.	i.e.	X
fumecheng-94	100	35	the	the	DET
fumecheng-94	100	36	ground	ground	NOUN
fumecheng-94	100	37	structure	structure	NOUN
fumecheng-94	100	38	is	be	AUX
fumecheng-94	100	39	"	"	PUNCT
fumecheng-94	100	40	fully	fully	ADV
fumecheng-94	100	41	connected	connect	VERB
fumecheng-94	100	42	"	"	PUNCT
fumecheng-94	100	43	.	.	PUNCT
fumecheng-94	101	1	a	a	DET
fumecheng-94	101	2	fully	fully	ADV
fumecheng-94	101	3	connected	connect	VERB
fumecheng-94	101	4	structure	structure	NOUN
fumecheng-94	101	5	can	can	AUX
fumecheng-94	101	6	lead	lead	VERB
fumecheng-94	101	7	to	to	ADP
fumecheng-94	101	8	overlapping	overlap	VERB
fumecheng-94	101	9	elements	element	NOUN
fumecheng-94	101	10	that	that	PRON
fumecheng-94	101	11	are	be	AUX
fumecheng-94	101	12	difficult	difficult	ADJ
fumecheng-94	101	13	to	to	PART
fumecheng-94	101	14	produce	produce	VERB
fumecheng-94	101	15	.	.	PUNCT
fumecheng-94	102	1	thus	thus	ADV
fumecheng-94	102	2	,	,	PUNCT
fumecheng-94	102	3	certain	certain	ADJ
fumecheng-94	102	4	filters	filter	NOUN
fumecheng-94	102	5	are	be	AUX
fumecheng-94	102	6	implemented	implement	VERB
fumecheng-94	102	7	in	in	ADP
fumecheng-94	102	8	the	the	DET
fumecheng-94	102	9	software	software	NOUN
fumecheng-94	102	10	that	that	PRON
fumecheng-94	102	11	eliminates	eliminate	VERB
fumecheng-94	102	12	the	the	DET
fumecheng-94	102	13	overlapping	overlap	VERB
fumecheng-94	102	14	elements	element	NOUN
fumecheng-94	102	15	.	.	PUNCT
fumecheng-94	103	1	this	this	DET
fumecheng-94	103	2	partially	partially	ADV
fumecheng-94	103	3	connected	connect	VERB
fumecheng-94	103	4	structure	structure	NOUN
fumecheng-94	103	5	results	result	NOUN
fumecheng-94	103	6	in	in	ADP
fumecheng-94	103	7	much	much	ADV
fumecheng-94	103	8	fewer	few	ADJ
fumecheng-94	103	9	design	design	NOUN
fumecheng-94	103	10	variables	variable	NOUN
fumecheng-94	103	11	and	and	CCONJ
fumecheng-94	103	12	greatly	greatly	ADV
fumecheng-94	103	13	reduced	reduce	VERB
fumecheng-94	103	14	computation	computation	NOUN
fumecheng-94	103	15	time	time	NOUN
fumecheng-94	103	16	,	,	PUNCT
fumecheng-94	103	17	while	while	SCONJ
fumecheng-94	103	18	still	still	ADV
fumecheng-94	103	19	effectively	effectively	ADV
fumecheng-94	103	20	representing	represent	VERB
fumecheng-94	103	21	the	the	DET
fumecheng-94	103	22	design	design	NOUN
fumecheng-94	103	23	domain	domain	NOUN
fumecheng-94	103	24	.	.	PUNCT
fumecheng-94	104	1	the	the	DET
fumecheng-94	104	2	user	user	NOUN
fumecheng-94	104	3	can	can	AUX
fumecheng-94	104	4	also	also	ADV
fumecheng-94	104	5	define	define	VERB
fumecheng-94	104	6	the	the	DET
fumecheng-94	104	7	degree	degree	NOUN
fumecheng-94	104	8	of	of	ADP
fumecheng-94	104	9	nodal	nodal	NOUN
fumecheng-94	104	10	connectivity	connectivity	NOUN
fumecheng-94	104	11	,	,	PUNCT
fumecheng-94	104	12	that	that	ADV
fumecheng-94	104	13	is	is	ADV
fumecheng-94	104	14	,	,	PUNCT
fumecheng-94	104	15	the	the	DET
fumecheng-94	104	16	number	number	NOUN
fumecheng-94	104	17	of	of	ADP
fumecheng-94	104	18	nodes	node	NOUN
fumecheng-94	104	19	that	that	SCONJ
fumecheng-94	104	20	one	one	NUM
fumecheng-94	104	21	node	node	NOUN
fumecheng-94	104	22	can	can	AUX
fumecheng-94	104	23	be	be	AUX
fumecheng-94	104	24	interconnected	interconnect	VERB
fumecheng-94	104	25	maximally	maximally	ADV
fumecheng-94	104	26	in	in	ADP
fumecheng-94	104	27	the	the	DET
fumecheng-94	104	28	directions	direction	NOUN
fumecheng-94	104	29	of	of	ADP
fumecheng-94	104	30	the	the	DET
fumecheng-94	104	31	width	width	NOUN
fumecheng-94	104	32	and	and	CCONJ
fumecheng-94	104	33	the	the	DET
fumecheng-94	104	34	height	height	NOUN
fumecheng-94	104	35	of	of	ADP
fumecheng-94	104	36	the	the	DET
fumecheng-94	104	37	design	design	NOUN
fumecheng-94	104	38	domain	domain	NOUN
fumecheng-94	104	39	(	(	PUNCT
fumecheng-94	104	40	how	how	SCONJ
fumecheng-94	104	41	many	many	ADJ
fumecheng-94	104	42	fields	field	VERB
fumecheng-94	104	43	one	one	NUM
fumecheng-94	104	44	beam	beam	NOUN
fumecheng-94	104	45	element	element	NOUN
fumecheng-94	104	46	can	can	AUX
fumecheng-94	104	47	cross	cross	VERB
fumecheng-94	104	48	)	)	PUNCT
fumecheng-94	104	49	.	.	PUNCT
fumecheng-94	105	1	this	this	PRON
fumecheng-94	105	2	can	can	AUX
fumecheng-94	105	3	significantly	significantly	ADV
fumecheng-94	105	4	reduce	reduce	VERB
fumecheng-94	105	5	the	the	DET
fumecheng-94	105	6	grid	grid	NOUN
fumecheng-94	105	7	resolution	resolution	NOUN
fumecheng-94	105	8	of	of	ADP
fumecheng-94	105	9	the	the	DET
fumecheng-94	105	10	ground	ground	NOUN
fumecheng-94	105	11	structure	structure	NOUN
fumecheng-94	105	12	which	which	PRON
fumecheng-94	105	13	can	can	AUX
fumecheng-94	105	14	speed	speed	VERB
fumecheng-94	105	15	up	up	ADP
fumecheng-94	105	16	the	the	DET
fumecheng-94	105	17	process	process	NOUN
fumecheng-94	105	18	of	of	ADP
fumecheng-94	105	19	optimization	optimization	NOUN
fumecheng-94	105	20	.	.	PUNCT
fumecheng-94	106	1	for	for	ADP
fumecheng-94	106	2	the	the	DET
fumecheng-94	106	3	case	case	NOUN
fumecheng-94	106	4	of	of	ADP
fumecheng-94	106	5	the	the	DET
fumecheng-94	106	6	compliant	compliant	ADJ
fumecheng-94	106	7	gripper	gripper	NOUN
fumecheng-94	106	8	and	and	CCONJ
fumecheng-94	106	9	the	the	DET
fumecheng-94	106	10	compliant	compliant	ADJ
fumecheng-94	106	11	displacement	displacement	ADJ
fumecheng-94	106	12	inverter	inverter	NOUN
fumecheng-94	106	13	,	,	PUNCT
fumecheng-94	106	14	design	design	NOUN
fumecheng-94	106	15	specifications	specification	NOUN
fumecheng-94	106	16	of	of	ADP
fumecheng-94	106	17	the	the	DET
fumecheng-94	106	18	design	design	NOUN
fumecheng-94	106	19	domain	domain	NOUN
fumecheng-94	106	20	,	,	PUNCT
fumecheng-94	106	21	size	size	NOUN
fumecheng-94	106	22	of	of	ADP
fumecheng-94	106	23	grid	grid	NOUN
fumecheng-94	106	24	nodes	node	NOUN
fumecheng-94	106	25	and	and	CCONJ
fumecheng-94	106	26	degree	degree	NOUN
fumecheng-94	106	27	of	of	ADP
fumecheng-94	106	28	nodal	nodal	NOUN
fumecheng-94	106	29	connectivity	connectivity	NOUN
fumecheng-94	106	30	are	be	AUX
fumecheng-94	106	31	given	give	VERB
fumecheng-94	106	32	in	in	ADP
fumecheng-94	106	33	table	table	NOUN
fumecheng-94	106	34	1	1	NUM
fumecheng-94	106	35	.	.	PUNCT
fumecheng-94	107	1	the	the	DET
fumecheng-94	107	2	design	design	NOUN
fumecheng-94	107	3	domain	domain	NOUN
fumecheng-94	107	4	in	in	ADP
fumecheng-94	107	5	fig.4a	fig.4a	PROPN
fumecheng-94	107	6	needs	need	NOUN
fumecheng-94	107	7	to	to	PART
fumecheng-94	107	8	have	have	VERB
fumecheng-94	107	9	a	a	DET
fumecheng-94	107	10	void	void	NOUN
fumecheng-94	107	11	,	,	PUNCT
fumecheng-94	107	12	thus	thus	ADV
fumecheng-94	107	13	some	some	PRON
fumecheng-94	107	14	of	of	ADP
fumecheng-94	107	15	the	the	DET
fumecheng-94	107	16	fields	field	NOUN
fumecheng-94	107	17	in	in	ADP
fumecheng-94	107	18	the	the	DET
fumecheng-94	107	19	ground	ground	NOUN
fumecheng-94	107	20	structure	structure	NOUN
fumecheng-94	107	21	must	must	AUX
fumecheng-94	107	22	be	be	AUX
fumecheng-94	107	23	eliminated	eliminate	VERB
fumecheng-94	107	24	.	.	PUNCT
fumecheng-94	108	1	in	in	ADP
fumecheng-94	108	2	the	the	DET
fumecheng-94	108	3	software	software	NOUN
fumecheng-94	108	4	this	this	PRON
fumecheng-94	108	5	is	be	AUX
fumecheng-94	108	6	done	do	VERB
fumecheng-94	108	7	by	by	ADP
fumecheng-94	108	8	typing	type	VERB
fumecheng-94	108	9	the	the	DET
fumecheng-94	108	10	mark	mark	NOUN
fumecheng-94	108	11	of	of	ADP
fumecheng-94	108	12	the	the	DET
fumecheng-94	108	13	right	right	ADJ
fumecheng-94	108	14	corner	corner	NOUN
fumecheng-94	108	15	node	node	NOUN
fumecheng-94	108	16	of	of	ADP
fumecheng-94	108	17	the	the	DET
fumecheng-94	108	18	field	field	NOUN
fumecheng-94	108	19	which	which	PRON
fumecheng-94	108	20	must	must	AUX
fumecheng-94	108	21	be	be	AUX
fumecheng-94	108	22	eliminated	eliminate	VERB
fumecheng-94	108	23	.	.	PUNCT
fumecheng-94	109	1	in	in	ADP
fumecheng-94	109	2	the	the	DET
fumecheng-94	109	3	case	case	NOUN
fumecheng-94	109	4	of	of	ADP
fumecheng-94	109	5	the	the	DET
fumecheng-94	109	6	compliant	compliant	ADJ
fumecheng-94	109	7	gripper	gripper	NOUN
fumecheng-94	109	8	the	the	DET
fumecheng-94	109	9	node	node	ADJ
fumecheng-94	109	10	mark	mark	NOUN
fumecheng-94	109	11	16	16	NUM
fumecheng-94	109	12	is	be	AUX
fumecheng-94	109	13	selected	select	VERB
fumecheng-94	109	14	and	and	CCONJ
fumecheng-94	109	15	after	after	ADP
fumecheng-94	109	16	this	this	PRON
fumecheng-94	109	17	the	the	DET
fumecheng-94	109	18	new	new	ADJ
fumecheng-94	109	19	ground	ground	NOUN
fumecheng-94	109	20	structure	structure	NOUN
fumecheng-94	109	21	for	for	ADP
fumecheng-94	109	22	the	the	DET
fumecheng-94	109	23	compliant	compliant	ADJ
fumecheng-94	109	24	gripper	gripper	NOUN
fumecheng-94	109	25	is	be	AUX
fumecheng-94	109	26	obtained	obtain	VERB
fumecheng-94	109	27	(	(	PUNCT
fumecheng-94	109	28	fig	fig	NOUN
fumecheng-94	109	29	.	.	PUNCT
fumecheng-94	110	1	5	5	NUM
fumecheng-94	110	2	)	)	PUNCT
fumecheng-94	110	3	.	.	PUNCT
fumecheng-94	111	1	fig	fig	NOUN
fumecheng-94	111	2	.	.	PUNCT
fumecheng-94	112	1	5	5	NUM
fumecheng-94	112	2	ground	ground	NOUN
fumecheng-94	112	3	structure	structure	NOUN
fumecheng-94	112	4	with	with	ADP
fumecheng-94	112	5	a	a	DET
fumecheng-94	112	6	void	void	ADJ
fumecheng-94	112	7	next	next	ADV
fumecheng-94	112	8	,	,	PUNCT
fumecheng-94	112	9	input	input	NOUN
fumecheng-94	112	10	force	force	NOUN
fumecheng-94	112	11	f	f	PROPN
fumecheng-94	112	12	and	and	CCONJ
fumecheng-94	112	13	supports	support	VERB
fumecheng-94	112	14	need	need	VERB
fumecheng-94	112	15	to	to	PART
fumecheng-94	112	16	be	be	AUX
fumecheng-94	112	17	defined	define	VERB
fumecheng-94	112	18	.	.	PUNCT
fumecheng-94	113	1	this	this	PRON
fumecheng-94	113	2	is	be	AUX
fumecheng-94	113	3	done	do	VERB
fumecheng-94	113	4	by	by	ADP
fumecheng-94	113	5	typing	type	VERB
fumecheng-94	113	6	the	the	DET
fumecheng-94	113	7	node	node	ADJ
fumecheng-94	113	8	mark	mark	NOUN
fumecheng-94	113	9	in	in	ADP
fumecheng-94	113	10	which	which	PRON
fumecheng-94	113	11	the	the	DET
fumecheng-94	113	12	force	force	NOUN
fumecheng-94	113	13	and	and	CCONJ
fumecheng-94	113	14	supports	support	NOUN
fumecheng-94	113	15	are	be	AUX
fumecheng-94	113	16	to	to	PART
fumecheng-94	113	17	be	be	AUX
fumecheng-94	113	18	put	put	VERB
fumecheng-94	113	19	.	.	PUNCT
fumecheng-94	114	1	the	the	DET
fumecheng-94	114	2	same	same	ADJ
fumecheng-94	114	3	stands	stand	VERB
fumecheng-94	114	4	for	for	ADP
fumecheng-94	114	5	defining	define	VERB
fumecheng-94	114	6	output	output	NOUN
fumecheng-94	114	7	displacement	displacement	PROPN
fumecheng-94	114	8	δ	δ	PROPN
fumecheng-94	114	9	.	.	PUNCT
fumecheng-94	115	1	the	the	DET
fumecheng-94	115	2	user	user	NOUN
fumecheng-94	115	3	also	also	ADV
fumecheng-94	115	4	needs	need	VERB
fumecheng-94	115	5	to	to	PART
fumecheng-94	115	6	input	input	VERB
fumecheng-94	115	7	the	the	DET
fumecheng-94	115	8	size	size	NOUN
fumecheng-94	115	9	and	and	CCONJ
fumecheng-94	115	10	the	the	DET
fumecheng-94	115	11	orientation	orientation	NOUN
fumecheng-94	115	12	of	of	ADP
fumecheng-94	115	13	the	the	DET
fumecheng-94	115	14	force	force	NOUN
fumecheng-94	115	15	and	and	CCONJ
fumecheng-94	115	16	the	the	DET
fumecheng-94	115	17	displacement	displacement	NOUN
fumecheng-94	115	18	.	.	PUNCT
fumecheng-94	116	1	for	for	ADP
fumecheng-94	116	2	the	the	DET
fumecheng-94	116	3	specified	specified	ADJ
fumecheng-94	116	4	cases	case	NOUN
fumecheng-94	116	5	,	,	PUNCT
fumecheng-94	116	6	parameters	parameter	NOUN
fumecheng-94	116	7	for	for	ADP
fumecheng-94	116	8	defining	define	VERB
fumecheng-94	116	9	force	force	NOUN
fumecheng-94	116	10	,	,	PUNCT
fumecheng-94	116	11	supports	support	NOUN
fumecheng-94	116	12	and	and	CCONJ
fumecheng-94	116	13	output	output	NOUN
fumecheng-94	116	14	displacement	displacement	NOUN
fumecheng-94	116	15	are	be	AUX
fumecheng-94	116	16	given	give	VERB
fumecheng-94	116	17	in	in	ADP
fumecheng-94	116	18	table	table	NOUN
fumecheng-94	116	19	1	1	NUM
fumecheng-94	116	20	.	.	PUNCT
fumecheng-94	116	21	table	table	NOUN
fumecheng-94	116	22	1	1	NUM
fumecheng-94	116	23	design	design	NOUN
fumecheng-94	116	24	specifications	specification	NOUN
fumecheng-94	116	25	for	for	ADP
fumecheng-94	116	26	compliant	compliant	ADJ
fumecheng-94	116	27	gripper	gripper	NOUN
fumecheng-94	116	28	and	and	CCONJ
fumecheng-94	116	29	displacement	displacement	ADJ
fumecheng-94	116	30	inverter	inverter	NOUN
fumecheng-94	116	31	problems	problem	NOUN
fumecheng-94	116	32	design	design	VERB
fumecheng-94	116	33	parameters	parameter	NOUN
fumecheng-94	116	34	compliant	compliant	ADJ
fumecheng-94	116	35	gripper	gripper	NOUN
fumecheng-94	116	36	compliant	compliant	ADJ
fumecheng-94	116	37	displacement	displacement	ADJ
fumecheng-94	116	38	inverter	inverter	NOUN
fumecheng-94	116	39	element	element	NOUN
fumecheng-94	116	40	modulus	modulus	NOUN
fumecheng-94	116	41	e=2.1	e=2.1	NOUN
fumecheng-94	116	42	gpa	gpa	PROPN
fumecheng-94	116	43	e=2.1	e=2.1	NOUN
fumecheng-94	116	44	gpa	gpa	PROPN
fumecheng-94	116	45	design	design	NOUN
fumecheng-94	116	46	domain	domain	NOUN
fumecheng-94	116	47	60	60	NUM
fumecheng-94	116	48	mm	mm	NOUN
fumecheng-94	116	49			NOUN
fumecheng-94	116	50	30	30	NUM
fumecheng-94	116	51	mm	mm	NOUN
fumecheng-94	116	52	50	50	NUM
fumecheng-94	116	53	mm	mm	NOUN
fumecheng-94	116	54			NOUN
fumecheng-94	116	55	25	25	NUM
fumecheng-94	116	56	mm	mm	NOUN
fumecheng-94	116	57	grid	grid	NOUN
fumecheng-94	116	58	size	size	NOUN
fumecheng-94	116	59	4	4	NUM
fumecheng-94	116	60			NOUN
fumecheng-94	116	61	4	4	NUM
fumecheng-94	116	62	3	3	NUM
fumecheng-94	116	63			NOUN
fumecheng-94	116	64	2	2	NUM
fumecheng-94	116	65	force	force	NOUN
fumecheng-94	116	66	node	node	NOUN
fumecheng-94	116	67	=	=	SYM
fumecheng-94	116	68	13	13	NUM
fumecheng-94	116	69	;	;	PUNCT
fumecheng-94	116	70	α	α	NOUN
fumecheng-94	116	71	=	=	SYM
fumecheng-94	116	72	180	180	NUM
fumecheng-94	116	73	°	°	NUM
fumecheng-94	116	74	;	;	PUNCT
fumecheng-94	116	75	f	f	PROPN
fumecheng-94	116	76	=	=	SYM
fumecheng-94	116	77	30	30	NUM
fumecheng-94	116	78	n	n	NUM
fumecheng-94	116	79	node	node	NOUN
fumecheng-94	116	80	=	=	SYM
fumecheng-94	116	81	4	4	NUM
fumecheng-94	116	82	;	;	PUNCT
fumecheng-94	116	83	α	α	NOUN
fumecheng-94	116	84	=	=	SYM
fumecheng-94	116	85	180	180	NUM
fumecheng-94	116	86	°	°	NUM
fumecheng-94	116	87	;	;	PUNCT
fumecheng-94	116	88	f	f	PROPN
fumecheng-94	116	89	=	=	SYM
fumecheng-94	116	90	2	2	NUM
fumecheng-94	116	91	n	n	NOUN
fumecheng-94	116	92	supports	support	VERB
fumecheng-94	116	93	node	node	NOUN
fumecheng-94	116	94	=	=	SYM
fumecheng-94	116	95	1	1	NUM
fumecheng-94	116	96	nodes	node	NOUN
fumecheng-94	116	97	=	=	SYM
fumecheng-94	116	98	1	1	NUM
fumecheng-94	116	99	,	,	PUNCT
fumecheng-94	116	100	3	3	NUM
fumecheng-94	116	101	displacement	displacement	NOUN
fumecheng-94	116	102	node	node	NOUN
fumecheng-94	116	103	=	=	NOUN
fumecheng-94	116	104	12	12	NUM
fumecheng-94	116	105	;	;	PUNCT
fumecheng-94	116	106	direction	direction	NOUN
fumecheng-94	116	107	:	:	PUNCT
fumecheng-94	116	108	y	y	NOUN
fumecheng-94	116	109	;	;	PUNCT
fumecheng-94	116	110	δmin	δmin	NOUN
fumecheng-94	116	111	=	=	SYM
fumecheng-94	116	112	5	5	NUM
fumecheng-94	116	113	mm	mm	NOUN
fumecheng-94	116	114	;	;	PUNCT
fumecheng-94	116	115	node	node	NOUN
fumecheng-94	116	116	=	=	SYM
fumecheng-94	116	117	6	6	NUM
fumecheng-94	116	118	;	;	PUNCT
fumecheng-94	116	119	direction	direction	NOUN
fumecheng-94	116	120	:	:	PUNCT
fumecheng-94	116	121	x	x	X
fumecheng-94	116	122	;	;	PUNCT
fumecheng-94	116	123	δmin	δmin	NOUN
fumecheng-94	116	124	=	=	SYM
fumecheng-94	116	125	2	2	NUM
fumecheng-94	116	126	mm	mm	NOUN
fumecheng-94	116	127	;	;	PUNCT
fumecheng-94	116	128	element	element	NOUN
fumecheng-94	116	129	thickness	thickness	NOUN
fumecheng-94	116	130	0.5	0.5	NUM
fumecheng-94	116	131	mm	mm	NOUN
fumecheng-94	116	132	,	,	PUNCT
fumecheng-94	116	133	1	1	NUM
fumecheng-94	116	134	mm	mm	NOUN
fumecheng-94	116	135	,	,	PUNCT
fumecheng-94	116	136	1.5	1.5	NUM
fumecheng-94	116	137	mm	mm	NOUN
fumecheng-94	116	138	0.5	0.5	NUM
fumecheng-94	116	139	mm	mm	PROPN
fumecheng-94	116	140	,	,	PUNCT
fumecheng-94	116	141	1	1	NUM
fumecheng-94	116	142	mm	mm	NOUN
fumecheng-94	116	143	,	,	PUNCT
fumecheng-94	116	144	1.5	1.5	NUM
fumecheng-94	116	145	mm	mm	NOUN
fumecheng-94	116	146	degree	degree	NOUN
fumecheng-94	116	147	of	of	ADP
fumecheng-94	116	148	nodal	nodal	NOUN
fumecheng-94	116	149	connectivity	connectivity	NOUN
fumecheng-94	116	150	3	3	NUM
fumecheng-94	116	151	2	2	NUM
fumecheng-94	116	152	software	software	NOUN
fumecheng-94	116	153	for	for	ADP
fumecheng-94	116	154	synthesis	synthesis	NOUN
fumecheng-94	116	155	of	of	ADP
fumecheng-94	116	156	compliant	compliant	ADJ
fumecheng-94	116	157	mechanisms	mechanism	NOUN
fumecheng-94	116	158	without	without	ADP
fumecheng-94	116	159	intersecting	intersect	VERB
fumecheng-94	116	160	elements	element	NOUN
fumecheng-94	116	161	159	159	NUM
fumecheng-94	116	162	when	when	SCONJ
fumecheng-94	116	163	the	the	DET
fumecheng-94	116	164	problem	problem	NOUN
fumecheng-94	116	165	is	be	AUX
fumecheng-94	116	166	set	set	VERB
fumecheng-94	116	167	,	,	PUNCT
fumecheng-94	116	168	and	and	CCONJ
fumecheng-94	116	169	the	the	DET
fumecheng-94	116	170	design	design	NOUN
fumecheng-94	116	171	specifications	specification	NOUN
fumecheng-94	116	172	are	be	AUX
fumecheng-94	116	173	defined	define	VERB
fumecheng-94	116	174	,	,	PUNCT
fumecheng-94	116	175	the	the	DET
fumecheng-94	116	176	software	software	NOUN
fumecheng-94	116	177	starts	start	VERB
fumecheng-94	116	178	with	with	ADP
fumecheng-94	116	179	the	the	DET
fumecheng-94	116	180	optimization	optimization	NOUN
fumecheng-94	116	181	procedure	procedure	NOUN
fumecheng-94	116	182	and	and	CCONJ
fumecheng-94	116	183	the	the	DET
fumecheng-94	116	184	optimal	optimal	ADJ
fumecheng-94	116	185	solution	solution	NOUN
fumecheng-94	116	186	of	of	ADP
fumecheng-94	116	187	the	the	DET
fumecheng-94	116	188	given	give	VERB
fumecheng-94	116	189	problem	problem	NOUN
fumecheng-94	116	190	is	be	AUX
fumecheng-94	116	191	searched	search	VERB
fumecheng-94	116	192	.	.	PUNCT
fumecheng-94	117	1	4.2	4.2	NUM
fumecheng-94	117	2	.	.	X
fumecheng-94	117	3	objective	objective	ADJ
fumecheng-94	117	4	function	function	NOUN
fumecheng-94	117	5	an	an	DET
fumecheng-94	117	6	objective	objective	ADJ
fumecheng-94	117	7	function	function	NOUN
fumecheng-94	117	8	is	be	AUX
fumecheng-94	117	9	needed	need	VERB
fumecheng-94	117	10	to	to	PART
fumecheng-94	117	11	drive	drive	VERB
fumecheng-94	117	12	the	the	DET
fumecheng-94	117	13	optimizer	optimizer	NOUN
fumecheng-94	117	14	toward	toward	ADP
fumecheng-94	117	15	a	a	DET
fumecheng-94	117	16	desired	desire	VERB
fumecheng-94	117	17	goal	goal	NOUN
fumecheng-94	117	18	.	.	PUNCT
fumecheng-94	118	1	the	the	DET
fumecheng-94	118	2	main	main	ADJ
fumecheng-94	118	3	goal	goal	NOUN
fumecheng-94	118	4	in	in	ADP
fumecheng-94	118	5	the	the	DET
fumecheng-94	118	6	synthesis	synthesis	NOUN
fumecheng-94	118	7	of	of	ADP
fumecheng-94	118	8	the	the	DET
fumecheng-94	118	9	compliant	compliant	ADJ
fumecheng-94	118	10	gripper	gripper	NOUN
fumecheng-94	118	11	and	and	CCONJ
fumecheng-94	118	12	the	the	DET
fumecheng-94	118	13	compliant	compliant	ADJ
fumecheng-94	118	14	displacement	displacement	ADJ
fumecheng-94	118	15	inverter	inverter	NOUN
fumecheng-94	118	16	is	be	AUX
fumecheng-94	118	17	to	to	PART
fumecheng-94	118	18	maximize	maximize	VERB
fumecheng-94	118	19	the	the	DET
fumecheng-94	118	20	output	output	NOUN
fumecheng-94	118	21	displacement	displacement	NOUN
fumecheng-94	118	22	while	while	SCONJ
fumecheng-94	118	23	meeting	meet	VERB
fumecheng-94	118	24	the	the	DET
fumecheng-94	118	25	given	give	VERB
fumecheng-94	118	26	constrains	constrain	NOUN
fumecheng-94	118	27	.	.	PUNCT
fumecheng-94	119	1	this	this	PRON
fumecheng-94	119	2	is	be	AUX
fumecheng-94	119	3	done	do	VERB
fumecheng-94	119	4	by	by	ADP
fumecheng-94	119	5	maximizing	maximize	VERB
fumecheng-94	119	6	the	the	DET
fumecheng-94	119	7	ratio	ratio	NOUN
fumecheng-94	119	8	of	of	ADP
fumecheng-94	119	9	output	output	NOUN
fumecheng-94	119	10	displacement	displacement	NOUN
fumecheng-94	119	11	δout	δout	NOUN
fumecheng-94	119	12	to	to	PART
fumecheng-94	119	13	input	input	VERB
fumecheng-94	119	14	displacement	displacement	ADJ
fumecheng-94	119	15	δin	δin	NOUN
fumecheng-94	119	16	which	which	PRON
fumecheng-94	119	17	is	be	AUX
fumecheng-94	119	18	known	know	VERB
fumecheng-94	119	19	as	as	ADP
fumecheng-94	119	20	the	the	DET
fumecheng-94	119	21	geometric	geometric	ADJ
fumecheng-94	119	22	advantage	advantage	NOUN
fumecheng-94	119	23	.	.	PUNCT
fumecheng-94	120	1	all	all	DET
fumecheng-94	120	2	objective	objective	ADJ
fumecheng-94	120	3	function	function	NOUN
fumecheng-94	120	4	terms	term	NOUN
fumecheng-94	120	5	are	be	AUX
fumecheng-94	120	6	calculated	calculate	VERB
fumecheng-94	120	7	from	from	ADP
fumecheng-94	120	8	the	the	DET
fumecheng-94	120	9	results	result	NOUN
fumecheng-94	120	10	of	of	ADP
fumecheng-94	120	11	the	the	DET
fumecheng-94	120	12	linear	linear	ADJ
fumecheng-94	120	13	finite	finite	PROPN
fumecheng-94	120	14	element	element	NOUN
fumecheng-94	120	15	analysis	analysis	NOUN
fumecheng-94	120	16	(	(	PUNCT
fumecheng-94	120	17	fea	fea	NOUN
fumecheng-94	120	18	)	)	PUNCT
fumecheng-94	120	19	,	,	PUNCT
fumecheng-94	120	20	implemented	implement	VERB
fumecheng-94	120	21	in	in	ADP
fumecheng-94	120	22	the	the	DET
fumecheng-94	120	23	software	software	NOUN
fumecheng-94	120	24	,	,	PUNCT
fumecheng-94	120	25	with	with	ADP
fumecheng-94	120	26	only	only	ADV
fumecheng-94	120	27	one	one	NUM
fumecheng-94	120	28	beam	beam	NOUN
fumecheng-94	120	29	element	element	NOUN
fumecheng-94	120	30	placed	place	VERB
fumecheng-94	120	31	between	between	ADP
fumecheng-94	120	32	each	each	PRON
fumecheng-94	120	33	of	of	ADP
fumecheng-94	120	34	the	the	DET
fumecheng-94	120	35	nodes	node	NOUN
fumecheng-94	120	36	in	in	ADP
fumecheng-94	120	37	the	the	DET
fumecheng-94	120	38	topology	topology	NOUN
fumecheng-94	120	39	being	be	AUX
fumecheng-94	120	40	analyzed	analyze	VERB
fumecheng-94	120	41	.	.	PUNCT
fumecheng-94	121	1	4.3	4.3	NUM
fumecheng-94	121	2	.	.	PUNCT
fumecheng-94	121	3	constraints	constraint	VERB
fumecheng-94	121	4	two	two	NUM
fumecheng-94	121	5	constraint	constraint	NOUN
fumecheng-94	121	6	penalties	penalty	NOUN
fumecheng-94	121	7	are	be	AUX
fumecheng-94	121	8	added	add	VERB
fumecheng-94	121	9	to	to	ADP
fumecheng-94	121	10	the	the	DET
fumecheng-94	121	11	objective	objective	ADJ
fumecheng-94	121	12	function	function	NOUN
fumecheng-94	121	13	to	to	PART
fumecheng-94	121	14	monitor	monitor	VERB
fumecheng-94	121	15	deflection	deflection	NOUN
fumecheng-94	121	16	.	.	PUNCT
fumecheng-94	122	1	the	the	DET
fumecheng-94	122	2	first	first	ADJ
fumecheng-94	122	3	is	be	AUX
fumecheng-94	122	4	a	a	DET
fumecheng-94	122	5	constraint	constraint	NOUN
fumecheng-94	122	6	that	that	PRON
fumecheng-94	122	7	requires	require	VERB
fumecheng-94	122	8	the	the	DET
fumecheng-94	122	9	output	output	NOUN
fumecheng-94	122	10	deflection	deflection	NOUN
fumecheng-94	122	11	in	in	ADP
fumecheng-94	122	12	the	the	DET
fumecheng-94	122	13	desired	desire	VERB
fumecheng-94	122	14	direction	direction	NOUN
fumecheng-94	122	15	be	be	AUX
fumecheng-94	122	16	greater	great	ADJ
fumecheng-94	122	17	than	than	ADP
fumecheng-94	122	18	minimum	minimum	ADJ
fumecheng-94	122	19	value	value	NOUN
fumecheng-94	122	20	δmin	δmin	NOUN
fumecheng-94	122	21	.	.	PUNCT
fumecheng-94	123	1	the	the	DET
fumecheng-94	123	2	second	second	ADJ
fumecheng-94	123	3	constraint	constraint	NOUN
fumecheng-94	123	4	requires	require	VERB
fumecheng-94	123	5	that	that	SCONJ
fumecheng-94	123	6	the	the	DET
fumecheng-94	123	7	output	output	NOUN
fumecheng-94	123	8	deflection	deflection	NOUN
fumecheng-94	123	9	perpendicular	perpendicular	NOUN
fumecheng-94	123	10	to	to	ADP
fumecheng-94	123	11	the	the	DET
fumecheng-94	123	12	desired	desire	VERB
fumecheng-94	123	13	direction	direction	NOUN
fumecheng-94	123	14	,	,	PUNCT
fumecheng-94	123	15	should	should	AUX
fumecheng-94	123	16	be	be	AUX
fumecheng-94	123	17	less	less	ADJ
fumecheng-94	123	18	than	than	ADP
fumecheng-94	123	19	maximum	maximum	ADJ
fumecheng-94	123	20	value	value	NOUN
fumecheng-94	124	1	min	min	NOUN
fumecheng-94	124	2			ADJ
fumecheng-94	124	3	.	.	PUNCT
fumecheng-94	125	1	also	also	ADV
fumecheng-94	125	2	,	,	PUNCT
fumecheng-94	125	3	total	total	ADJ
fumecheng-94	125	4	element	element	NOUN
fumecheng-94	125	5	length	length	NOUN
fumecheng-94	125	6	(	(	PUNCT
fumecheng-94	125	7	lt	lt	NOUN
fumecheng-94	125	8	)	)	PUNCT
fumecheng-94	125	9	constraint	constraint	NOUN
fumecheng-94	125	10	is	be	AUX
fumecheng-94	125	11	used	use	VERB
fumecheng-94	125	12	;	;	PUNCT
fumecheng-94	125	13	lt	lt	PRON
fumecheng-94	125	14	is	be	AUX
fumecheng-94	125	15	the	the	DET
fumecheng-94	125	16	sum	sum	NOUN
fumecheng-94	125	17	of	of	ADP
fumecheng-94	125	18	the	the	DET
fumecheng-94	125	19	lengths	length	NOUN
fumecheng-94	125	20	of	of	ADP
fumecheng-94	125	21	all	all	DET
fumecheng-94	125	22	the	the	DET
fumecheng-94	125	23	elements	element	NOUN
fumecheng-94	125	24	in	in	ADP
fumecheng-94	125	25	a	a	DET
fumecheng-94	125	26	given	give	VERB
fumecheng-94	125	27	design	design	NOUN
fumecheng-94	125	28	,	,	PUNCT
fumecheng-94	125	29	and	and	CCONJ
fumecheng-94	125	30	primary	primary	ADJ
fumecheng-94	125	31	intention	intention	NOUN
fumecheng-94	125	32	is	be	AUX
fumecheng-94	125	33	to	to	PART
fumecheng-94	125	34	reduce	reduce	VERB
fumecheng-94	125	35	complexity	complexity	NOUN
fumecheng-94	125	36	,	,	PUNCT
fumecheng-94	125	37	not	not	PART
fumecheng-94	125	38	necessarily	necessarily	ADV
fumecheng-94	125	39	weight	weight	VERB
fumecheng-94	125	40	.	.	PUNCT
fumecheng-94	126	1	the	the	DET
fumecheng-94	126	2	final	final	ADJ
fumecheng-94	126	3	form	form	NOUN
fumecheng-94	126	4	of	of	ADP
fumecheng-94	126	5	the	the	DET
fumecheng-94	126	6	objective	objective	ADJ
fumecheng-94	126	7	function	function	NOUN
fumecheng-94	126	8	that	that	PRON
fumecheng-94	126	9	is	be	AUX
fumecheng-94	126	10	used	use	VERB
fumecheng-94	126	11	in	in	ADP
fumecheng-94	126	12	the	the	DET
fumecheng-94	126	13	software	software	NOUN
fumecheng-94	126	14	for	for	ADP
fumecheng-94	126	15	the	the	DET
fumecheng-94	126	16	synthesis	synthesis	NOUN
fumecheng-94	126	17	of	of	ADP
fumecheng-94	126	18	the	the	DET
fumecheng-94	126	19	compliant	compliant	ADJ
fumecheng-94	126	20	gripper	gripper	NOUN
fumecheng-94	126	21	and	and	CCONJ
fumecheng-94	126	22	compliant	compliant	ADJ
fumecheng-94	126	23	displacement	displacement	ADJ
fumecheng-94	126	24	inverter	inverter	NOUN
fumecheng-94	126	25	is	be	AUX
fumecheng-94	126	26	:	:	PUNCT
fumecheng-94	126	27			PROPN
fumecheng-94	126	28			PROPN
fumecheng-94	126	29			X
fumecheng-94	126	30			NOUN
fumecheng-94	126	31			VERB
fumecheng-94	126	32			PROPN
fumecheng-94	126	33			X
fumecheng-94	126	34			X
fumecheng-94	126	35	|||	|||	NOUN
fumecheng-94	126	36	)	)	PUNCT
fumecheng-94	126	37	δ|δ()δδ	δ|δ()δδ	NOUN
fumecheng-94	126	38	(	(	PUNCT
fumecheng-94	126	39	δ	δ	PROPN
fumecheng-94	126	40	δ	δ	PROPN
fumecheng-94	126	41	321	321	NUM
fumecheng-94	126	42	targettoutmaxminout	targettoutmaxminout	ADP
fumecheng-94	126	43	in	in	ADP
fumecheng-94	126	44	out	out	ADP
fumecheng-94	126	45	llwwwmaximize	llwwwmaximize	NOUN
fumecheng-94	126	46	(	(	PUNCT
fumecheng-94	126	47	1	1	NUM
fumecheng-94	126	48	)	)	PUNCT
fumecheng-94	126	49	where	where	SCONJ
fumecheng-94	126	50	w1	w1	NOUN
fumecheng-94	126	51	,	,	PUNCT
fumecheng-94	126	52	w2	w2	NOUN
fumecheng-94	126	53	,	,	PUNCT
fumecheng-94	126	54	and	and	CCONJ
fumecheng-94	126	55	w3	w3	PROPN
fumecheng-94	126	56	are	be	AUX
fumecheng-94	126	57	relative	relative	ADJ
fumecheng-94	126	58	weighting	weighting	NOUN
fumecheng-94	126	59	constants	constant	NOUN
fumecheng-94	126	60	and	and	CCONJ
fumecheng-94	126	61	ltarget	ltarget	NOUN
fumecheng-94	126	62	represents	represent	VERB
fumecheng-94	126	63	the	the	DET
fumecheng-94	126	64	desired	desire	VERB
fumecheng-94	126	65	total	total	ADJ
fumecheng-94	126	66	element	element	NOUN
fumecheng-94	126	67	length	length	NOUN
fumecheng-94	126	68	.	.	PUNCT
fumecheng-94	127	1	in	in	ADP
fumecheng-94	127	2	the	the	DET
fumecheng-94	127	3	formulation	formulation	NOUN
fumecheng-94	127	4	,	,	PUNCT
fumecheng-94	127	5	the	the	DET
fumecheng-94	127	6	penalties	penalty	NOUN
fumecheng-94	127	7	are	be	AUX
fumecheng-94	127	8	applied	apply	VERB
fumecheng-94	127	9	only	only	ADV
fumecheng-94	127	10	when	when	SCONJ
fumecheng-94	127	11	δout	δout	PROPN
fumecheng-94	127	12	<	<	X
fumecheng-94	127	13	δmin	δmin	NOUN
fumecheng-94	127	14	or	or	CCONJ
fumecheng-94	127	15	out	out	ADJ
fumecheng-94	127	16	max	max	PROPN
fumecheng-94	127	17			NOUN
fumecheng-94	127	18			ADJ
fumecheng-94	127	19			PROPN
fumecheng-94	127	20			X
fumecheng-94	127	21	.	.	PUNCT
fumecheng-94	128	1	the	the	DET
fumecheng-94	128	2	values	value	NOUN
fumecheng-94	128	3	for	for	ADP
fumecheng-94	128	4	constrains	constrain	NOUN
fumecheng-94	128	5	and	and	CCONJ
fumecheng-94	128	6	for	for	ADP
fumecheng-94	128	7	weighting	weight	VERB
fumecheng-94	128	8	constants	constant	NOUN
fumecheng-94	128	9	are	be	AUX
fumecheng-94	128	10	given	give	VERB
fumecheng-94	128	11	in	in	ADP
fumecheng-94	128	12	table	table	NOUN
fumecheng-94	128	13	1	1	NUM
fumecheng-94	128	14	and	and	CCONJ
fumecheng-94	128	15	table	table	NOUN
fumecheng-94	128	16	2	2	NUM
fumecheng-94	128	17	.	.	PUNCT
fumecheng-94	129	1	4.4	4.4	NUM
fumecheng-94	129	2	.	.	PUNCT
fumecheng-94	129	3	discrete	discrete	ADJ
fumecheng-94	129	4	nonlinear	nonlinear	ADJ
fumecheng-94	129	5	topology	topology	NOUN
fumecheng-94	129	6	optimization	optimization	NOUN
fumecheng-94	129	7	for	for	ADP
fumecheng-94	129	8	a	a	DET
fumecheng-94	129	9	given	give	VERB
fumecheng-94	129	10	model	model	NOUN
fumecheng-94	129	11	of	of	ADP
fumecheng-94	129	12	the	the	DET
fumecheng-94	129	13	design	design	NOUN
fumecheng-94	129	14	space	space	NOUN
fumecheng-94	129	15	,	,	PUNCT
fumecheng-94	129	16	the	the	DET
fumecheng-94	129	17	variables	variable	NOUN
fumecheng-94	129	18	can	can	AUX
fumecheng-94	129	19	be	be	AUX
fumecheng-94	129	20	optimized	optimize	VERB
fumecheng-94	129	21	via	via	ADP
fumecheng-94	129	22	a	a	DET
fumecheng-94	129	23	genetic	genetic	ADJ
fumecheng-94	129	24	algorithm	algorithm	NOUN
fumecheng-94	129	25	to	to	PART
fumecheng-94	129	26	yield	yield	VERB
fumecheng-94	129	27	a	a	DET
fumecheng-94	129	28	mechanism	mechanism	NOUN
fumecheng-94	129	29	topology	topology	NOUN
fumecheng-94	129	30	.	.	PUNCT
fumecheng-94	130	1	genetic	genetic	ADJ
fumecheng-94	130	2	algorithms	algorithm	NOUN
fumecheng-94	130	3	are	be	AUX
fumecheng-94	130	4	a	a	DET
fumecheng-94	130	5	form	form	NOUN
fumecheng-94	130	6	of	of	ADP
fumecheng-94	130	7	nonlinear	nonlinear	ADJ
fumecheng-94	130	8	optimization	optimization	NOUN
fumecheng-94	130	9	that	that	PRON
fumecheng-94	130	10	seeks	seek	VERB
fumecheng-94	130	11	global	global	ADJ
fumecheng-94	130	12	optima	optima	PROPN
fumecheng-94	130	13	,	,	PUNCT
fumecheng-94	130	14	and	and	CCONJ
fumecheng-94	130	15	are	be	AUX
fumecheng-94	130	16	especially	especially	ADV
fumecheng-94	130	17	suited	suit	VERB
fumecheng-94	130	18	for	for	ADP
fumecheng-94	130	19	discrete	discrete	ADJ
fumecheng-94	130	20	,	,	PUNCT
fumecheng-94	130	21	nonlinear	nonlinear	ADJ
fumecheng-94	130	22	problems	problem	NOUN
fumecheng-94	130	23	.	.	PUNCT
fumecheng-94	131	1	every	every	DET
fumecheng-94	131	2	design	design	NOUN
fumecheng-94	131	3	is	be	AUX
fumecheng-94	131	4	evaluated	evaluate	VERB
fumecheng-94	131	5	with	with	ADP
fumecheng-94	131	6	fea	fea	PROPN
fumecheng-94	131	7	,	,	PUNCT
fumecheng-94	131	8	which	which	PRON
fumecheng-94	131	9	is	be	AUX
fumecheng-94	131	10	used	use	VERB
fumecheng-94	131	11	to	to	PART
fumecheng-94	131	12	assign	assign	VERB
fumecheng-94	131	13	the	the	DET
fumecheng-94	131	14	above	above	ADJ
fumecheng-94	131	15	fitness	fitness	NOUN
fumecheng-94	131	16	function	function	NOUN
fumecheng-94	131	17	,	,	PUNCT
fumecheng-94	131	18	eq	eq	NOUN
fumecheng-94	131	19	.	.	PUNCT
fumecheng-94	132	1	(	(	PUNCT
fumecheng-94	132	2	1	1	NUM
fumecheng-94	132	3	)	)	PUNCT
fumecheng-94	132	4	.	.	PUNCT
fumecheng-94	133	1	in	in	ADP
fumecheng-94	133	2	the	the	DET
fumecheng-94	133	3	software	software	NOUN
fumecheng-94	133	4	,	,	PUNCT
fumecheng-94	133	5	to	to	PART
fumecheng-94	133	6	initiate	initiate	VERB
fumecheng-94	133	7	the	the	DET
fumecheng-94	133	8	genetic	genetic	ADJ
fumecheng-94	133	9	search	search	NOUN
fumecheng-94	133	10	,	,	PUNCT
fumecheng-94	133	11	the	the	DET
fumecheng-94	133	12	user	user	NOUN
fumecheng-94	133	13	must	must	AUX
fumecheng-94	133	14	define	define	VERB
fumecheng-94	133	15	the	the	DET
fumecheng-94	133	16	following	follow	VERB
fumecheng-94	133	17	parameters	parameter	NOUN
fumecheng-94	133	18	[	[	X
fumecheng-94	133	19	14	14	NUM
fumecheng-94	133	20	]	]	X
fumecheng-94	133	21	:	:	PUNCT
fumecheng-94	133	22	size	size	NOUN
fumecheng-94	133	23	of	of	ADP
fumecheng-94	133	24	initial	initial	ADJ
fumecheng-94	133	25	population	population	NOUN
fumecheng-94	133	26	which	which	PRON
fumecheng-94	133	27	represents	represent	VERB
fumecheng-94	133	28	the	the	DET
fumecheng-94	133	29	number	number	NOUN
fumecheng-94	133	30	of	of	ADP
fumecheng-94	133	31	randomly	randomly	ADV
fumecheng-94	133	32	generated	generate	VERB
fumecheng-94	133	33	designs	design	NOUN
fumecheng-94	133	34	;	;	PUNCT
fumecheng-94	133	35	number	number	NOUN
fumecheng-94	133	36	of	of	ADP
fumecheng-94	133	37	generations	generation	NOUN
fumecheng-94	133	38	i.e.	i.e.	X
fumecheng-94	133	39	the	the	DET
fumecheng-94	133	40	number	number	NOUN
fumecheng-94	133	41	of	of	ADP
fumecheng-94	133	42	iterations	iteration	NOUN
fumecheng-94	133	43	which	which	PRON
fumecheng-94	133	44	will	will	AUX
fumecheng-94	133	45	be	be	AUX
fumecheng-94	133	46	used	use	VERB
fumecheng-94	133	47	in	in	ADP
fumecheng-94	133	48	the	the	DET
fumecheng-94	133	49	optimization	optimization	NOUN
fumecheng-94	133	50	process	process	NOUN
fumecheng-94	133	51	;	;	PUNCT
fumecheng-94	133	52	crossover	crossover	VERB
fumecheng-94	133	53	probability	probability	NOUN
fumecheng-94	133	54	–	–	PUNCT
fumecheng-94	133	55	the	the	DET
fumecheng-94	133	56	probability	probability	NOUN
fumecheng-94	133	57	that	that	SCONJ
fumecheng-94	133	58	crossover	crossover	NOUN
fumecheng-94	133	59	will	will	AUX
fumecheng-94	133	60	be	be	AUX
fumecheng-94	133	61	performed	perform	VERB
fumecheng-94	133	62	between	between	ADP
fumecheng-94	133	63	a	a	DET
fumecheng-94	133	64	pair	pair	NOUN
fumecheng-94	133	65	of	of	ADP
fumecheng-94	133	66	parent	parent	NOUN
fumecheng-94	133	67	designs	design	NOUN
fumecheng-94	133	68	(	(	PUNCT
fumecheng-94	133	69	random	random	ADJ
fumecheng-94	133	70	number	number	NOUN
fumecheng-94	133	71	of	of	ADP
fumecheng-94	133	72	element	element	NOUN
fumecheng-94	133	73	variables	variable	NOUN
fumecheng-94	133	74	are	be	AUX
fumecheng-94	133	75	swapped	swap	VERB
fumecheng-94	133	76	between	between	ADP
fumecheng-94	133	77	two	two	NUM
fumecheng-94	133	78	parent	parent	NOUN
fumecheng-94	133	79	designs	design	NOUN
fumecheng-94	133	80	in	in	ADP
fumecheng-94	133	81	the	the	DET
fumecheng-94	133	82	process	process	NOUN
fumecheng-94	133	83	of	of	ADP
fumecheng-94	133	84	crossover	crossover	NOUN
fumecheng-94	133	85	)	)	PUNCT
fumecheng-94	133	86	;	;	PUNCT
fumecheng-94	133	87	mutation	mutation	NOUN
fumecheng-94	133	88	probability	probability	NOUN
fumecheng-94	133	89	–	–	PUNCT
fumecheng-94	133	90	the	the	DET
fumecheng-94	133	91	probability	probability	NOUN
fumecheng-94	133	92	that	that	SCONJ
fumecheng-94	133	93	the	the	DET
fumecheng-94	133	94	design	design	NOUN
fumecheng-94	133	95	will	will	AUX
fumecheng-94	133	96	mutate	mutate	VERB
fumecheng-94	133	97	(	(	PUNCT
fumecheng-94	133	98	elements	element	NOUN
fumecheng-94	133	99	in	in	ADP
fumecheng-94	133	100	the	the	DET
fumecheng-94	133	101	design	design	NOUN
fumecheng-94	133	102	mutate	mutate	NOUN
fumecheng-94	133	103	to	to	ADP
fumecheng-94	133	104	different	different	ADJ
fumecheng-94	133	105	thickness	thickness	NOUN
fumecheng-94	133	106	)	)	PUNCT
fumecheng-94	133	107	.	.	PUNCT
fumecheng-94	134	1	the	the	DET
fumecheng-94	134	2	algorithm	algorithm	NOUN
fumecheng-94	134	3	parameters	parameter	NOUN
fumecheng-94	134	4	used	use	VERB
fumecheng-94	134	5	in	in	ADP
fumecheng-94	134	6	the	the	DET
fumecheng-94	134	7	synthesis	synthesis	NOUN
fumecheng-94	134	8	of	of	ADP
fumecheng-94	134	9	the	the	DET
fumecheng-94	134	10	compliant	compliant	ADJ
fumecheng-94	134	11	gripper	gripper	NOUN
fumecheng-94	134	12	and	and	CCONJ
fumecheng-94	134	13	the	the	DET
fumecheng-94	134	14	displacement	displacement	ADJ
fumecheng-94	134	15	inverter	inverter	NOUN
fumecheng-94	134	16	are	be	AUX
fumecheng-94	134	17	:	:	PUNCT
fumecheng-94	134	18	160	160	NUM
fumecheng-94	134	19	a.	a.	NOUN
fumecheng-94	134	20	milojević	milojević	NOUN
fumecheng-94	134	21	,	,	PUNCT
fumecheng-94	134	22	n.	n.	PROPN
fumecheng-94	134	23	d.	d.	PROPN
fumecheng-94	134	24	pavlović	pavlović	PROPN
fumecheng-94	134	25	initial	initial	ADJ
fumecheng-94	134	26	population	population	NOUN
fumecheng-94	134	27	of	of	ADP
fumecheng-94	134	28	200	200	NUM
fumecheng-94	134	29	designs	design	NOUN
fumecheng-94	134	30	,	,	PUNCT
fumecheng-94	134	31	total	total	ADJ
fumecheng-94	134	32	number	number	NOUN
fumecheng-94	134	33	of	of	ADP
fumecheng-94	134	34	500	500	NUM
fumecheng-94	134	35	generations	generation	NOUN
fumecheng-94	134	36	,	,	PUNCT
fumecheng-94	134	37	crossover	crossover	VERB
fumecheng-94	134	38	probability	probability	NOUN
fumecheng-94	134	39	of	of	ADP
fumecheng-94	134	40	80	80	NUM
fumecheng-94	134	41	%	%	NOUN
fumecheng-94	134	42	and	and	CCONJ
fumecheng-94	134	43	mutation	mutation	NOUN
fumecheng-94	134	44	probability	probability	NOUN
fumecheng-94	134	45	of	of	ADP
fumecheng-94	134	46	9	9	NUM
fumecheng-94	134	47	%	%	NOUN
fumecheng-94	134	48	.	.	PUNCT
fumecheng-94	135	1	table	table	NOUN
fumecheng-94	135	2	2	2	NUM
fumecheng-94	135	3	constraints	constraint	NOUN
fumecheng-94	135	4	used	use	VERB
fumecheng-94	135	5	in	in	ADP
fumecheng-94	135	6	the	the	DET
fumecheng-94	135	7	synthesis	synthesis	NOUN
fumecheng-94	135	8	of	of	ADP
fumecheng-94	135	9	the	the	DET
fumecheng-94	135	10	compliant	compliant	ADJ
fumecheng-94	135	11	gripper	gripper	NOUN
fumecheng-94	135	12	and	and	CCONJ
fumecheng-94	135	13	the	the	DET
fumecheng-94	135	14	compliant	compliant	ADJ
fumecheng-94	135	15	displacement	displacement	ADJ
fumecheng-94	135	16	inverter	inverter	NOUN
fumecheng-94	135	17	constraints	constraint	NOUN
fumecheng-94	135	18	compliant	compliant	ADJ
fumecheng-94	135	19	gripper	gripper	NOUN
fumecheng-94	135	20	compliant	compliant	ADJ
fumecheng-94	135	21	displacement	displacement	ADJ
fumecheng-94	135	22	inverter	inverter	NOUN
fumecheng-94	135	23	weighting	weight	VERB
fumecheng-94	135	24	constants	constant	NOUN
fumecheng-94	135	25	w1=0.6	w1=0.6	PROPN
fumecheng-94	135	26	;	;	PUNCT
fumecheng-94	135	27	w2=0.2	w2=0.2	PROPN
fumecheng-94	135	28	;	;	PUNCT
fumecheng-94	135	29	w3=0.2	w3=0.2	PROPN
fumecheng-94	135	30	w1=0.6	w1=0.6	PROPN
fumecheng-94	135	31	;	;	PUNCT
fumecheng-94	135	32	w2=0.2	w2=0.2	PROPN
fumecheng-94	135	33	;	;	PUNCT
fumecheng-94	135	34	w3=0.2	w3=0.2	PROPN
fumecheng-94	135	35	max	max	PROPN
fumecheng-94	135	36			PROPN
fumecheng-94	135	37	5	5	NUM
fumecheng-94	135	38	mm	mm	NOUN
fumecheng-94	135	39	0.1	0.1	NUM
fumecheng-94	135	40	mm	mm	NOUN
fumecheng-94	135	41	ltarget	ltarget	NOUN
fumecheng-94	135	42	354	354	NUM
fumecheng-94	135	43	mm	mm	NOUN
fumecheng-94	135	44	214	214	NUM
fumecheng-94	135	45	mm	mm	NOUN
fumecheng-94	135	46	4.5	4.5	NUM
fumecheng-94	135	47	.	.	PUNCT
fumecheng-94	135	48	results	result	NOUN
fumecheng-94	135	49	after	after	SCONJ
fumecheng-94	135	50	the	the	DET
fumecheng-94	135	51	optimization	optimization	NOUN
fumecheng-94	135	52	is	be	AUX
fumecheng-94	135	53	finished	finish	VERB
fumecheng-94	135	54	,	,	PUNCT
fumecheng-94	135	55	the	the	DET
fumecheng-94	135	56	software	software	NOUN
fumecheng-94	135	57	displays	display	VERB
fumecheng-94	135	58	the	the	DET
fumecheng-94	135	59	obtained	obtain	VERB
fumecheng-94	135	60	solution	solution	NOUN
fumecheng-94	135	61	of	of	ADP
fumecheng-94	135	62	the	the	DET
fumecheng-94	135	63	given	give	VERB
fumecheng-94	135	64	task	task	NOUN
fumecheng-94	135	65	.	.	PUNCT
fumecheng-94	136	1	the	the	DET
fumecheng-94	136	2	solution	solution	NOUN
fumecheng-94	136	3	to	to	ADP
fumecheng-94	136	4	the	the	DET
fumecheng-94	136	5	problem	problem	NOUN
fumecheng-94	136	6	contains	contain	VERB
fumecheng-94	136	7	the	the	DET
fumecheng-94	136	8	compliant	compliant	ADJ
fumecheng-94	136	9	structure	structure	NOUN
fumecheng-94	136	10	in	in	ADP
fumecheng-94	136	11	which	which	PRON
fumecheng-94	136	12	some	some	PRON
fumecheng-94	136	13	of	of	ADP
fumecheng-94	136	14	the	the	DET
fumecheng-94	136	15	elements	element	NOUN
fumecheng-94	136	16	are	be	AUX
fumecheng-94	136	17	eliminated	eliminate	VERB
fumecheng-94	136	18	in	in	ADP
fumecheng-94	136	19	the	the	DET
fumecheng-94	136	20	process	process	NOUN
fumecheng-94	136	21	of	of	ADP
fumecheng-94	136	22	optimization	optimization	NOUN
fumecheng-94	136	23	.	.	PUNCT
fumecheng-94	137	1	the	the	DET
fumecheng-94	137	2	remaining	remain	VERB
fumecheng-94	137	3	elements	element	NOUN
fumecheng-94	137	4	define	define	VERB
fumecheng-94	137	5	the	the	DET
fumecheng-94	137	6	optimal	optimal	ADJ
fumecheng-94	137	7	topology	topology	NOUN
fumecheng-94	137	8	of	of	ADP
fumecheng-94	137	9	the	the	DET
fumecheng-94	137	10	compliant	compliant	ADJ
fumecheng-94	137	11	mechanism	mechanism	NOUN
fumecheng-94	137	12	that	that	PRON
fumecheng-94	137	13	can	can	AUX
fumecheng-94	137	14	realize	realize	VERB
fumecheng-94	137	15	the	the	DET
fumecheng-94	137	16	given	give	VERB
fumecheng-94	137	17	task	task	NOUN
fumecheng-94	137	18	.	.	PUNCT
fumecheng-94	138	1	the	the	DET
fumecheng-94	138	2	obtained	obtain	VERB
fumecheng-94	138	3	results	result	NOUN
fumecheng-94	138	4	for	for	ADP
fumecheng-94	138	5	the	the	DET
fumecheng-94	138	6	compliant	compliant	ADJ
fumecheng-94	138	7	gripper	gripper	NOUN
fumecheng-94	138	8	problem	problem	NOUN
fumecheng-94	138	9	and	and	CCONJ
fumecheng-94	138	10	compliant	compliant	ADJ
fumecheng-94	138	11	displacement	displacement	ADJ
fumecheng-94	138	12	inverter	inverter	NOUN
fumecheng-94	138	13	problem	problem	NOUN
fumecheng-94	138	14	,	,	PUNCT
fumecheng-94	138	15	by	by	ADP
fumecheng-94	138	16	using	use	VERB
fumecheng-94	138	17	the	the	DET
fumecheng-94	138	18	developed	develop	VERB
fumecheng-94	138	19	software	software	NOUN
fumecheng-94	138	20	,	,	PUNCT
fumecheng-94	138	21	are	be	AUX
fumecheng-94	138	22	shown	show	VERB
fumecheng-94	138	23	in	in	ADP
fumecheng-94	138	24	fig	fig	NOUN
fumecheng-94	138	25	.	.	PUNCT
fumecheng-94	139	1	6	6	NUM
fumecheng-94	140	1	[	[	SYM
fumecheng-94	140	2	15	15	NUM
fumecheng-94	140	3	]	]	PUNCT
fumecheng-94	140	4	.	.	PUNCT
fumecheng-94	141	1	a	a	DET
fumecheng-94	141	2	)	)	PUNCT
fumecheng-94	141	3	b	b	NOUN
fumecheng-94	141	4	)	)	PUNCT
fumecheng-94	141	5	fig	fig	NOUN
fumecheng-94	141	6	.	.	PUNCT
fumecheng-94	142	1	6	6	NUM
fumecheng-94	142	2	optimal	optimal	ADJ
fumecheng-94	142	3	topology	topology	NOUN
fumecheng-94	142	4	of	of	ADP
fumecheng-94	142	5	the	the	DET
fumecheng-94	142	6	compliant	compliant	ADJ
fumecheng-94	142	7	gripper	gripper	NOUN
fumecheng-94	142	8	(	(	PUNCT
fumecheng-94	142	9	a	a	NOUN
fumecheng-94	142	10	)	)	PUNCT
fumecheng-94	142	11	and	and	CCONJ
fumecheng-94	142	12	the	the	DET
fumecheng-94	142	13	displacement	displacement	ADJ
fumecheng-94	142	14	inverter	inverter	NOUN
fumecheng-94	142	15	(	(	PUNCT
fumecheng-94	142	16	b	b	NOUN
fumecheng-94	142	17	)	)	PUNCT
fumecheng-94	142	18	,	,	PUNCT
fumecheng-94	142	19	only	only	ADV
fumecheng-94	142	20	the	the	DET
fumecheng-94	142	21	top	top	ADJ
fumecheng-94	142	22	-	-	PUNCT
fumecheng-94	142	23	halves	half	NOUN
fumecheng-94	142	24	of	of	ADP
fumecheng-94	142	25	the	the	DET
fumecheng-94	142	26	mechanisms	mechanism	NOUN
fumecheng-94	142	27	are	be	AUX
fumecheng-94	142	28	shown	show	VERB
fumecheng-94	142	29	(	(	PUNCT
fumecheng-94	142	30	deformed	deform	VERB
fumecheng-94	142	31	position	position	NOUN
fumecheng-94	142	32	is	be	AUX
fumecheng-94	142	33	shown	show	VERB
fumecheng-94	142	34	with	with	ADP
fumecheng-94	142	35	dashed	dash	VERB
fumecheng-94	142	36	lines	line	NOUN
fumecheng-94	142	37	)	)	PUNCT
fumecheng-94	143	1	[	[	X
fumecheng-94	143	2	15	15	NUM
fumecheng-94	143	3	]	]	PUNCT
fumecheng-94	143	4	in	in	ADP
fumecheng-94	143	5	both	both	DET
fumecheng-94	143	6	cases	case	NOUN
fumecheng-94	143	7	,	,	PUNCT
fumecheng-94	143	8	the	the	DET
fumecheng-94	143	9	topology	topology	NOUN
fumecheng-94	143	10	of	of	ADP
fumecheng-94	143	11	the	the	DET
fumecheng-94	143	12	compliant	compliant	ADJ
fumecheng-94	143	13	mechanisms	mechanism	NOUN
fumecheng-94	143	14	is	be	AUX
fumecheng-94	143	15	optimized	optimize	VERB
fumecheng-94	143	16	.	.	PUNCT
fumecheng-94	144	1	when	when	SCONJ
fumecheng-94	144	2	the	the	DET
fumecheng-94	144	3	force	force	NOUN
fumecheng-94	144	4	is	be	AUX
fumecheng-94	144	5	applied	apply	VERB
fumecheng-94	144	6	at	at	ADP
fumecheng-94	144	7	the	the	DET
fumecheng-94	144	8	input	input	NOUN
fumecheng-94	144	9	port	port	NOUN
fumecheng-94	144	10	the	the	DET
fumecheng-94	144	11	compliant	compliant	ADJ
fumecheng-94	144	12	gripper	gripper	NOUN
fumecheng-94	144	13	deforms	deform	VERB
fumecheng-94	144	14	and	and	CCONJ
fumecheng-94	144	15	realizes	realize	VERB
fumecheng-94	144	16	the	the	DET
fumecheng-94	144	17	output	output	NOUN
fumecheng-94	144	18	deflection	deflection	NOUN
fumecheng-94	144	19	of	of	ADP
fumecheng-94	144	20	:	:	PUNCT
fumecheng-94	144	21	δout	δout	PROPN
fumecheng-94	144	22	=	=	PROPN
fumecheng-94	144	23	10.66	10.66	NUM
fumecheng-94	144	24	mm	mm	NOUN
fumecheng-94	144	25	,	,	PUNCT
fumecheng-94	144	26	and	and	CCONJ
fumecheng-94	144	27	in	in	ADP
fumecheng-94	144	28	the	the	DET
fumecheng-94	144	29	case	case	NOUN
fumecheng-94	144	30	of	of	ADP
fumecheng-94	144	31	the	the	DET
fumecheng-94	144	32	displacement	displacement	NOUN
fumecheng-94	144	33	inverter	inverter	NOUN
fumecheng-94	144	34	the	the	DET
fumecheng-94	144	35	output	output	NOUN
fumecheng-94	144	36	deflection	deflection	NOUN
fumecheng-94	144	37	is	be	AUX
fumecheng-94	144	38	δout	δout	ADV
fumecheng-94	144	39	=	=	NUM
fumecheng-94	144	40	17.93	17.93	NUM
fumecheng-94	144	41	mm	mm	NOUN
fumecheng-94	144	42	.	.	PUNCT
fumecheng-94	145	1	the	the	DET
fumecheng-94	145	2	geometrical	geometrical	ADJ
fumecheng-94	145	3	advantage	advantage	NOUN
fumecheng-94	145	4	of	of	ADP
fumecheng-94	145	5	the	the	DET
fumecheng-94	145	6	compliant	compliant	ADJ
fumecheng-94	145	7	gripper	gripper	NOUN
fumecheng-94	145	8	is	be	AUX
fumecheng-94	145	9	δout	δout	NOUN
fumecheng-94	145	10	/	/	SYM
fumecheng-94	145	11	δin=1.42	δin=1.42	PROPN
fumecheng-94	145	12	,	,	PUNCT
fumecheng-94	145	13	and	and	CCONJ
fumecheng-94	145	14	in	in	ADP
fumecheng-94	145	15	the	the	DET
fumecheng-94	145	16	case	case	NOUN
fumecheng-94	145	17	of	of	ADP
fumecheng-94	145	18	displacement	displacement	ADJ
fumecheng-94	145	19	inverter	inverter	NOUN
fumecheng-94	145	20	δout	δout	NOUN
fumecheng-94	145	21	/	/	SYM
fumecheng-94	145	22	δin=0.994	δin=0.994	NOUN
fumecheng-94	145	23	.	.	PUNCT
fumecheng-94	146	1	finally	finally	ADV
fumecheng-94	146	2	,	,	PUNCT
fumecheng-94	146	3	the	the	DET
fumecheng-94	146	4	results	result	NOUN
fumecheng-94	146	5	are	be	AUX
fumecheng-94	146	6	verified	verify	VERB
fumecheng-94	146	7	via	via	ADP
fumecheng-94	146	8	solid	solid	ADJ
fumecheng-94	146	9	model	model	NOUN
fumecheng-94	146	10	finite	finite	PROPN
fumecheng-94	146	11	element	element	NOUN
fumecheng-94	146	12	analysis	analysis	NOUN
fumecheng-94	146	13	[	[	X
fumecheng-94	146	14	15	15	NUM
fumecheng-94	146	15	]	]	PUNCT
fumecheng-94	146	16	.	.	PUNCT
fumecheng-94	147	1	physical	physical	ADJ
fumecheng-94	147	2	prototypes	prototype	NOUN
fumecheng-94	147	3	of	of	ADP
fumecheng-94	147	4	the	the	DET
fumecheng-94	147	5	mechanisms	mechanism	NOUN
fumecheng-94	147	6	in	in	ADP
fumecheng-94	147	7	fig	fig	NOUN
fumecheng-94	147	8	.	.	PUNCT
fumecheng-94	148	1	6	6	NUM
fumecheng-94	148	2	,	,	PUNCT
fumecheng-94	148	3	made	make	VERB
fumecheng-94	148	4	from	from	ADP
fumecheng-94	148	5	plastic	plastic	NOUN
fumecheng-94	148	6	,	,	PUNCT
fumecheng-94	148	7	are	be	AUX
fumecheng-94	148	8	shown	show	VERB
fumecheng-94	148	9	in	in	ADP
fumecheng-94	148	10	fig	fig	NOUN
fumecheng-94	148	11	.	.	PUNCT
fumecheng-94	149	1	7	7	X
fumecheng-94	149	2	.	.	X
fumecheng-94	149	3	another	another	DET
fumecheng-94	149	4	optimization	optimization	NOUN
fumecheng-94	149	5	is	be	AUX
fumecheng-94	149	6	run	run	VERB
fumecheng-94	149	7	for	for	ADP
fumecheng-94	149	8	the	the	DET
fumecheng-94	149	9	case	case	NOUN
fumecheng-94	149	10	of	of	ADP
fumecheng-94	149	11	the	the	DET
fumecheng-94	149	12	displacement	displacement	ADJ
fumecheng-94	149	13	inverter	inverter	NOUN
fumecheng-94	149	14	but	but	CCONJ
fumecheng-94	149	15	now	now	ADV
fumecheng-94	149	16	with	with	ADP
fumecheng-94	149	17	a	a	DET
fumecheng-94	149	18	higher	high	ADJ
fumecheng-94	149	19	grid	grid	NOUN
fumecheng-94	149	20	resolution	resolution	NOUN
fumecheng-94	149	21	of	of	ADP
fumecheng-94	149	22	the	the	DET
fumecheng-94	149	23	initial	initial	ADJ
fumecheng-94	149	24	ground	ground	NOUN
fumecheng-94	149	25	structure	structure	NOUN
fumecheng-94	149	26	(	(	PUNCT
fumecheng-94	149	27	fig	fig	NOUN
fumecheng-94	149	28	.	.	PUNCT
fumecheng-94	150	1	8a	8a	NUM
fumecheng-94	150	2	)	)	PUNCT
fumecheng-94	150	3	.	.	PUNCT
fumecheng-94	151	1	here	here	ADV
fumecheng-94	151	2	the	the	DET
fumecheng-94	151	3	grid	grid	NOUN
fumecheng-94	151	4	size	size	NOUN
fumecheng-94	151	5	3x3	3x3	NUM
fumecheng-94	151	6	is	be	AUX
fumecheng-94	151	7	used	use	VERB
fumecheng-94	151	8	,	,	PUNCT
fumecheng-94	151	9	the	the	DET
fumecheng-94	151	10	input	input	NOUN
fumecheng-94	151	11	node	node	NOUN
fumecheng-94	151	12	is	be	AUX
fumecheng-94	151	13	7	7	NUM
fumecheng-94	151	14	and	and	CCONJ
fumecheng-94	151	15	the	the	DET
fumecheng-94	151	16	output	output	NOUN
fumecheng-94	151	17	node	node	NOUN
fumecheng-94	151	18	is	be	AUX
fumecheng-94	151	19	9	9	NUM
fumecheng-94	151	20	(	(	PUNCT
fumecheng-94	151	21	all	all	DET
fumecheng-94	151	22	other	other	ADJ
fumecheng-94	151	23	design	design	NOUN
fumecheng-94	151	24	and	and	CCONJ
fumecheng-94	151	25	algorithm	algorithm	NOUN
fumecheng-94	151	26	parameters	parameter	NOUN
fumecheng-94	151	27	are	be	AUX
fumecheng-94	151	28	the	the	DET
fumecheng-94	151	29	same	same	ADJ
fumecheng-94	151	30	as	as	ADP
fumecheng-94	151	31	in	in	ADP
fumecheng-94	151	32	the	the	DET
fumecheng-94	151	33	case	case	NOUN
fumecheng-94	151	34	of	of	ADP
fumecheng-94	151	35	the	the	DET
fumecheng-94	151	36	displacement	displacement	ADJ
fumecheng-94	151	37	inverter	inverter	NOUN
fumecheng-94	151	38	in	in	ADP
fumecheng-94	151	39	fig.3b	fig.3b	NUM
fumecheng-94	151	40	)	)	PUNCT
fumecheng-94	151	41	.	.	PUNCT
fumecheng-94	152	1	the	the	DET
fumecheng-94	152	2	obtained	obtain	VERB
fumecheng-94	152	3	solution	solution	NOUN
fumecheng-94	152	4	is	be	AUX
fumecheng-94	152	5	shown	show	VERB
fumecheng-94	152	6	in	in	ADP
fumecheng-94	152	7	fig	fig	NOUN
fumecheng-94	152	8	.	.	PUNCT
fumecheng-94	153	1	8b	8b	NUM
fumecheng-94	153	2	.	.	PUNCT
fumecheng-94	154	1	software	software	NOUN
fumecheng-94	154	2	for	for	ADP
fumecheng-94	154	3	synthesis	synthesis	NOUN
fumecheng-94	154	4	of	of	ADP
fumecheng-94	154	5	compliant	compliant	ADJ
fumecheng-94	154	6	mechanisms	mechanism	NOUN
fumecheng-94	154	7	without	without	ADP
fumecheng-94	154	8	intersecting	intersect	VERB
fumecheng-94	154	9	elements	element	NOUN
fumecheng-94	154	10	161	161	NUM
fumecheng-94	154	11	a	a	DET
fumecheng-94	154	12	)	)	PUNCT
fumecheng-94	154	13	b	b	NOUN
fumecheng-94	154	14	)	)	PUNCT
fumecheng-94	154	15	fig	fig	NOUN
fumecheng-94	154	16	.	.	PUNCT
fumecheng-94	155	1	7	7	NUM
fumecheng-94	155	2	physical	physical	ADJ
fumecheng-94	155	3	prototypes	prototype	NOUN
fumecheng-94	155	4	,	,	PUNCT
fumecheng-94	155	5	made	make	VERB
fumecheng-94	155	6	of	of	ADP
fumecheng-94	155	7	plastic	plastic	NOUN
fumecheng-94	155	8	,	,	PUNCT
fumecheng-94	155	9	of	of	ADP
fumecheng-94	155	10	the	the	DET
fumecheng-94	155	11	compliant	compliant	ADJ
fumecheng-94	155	12	gripper	gripper	NOUN
fumecheng-94	155	13	(	(	PUNCT
fumecheng-94	155	14	a	a	NOUN
fumecheng-94	155	15	)	)	PUNCT
fumecheng-94	155	16	and	and	CCONJ
fumecheng-94	155	17	the	the	DET
fumecheng-94	155	18	compliant	compliant	ADJ
fumecheng-94	155	19	displacement	displacement	ADJ
fumecheng-94	155	20	inverter	inverter	NOUN
fumecheng-94	155	21	(	(	PUNCT
fumecheng-94	155	22	b	b	NOUN
fumecheng-94	155	23	)	)	PUNCT
fumecheng-94	155	24	a	a	DET
fumecheng-94	155	25	)	)	PUNCT
fumecheng-94	155	26	b	b	NOUN
fumecheng-94	155	27	)	)	PUNCT
fumecheng-94	155	28	fig	fig	NOUN
fumecheng-94	155	29	.	.	PUNCT
fumecheng-94	155	30	8	8	NUM
fumecheng-94	155	31	a	a	X
fumecheng-94	155	32	)	)	PUNCT
fumecheng-94	155	33	initial	initial	ADJ
fumecheng-94	155	34	ground	ground	NOUN
fumecheng-94	155	35	structure	structure	NOUN
fumecheng-94	155	36	;	;	PUNCT
fumecheng-94	155	37	b	b	X
fumecheng-94	155	38	)	)	PUNCT
fumecheng-94	155	39	optimal	optimal	ADJ
fumecheng-94	155	40	topology	topology	NOUN
fumecheng-94	155	41	of	of	ADP
fumecheng-94	155	42	the	the	DET
fumecheng-94	155	43	displacement	displacement	ADJ
fumecheng-94	155	44	inverter	inverter	NOUN
fumecheng-94	155	45	,	,	PUNCT
fumecheng-94	155	46	only	only	ADV
fumecheng-94	155	47	the	the	DET
fumecheng-94	155	48	top	top	ADJ
fumecheng-94	155	49	-	-	PUNCT
fumecheng-94	155	50	half	half	NOUN
fumecheng-94	155	51	of	of	ADP
fumecheng-94	155	52	the	the	DET
fumecheng-94	155	53	mechanism	mechanism	NOUN
fumecheng-94	155	54	is	be	AUX
fumecheng-94	155	55	shown	show	VERB
fumecheng-94	155	56	(	(	PUNCT
fumecheng-94	155	57	deformed	deform	VERB
fumecheng-94	155	58	position	position	NOUN
fumecheng-94	155	59	is	be	AUX
fumecheng-94	155	60	shown	show	VERB
fumecheng-94	155	61	with	with	ADP
fumecheng-94	155	62	dashed	dash	VERB
fumecheng-94	155	63	lines	line	NOUN
fumecheng-94	155	64	)	)	PUNCT
fumecheng-94	155	65	due	due	ADP
fumecheng-94	155	66	to	to	ADP
fumecheng-94	155	67	the	the	DET
fumecheng-94	155	68	applied	apply	VERB
fumecheng-94	155	69	force	force	NOUN
fumecheng-94	155	70	at	at	ADP
fumecheng-94	155	71	the	the	DET
fumecheng-94	155	72	input	input	NOUN
fumecheng-94	155	73	port	port	NOUN
fumecheng-94	155	74	(	(	PUNCT
fumecheng-94	155	75	node	node	NOUN
fumecheng-94	155	76	7	7	NUM
fumecheng-94	155	77	)	)	PUNCT
fumecheng-94	155	78	the	the	DET
fumecheng-94	155	79	compliant	compliant	ADJ
fumecheng-94	155	80	displacement	displacement	ADJ
fumecheng-94	155	81	inverter	inverter	NOUN
fumecheng-94	155	82	deforms	deform	VERB
fumecheng-94	155	83	and	and	CCONJ
fumecheng-94	155	84	realizes	realize	VERB
fumecheng-94	155	85	the	the	DET
fumecheng-94	155	86	output	output	NOUN
fumecheng-94	155	87	deflection	deflection	NOUN
fumecheng-94	155	88	(	(	PUNCT
fumecheng-94	155	89	node	node	NOUN
fumecheng-94	155	90	9	9	NUM
fumecheng-94	155	91	)	)	PUNCT
fumecheng-94	155	92	of	of	ADP
fumecheng-94	155	93	:	:	PUNCT
fumecheng-94	155	94	δout=2.0229	δout=2.0229	X
fumecheng-94	155	95	mm	mm	INTJ
fumecheng-94	155	96	,	,	PUNCT
fumecheng-94	155	97	while	while	SCONJ
fumecheng-94	155	98	the	the	DET
fumecheng-94	155	99	displacement	displacement	NOUN
fumecheng-94	155	100	of	of	ADP
fumecheng-94	155	101	the	the	DET
fumecheng-94	155	102	input	input	NOUN
fumecheng-94	155	103	port	port	NOUN
fumecheng-94	155	104	is	be	AUX
fumecheng-94	155	105	δout=1.0891	δout=1.0891	PRON
fumecheng-94	155	106	mm	mm	NOUN
fumecheng-94	155	107	.	.	PUNCT
fumecheng-94	156	1	the	the	DET
fumecheng-94	156	2	geometrical	geometrical	ADJ
fumecheng-94	156	3	advantage	advantage	NOUN
fumecheng-94	156	4	of	of	ADP
fumecheng-94	156	5	the	the	DET
fumecheng-94	156	6	obtained	obtain	VERB
fumecheng-94	156	7	mechanism	mechanism	NOUN
fumecheng-94	156	8	is	be	AUX
fumecheng-94	156	9	δout	δout	NOUN
fumecheng-94	156	10	/	/	SYM
fumecheng-94	156	11	δin=1.8574	δin=1.8574	NOUN
fumecheng-94	156	12	.	.	PUNCT
fumecheng-94	157	1	this	this	PRON
fumecheng-94	157	2	means	mean	VERB
fumecheng-94	157	3	that	that	SCONJ
fumecheng-94	157	4	a	a	DET
fumecheng-94	157	5	displacement	displacement	ADJ
fumecheng-94	157	6	inverter	inverter	NOUN
fumecheng-94	157	7	that	that	PRON
fumecheng-94	157	8	has	have	VERB
fumecheng-94	157	9	the	the	DET
fumecheng-94	157	10	geometrical	geometrical	ADJ
fumecheng-94	157	11	advantage	advantage	NOUN
fumecheng-94	157	12	greater	great	ADJ
fumecheng-94	157	13	than	than	ADP
fumecheng-94	157	14	1	1	NUM
fumecheng-94	157	15	(	(	PUNCT
fumecheng-94	157	16	thus	thus	ADV
fumecheng-94	157	17	acting	act	VERB
fumecheng-94	157	18	as	as	ADP
fumecheng-94	157	19	an	an	DET
fumecheng-94	157	20	amplifier	amplifier	NOUN
fumecheng-94	157	21	)	)	PUNCT
fumecheng-94	157	22	can	can	AUX
fumecheng-94	157	23	be	be	AUX
fumecheng-94	157	24	obtained	obtain	VERB
fumecheng-94	157	25	if	if	SCONJ
fumecheng-94	157	26	higher	high	ADJ
fumecheng-94	157	27	grid	grid	NOUN
fumecheng-94	157	28	resolution	resolution	NOUN
fumecheng-94	157	29	is	be	AUX
fumecheng-94	157	30	used	use	VERB
fumecheng-94	157	31	(	(	PUNCT
fumecheng-94	157	32	in	in	ADP
fumecheng-94	157	33	our	our	PRON
fumecheng-94	157	34	case	case	NOUN
fumecheng-94	157	35	the	the	DET
fumecheng-94	157	36	output	output	NOUN
fumecheng-94	157	37	displacement	displacement	NOUN
fumecheng-94	157	38	is	be	AUX
fumecheng-94	157	39	nearly	nearly	ADV
fumecheng-94	157	40	doubled	double	VERB
fumecheng-94	157	41	)	)	PUNCT
fumecheng-94	157	42	.	.	PUNCT
fumecheng-94	158	1	the	the	DET
fumecheng-94	158	2	results	result	NOUN
fumecheng-94	158	3	are	be	AUX
fumecheng-94	158	4	verified	verify	VERB
fumecheng-94	158	5	via	via	ADP
fumecheng-94	158	6	solid	solid	ADJ
fumecheng-94	158	7	model	model	NOUN
fumecheng-94	158	8	finite	finite	PROPN
fumecheng-94	158	9	element	element	NOUN
fumecheng-94	158	10	analysis	analysis	NOUN
fumecheng-94	158	11	(	(	PUNCT
fumecheng-94	158	12	fig	fig	NOUN
fumecheng-94	158	13	.	.	PUNCT
fumecheng-94	159	1	9a	9a	NOUN
fumecheng-94	159	2	)	)	PUNCT
fumecheng-94	159	3	.	.	PUNCT
fumecheng-94	160	1	the	the	DET
fumecheng-94	160	2	analysis	analysis	NOUN
fumecheng-94	160	3	shows	show	VERB
fumecheng-94	160	4	linear	linear	ADJ
fumecheng-94	160	5	dependence	dependence	NOUN
fumecheng-94	160	6	between	between	ADP
fumecheng-94	160	7	the	the	DET
fumecheng-94	160	8	input	input	NOUN
fumecheng-94	160	9	and	and	CCONJ
fumecheng-94	160	10	the	the	DET
fumecheng-94	160	11	output	output	NOUN
fumecheng-94	160	12	displacement	displacement	NOUN
fumecheng-94	160	13	(	(	PUNCT
fumecheng-94	160	14	the	the	DET
fumecheng-94	160	15	results	result	NOUN
fumecheng-94	160	16	are	be	AUX
fumecheng-94	160	17	given	give	VERB
fumecheng-94	160	18	in	in	ADP
fumecheng-94	160	19	table	table	NOUN
fumecheng-94	160	20	3	3	NUM
fumecheng-94	160	21	)	)	PUNCT
fumecheng-94	160	22	.	.	PUNCT
fumecheng-94	161	1	the	the	DET
fumecheng-94	161	2	manufactured	manufacture	VERB
fumecheng-94	161	3	model	model	NOUN
fumecheng-94	161	4	of	of	ADP
fumecheng-94	161	5	the	the	DET
fumecheng-94	161	6	compliant	compliant	ADJ
fumecheng-94	161	7	displacement	displacement	ADJ
fumecheng-94	161	8	inverter	inverter	NOUN
fumecheng-94	161	9	,	,	PUNCT
fumecheng-94	161	10	made	make	VERB
fumecheng-94	161	11	of	of	ADP
fumecheng-94	161	12	plastic	plastic	NOUN
fumecheng-94	161	13	,	,	PUNCT
fumecheng-94	161	14	is	be	AUX
fumecheng-94	161	15	shown	show	VERB
fumecheng-94	161	16	in	in	ADP
fumecheng-94	161	17	fig	fig	NOUN
fumecheng-94	161	18	.	.	PUNCT
fumecheng-94	162	1	9b	9b	NOUN
fumecheng-94	162	2	.	.	PUNCT
fumecheng-94	163	1	table	table	NOUN
fumecheng-94	163	2	3	3	NUM
fumecheng-94	163	3	results	result	NOUN
fumecheng-94	163	4	of	of	ADP
fumecheng-94	163	5	the	the	DET
fumecheng-94	163	6	finite	finite	ADJ
fumecheng-94	163	7	element	element	NOUN
fumecheng-94	163	8	analysis	analysis	NOUN
fumecheng-94	163	9	for	for	ADP
fumecheng-94	163	10	the	the	DET
fumecheng-94	163	11	compliant	compliant	ADJ
fumecheng-94	163	12	displacement	displacement	ADJ
fumecheng-94	163	13	inverter	inverter	NOUN
fumecheng-94	163	14	input	input	NOUN
fumecheng-94	163	15	displacement	displacement	NOUN
fumecheng-94	163	16	(	(	PUNCT
fumecheng-94	163	17	mm	mm	NOUN
fumecheng-94	163	18	)	)	PUNCT
fumecheng-94	163	19	output	output	NOUN
fumecheng-94	163	20	displacement	displacement	NOUN
fumecheng-94	163	21	(	(	PUNCT
fumecheng-94	163	22	mm	mm	NOUN
fumecheng-94	163	23	)	)	PUNCT
fumecheng-94	163	24	geometrical	geometrical	ADJ
fumecheng-94	163	25	advantage	advantage	NOUN
fumecheng-94	163	26	1	1	NUM
fumecheng-94	163	27	1.7427	1.7427	NUM
fumecheng-94	163	28	1.7427	1.7427	NUM
fumecheng-94	163	29	2	2	NUM
fumecheng-94	163	30	3.4854	3.4854	NUM
fumecheng-94	163	31	1.7427	1.7427	NUM
fumecheng-94	163	32	3	3	NUM
fumecheng-94	163	33	5.2281	5.2281	NUM
fumecheng-94	163	34	1.7427	1.7427	NUM
fumecheng-94	163	35	162	162	NUM
fumecheng-94	163	36	a.	a.	NOUN
fumecheng-94	163	37	milojević	milojević	NOUN
fumecheng-94	163	38	,	,	PUNCT
fumecheng-94	163	39	n.	n.	PROPN
fumecheng-94	163	40	d.	d.	PROPN
fumecheng-94	163	41	pavlović	pavlović	VERB
fumecheng-94	163	42	a	a	DET
fumecheng-94	163	43	)	)	PUNCT
fumecheng-94	163	44	b	b	NOUN
fumecheng-94	163	45	)	)	PUNCT
fumecheng-94	163	46	fig	fig	NOUN
fumecheng-94	163	47	.	.	PUNCT
fumecheng-94	164	1	9	9	NUM
fumecheng-94	164	2	a	a	DET
fumecheng-94	164	3	)	)	PUNCT
fumecheng-94	164	4	finite	finite	PROPN
fumecheng-94	164	5	element	element	NOUN
fumecheng-94	164	6	analysis	analysis	NOUN
fumecheng-94	164	7	of	of	ADP
fumecheng-94	164	8	the	the	DET
fumecheng-94	164	9	compliant	compliant	ADJ
fumecheng-94	164	10	displacement	displacement	ADJ
fumecheng-94	164	11	inverter	inverter	NOUN
fumecheng-94	164	12	;	;	PUNCT
fumecheng-94	164	13	b	b	X
fumecheng-94	164	14	)	)	PUNCT
fumecheng-94	164	15	mechanism	mechanism	NOUN
fumecheng-94	164	16	prototype	prototype	NOUN
fumecheng-94	164	17	made	make	VERB
fumecheng-94	164	18	from	from	ADP
fumecheng-94	164	19	plastic	plastic	NOUN
fumecheng-94	164	20	(	(	PUNCT
fumecheng-94	164	21	the	the	DET
fumecheng-94	164	22	whole	whole	ADJ
fumecheng-94	164	23	mechanism	mechanism	NOUN
fumecheng-94	164	24	is	be	AUX
fumecheng-94	164	25	shown	show	VERB
fumecheng-94	164	26	in	in	ADP
fumecheng-94	164	27	both	both	DET
fumecheng-94	164	28	cases	case	NOUN
fumecheng-94	164	29	)	)	PUNCT
fumecheng-94	164	30	5	5	NUM
fumecheng-94	164	31	.	.	X
fumecheng-94	165	1	synthesis	synthesis	NOUN
fumecheng-94	165	2	of	of	ADP
fumecheng-94	165	3	compliant	compliant	ADJ
fumecheng-94	165	4	mechanisms	mechanism	NOUN
fumecheng-94	165	5	without	without	ADP
fumecheng-94	165	6	intersecting	intersect	VERB
fumecheng-94	165	7	elements	element	NOUN
fumecheng-94	165	8	in	in	ADP
fumecheng-94	165	9	the	the	DET
fumecheng-94	165	10	topology	topology	NOUN
fumecheng-94	165	11	optimization	optimization	NOUN
fumecheng-94	165	12	of	of	ADP
fumecheng-94	165	13	compliant	compliant	ADJ
fumecheng-94	165	14	mechanisms	mechanism	NOUN
fumecheng-94	165	15	the	the	DET
fumecheng-94	165	16	choice	choice	NOUN
fumecheng-94	165	17	of	of	ADP
fumecheng-94	165	18	initial	initial	ADJ
fumecheng-94	165	19	ground	ground	NOUN
fumecheng-94	165	20	structure	structure	NOUN
fumecheng-94	165	21	is	be	AUX
fumecheng-94	165	22	very	very	ADV
fumecheng-94	165	23	important	important	ADJ
fumecheng-94	165	24	as	as	SCONJ
fumecheng-94	165	25	the	the	DET
fumecheng-94	165	26	ground	ground	NOUN
fumecheng-94	165	27	structure	structure	NOUN
fumecheng-94	165	28	represents	represent	VERB
fumecheng-94	165	29	the	the	DET
fumecheng-94	165	30	space	space	NOUN
fumecheng-94	165	31	of	of	ADP
fumecheng-94	165	32	design	design	NOUN
fumecheng-94	165	33	variables	variable	NOUN
fumecheng-94	165	34	in	in	ADP
fumecheng-94	165	35	which	which	PRON
fumecheng-94	165	36	the	the	DET
fumecheng-94	165	37	optimal	optimal	ADJ
fumecheng-94	165	38	solution	solution	NOUN
fumecheng-94	165	39	(	(	PUNCT
fumecheng-94	165	40	for	for	ADP
fumecheng-94	165	41	a	a	DET
fumecheng-94	165	42	given	give	VERB
fumecheng-94	165	43	problem	problem	NOUN
fumecheng-94	165	44	)	)	PUNCT
fumecheng-94	165	45	is	be	AUX
fumecheng-94	165	46	searched	search	VERB
fumecheng-94	165	47	for	for	ADP
fumecheng-94	165	48	.	.	PUNCT
fumecheng-94	166	1	in	in	ADP
fumecheng-94	166	2	the	the	DET
fumecheng-94	166	3	literature	literature	NOUN
fumecheng-94	166	4	,	,	PUNCT
fumecheng-94	166	5	the	the	DET
fumecheng-94	166	6	reduced	reduced	ADJ
fumecheng-94	166	7	initial	initial	ADJ
fumecheng-94	166	8	ground	ground	NOUN
fumecheng-94	166	9	structure	structure	NOUN
fumecheng-94	166	10	is	be	AUX
fumecheng-94	166	11	commonly	commonly	ADV
fumecheng-94	166	12	used	use	VERB
fumecheng-94	166	13	[	[	X
fumecheng-94	166	14	12	12	NUM
fumecheng-94	166	15	]	]	PUNCT
fumecheng-94	166	16	with	with	ADP
fumecheng-94	166	17	the	the	DET
fumecheng-94	166	18	degree	degree	NOUN
fumecheng-94	166	19	of	of	ADP
fumecheng-94	166	20	nodal	nodal	NOUN
fumecheng-94	166	21	connectivity	connectivity	NOUN
fumecheng-94	166	22	1	1	NUM
fumecheng-94	166	23	(	(	PUNCT
fumecheng-94	166	24	fig	fig	NOUN
fumecheng-94	166	25	.	.	PUNCT
fumecheng-94	166	26	10	10	NUM
fumecheng-94	166	27	)	)	PUNCT
fumecheng-94	166	28	.	.	PUNCT
fumecheng-94	167	1	because	because	SCONJ
fumecheng-94	167	2	the	the	DET
fumecheng-94	167	3	ground	ground	NOUN
fumecheng-94	167	4	structure	structure	NOUN
fumecheng-94	167	5	is	be	AUX
fumecheng-94	167	6	reduced	reduce	VERB
fumecheng-94	167	7	,	,	PUNCT
fumecheng-94	167	8	nodes	node	NOUN
fumecheng-94	167	9	are	be	AUX
fumecheng-94	167	10	placed	place	VERB
fumecheng-94	167	11	at	at	ADP
fumecheng-94	167	12	the	the	DET
fumecheng-94	167	13	intersection	intersection	NOUN
fumecheng-94	167	14	point	point	NOUN
fumecheng-94	167	15	between	between	ADP
fumecheng-94	167	16	two	two	NUM
fumecheng-94	167	17	elements	element	NOUN
fumecheng-94	167	18	i.e.	i.e.	X
fumecheng-94	167	19	in	in	ADP
fumecheng-94	167	20	this	this	DET
fumecheng-94	167	21	ground	ground	NOUN
fumecheng-94	167	22	structure	structure	NOUN
fumecheng-94	167	23	intersections	intersection	NOUN
fumecheng-94	167	24	do	do	AUX
fumecheng-94	167	25	not	not	PART
fumecheng-94	167	26	exist	exist	VERB
fumecheng-94	167	27	(	(	PUNCT
fumecheng-94	167	28	fig	fig	NOUN
fumecheng-94	167	29	.	.	PUNCT
fumecheng-94	168	1	10	10	NUM
fumecheng-94	168	2	)	)	PUNCT
fumecheng-94	168	3	.	.	PUNCT
fumecheng-94	169	1	although	although	SCONJ
fumecheng-94	169	2	this	this	DET
fumecheng-94	169	3	kind	kind	NOUN
fumecheng-94	169	4	of	of	ADP
fumecheng-94	169	5	ground	ground	NOUN
fumecheng-94	169	6	structure	structure	NOUN
fumecheng-94	169	7	greatly	greatly	ADV
fumecheng-94	169	8	reduces	reduce	VERB
fumecheng-94	169	9	computation	computation	NOUN
fumecheng-94	169	10	time	time	NOUN
fumecheng-94	169	11	and	and	CCONJ
fumecheng-94	169	12	compliant	compliant	ADJ
fumecheng-94	169	13	mechanisms	mechanism	NOUN
fumecheng-94	169	14	without	without	ADP
fumecheng-94	169	15	intersecting	intersect	VERB
fumecheng-94	169	16	elements	element	NOUN
fumecheng-94	169	17	are	be	AUX
fumecheng-94	169	18	obtained	obtain	VERB
fumecheng-94	169	19	,	,	PUNCT
fumecheng-94	169	20	it	it	PRON
fumecheng-94	169	21	can	can	AUX
fumecheng-94	169	22	not	not	PART
fumecheng-94	169	23	always	always	ADV
fumecheng-94	169	24	efficiently	efficiently	ADV
fumecheng-94	169	25	represent	represent	VERB
fumecheng-94	169	26	the	the	DET
fumecheng-94	169	27	design	design	NOUN
fumecheng-94	169	28	domain	domain	NOUN
fumecheng-94	169	29	;	;	PUNCT
fumecheng-94	169	30	because	because	SCONJ
fumecheng-94	169	31	of	of	ADP
fumecheng-94	169	32	the	the	DET
fumecheng-94	169	33	reduction	reduction	NOUN
fumecheng-94	169	34	many	many	ADJ
fumecheng-94	169	35	of	of	ADP
fumecheng-94	169	36	the	the	DET
fumecheng-94	169	37	good	good	ADJ
fumecheng-94	169	38	designs	design	NOUN
fumecheng-94	169	39	are	be	AUX
fumecheng-94	169	40	lost	lose	VERB
fumecheng-94	169	41	at	at	ADP
fumecheng-94	169	42	the	the	DET
fumecheng-94	169	43	beginning	beginning	NOUN
fumecheng-94	169	44	.	.	PUNCT
fumecheng-94	170	1	partially	partially	ADV
fumecheng-94	170	2	connected	connect	VERB
fumecheng-94	170	3	ground	ground	NOUN
fumecheng-94	170	4	structure	structure	NOUN
fumecheng-94	170	5	(	(	PUNCT
fumecheng-94	170	6	fig	fig	NOUN
fumecheng-94	170	7	.	.	PUNCT
fumecheng-94	170	8	4	4	NUM
fumecheng-94	170	9	)	)	PUNCT
fumecheng-94	170	10	is	be	AUX
fumecheng-94	170	11	also	also	ADV
fumecheng-94	170	12	used	use	VERB
fumecheng-94	170	13	in	in	ADP
fumecheng-94	170	14	the	the	DET
fumecheng-94	170	15	literature	literature	NOUN
fumecheng-94	170	16	[	[	X
fumecheng-94	170	17	2	2	NUM
fumecheng-94	170	18	]	]	PUNCT
fumecheng-94	170	19	,	,	PUNCT
fumecheng-94	170	20	[	[	X
fumecheng-94	170	21	7	7	NUM
fumecheng-94	170	22	]	]	PUNCT
fumecheng-94	170	23	.	.	PUNCT
fumecheng-94	171	1	although	although	SCONJ
fumecheng-94	171	2	this	this	DET
fumecheng-94	171	3	kind	kind	NOUN
fumecheng-94	171	4	of	of	ADP
fumecheng-94	171	5	ground	ground	NOUN
fumecheng-94	171	6	structure	structure	NOUN
fumecheng-94	171	7	can	can	AUX
fumecheng-94	171	8	more	more	ADV
fumecheng-94	171	9	effectively	effectively	ADV
fumecheng-94	171	10	represent	represent	VERB
fumecheng-94	171	11	the	the	DET
fumecheng-94	171	12	design	design	NOUN
fumecheng-94	171	13	domain	domain	NOUN
fumecheng-94	171	14	(	(	PUNCT
fumecheng-94	171	15	higher	high	ADJ
fumecheng-94	171	16	degree	degree	NOUN
fumecheng-94	171	17	of	of	ADP
fumecheng-94	171	18	nodal	nodal	NOUN
fumecheng-94	171	19	connectivity	connectivity	NOUN
fumecheng-94	171	20	)	)	PUNCT
fumecheng-94	171	21	,	,	PUNCT
fumecheng-94	171	22	the	the	DET
fumecheng-94	171	23	solutions	solution	NOUN
fumecheng-94	171	24	with	with	ADP
fumecheng-94	171	25	intersecting	intersecting	ADJ
fumecheng-94	171	26	elements	element	NOUN
fumecheng-94	171	27	are	be	AUX
fumecheng-94	171	28	obtained	obtain	VERB
fumecheng-94	171	29	(	(	PUNCT
fumecheng-94	171	30	as	as	ADP
fumecheng-94	171	31	in	in	ADP
fumecheng-94	171	32	fig	fig	NOUN
fumecheng-94	171	33	.	.	PUNCT
fumecheng-94	172	1	6a	6a	NOUN
fumecheng-94	172	2	and	and	CCONJ
fumecheng-94	172	3	fig	fig	NOUN
fumecheng-94	172	4	.	.	PUNCT
fumecheng-94	173	1	8b	8b	NUM
fumecheng-94	173	2	or	or	CCONJ
fumecheng-94	173	3	see	see	VERB
fumecheng-94	173	4	[	[	X
fumecheng-94	173	5	2	2	NUM
fumecheng-94	173	6	]	]	PUNCT
fumecheng-94	173	7	,	,	PUNCT
fumecheng-94	174	1	[	[	X
fumecheng-94	174	2	7	7	NUM
fumecheng-94	174	3	]	]	PUNCT
fumecheng-94	174	4	)	)	PUNCT
fumecheng-94	174	5	where	where	SCONJ
fumecheng-94	174	6	at	at	ADP
fumecheng-94	174	7	the	the	DET
fumecheng-94	174	8	place	place	NOUN
fumecheng-94	174	9	of	of	ADP
fumecheng-94	174	10	intersection	intersection	NOUN
fumecheng-94	174	11	the	the	DET
fumecheng-94	174	12	nodes	node	NOUN
fumecheng-94	174	13	are	be	AUX
fumecheng-94	174	14	not	not	PART
fumecheng-94	174	15	defined	define	VERB
fumecheng-94	174	16	.	.	PUNCT
fumecheng-94	175	1	there	there	PRON
fumecheng-94	175	2	are	be	VERB
fumecheng-94	175	3	some	some	DET
fumecheng-94	175	4	differences	difference	NOUN
fumecheng-94	175	5	between	between	ADP
fumecheng-94	175	6	the	the	DET
fumecheng-94	175	7	results	result	NOUN
fumecheng-94	175	8	obtained	obtain	VERB
fumecheng-94	175	9	by	by	ADP
fumecheng-94	175	10	fem	fem	NOUN
fumecheng-94	175	11	analysis	analysis	NOUN
fumecheng-94	175	12	and	and	CCONJ
fumecheng-94	175	13	by	by	ADP
fumecheng-94	175	14	using	use	VERB
fumecheng-94	175	15	the	the	DET
fumecheng-94	175	16	novel	novel	ADJ
fumecheng-94	175	17	software	software	NOUN
fumecheng-94	175	18	in	in	ADP
fumecheng-94	175	19	mechanisms	mechanism	NOUN
fumecheng-94	175	20	in	in	ADP
fumecheng-94	175	21	fig	fig	NOUN
fumecheng-94	175	22	.	.	PUNCT
fumecheng-94	176	1	6a	6a	NOUN
fumecheng-94	176	2	and	and	CCONJ
fumecheng-94	176	3	fig	fig	NOUN
fumecheng-94	176	4	.	.	PUNCT
fumecheng-94	177	1	8b	8b	NUM
fumecheng-94	177	2	,	,	PUNCT
fumecheng-94	177	3	as	as	ADP
fumecheng-94	177	4	at	at	ADP
fumecheng-94	177	5	the	the	DET
fumecheng-94	177	6	places	place	NOUN
fumecheng-94	177	7	of	of	ADP
fumecheng-94	177	8	intersection	intersection	NOUN
fumecheng-94	177	9	the	the	DET
fumecheng-94	177	10	nodes	node	NOUN
fumecheng-94	177	11	were	be	AUX
fumecheng-94	177	12	not	not	PART
fumecheng-94	177	13	defined	define	VERB
fumecheng-94	177	14	.	.	PUNCT
fumecheng-94	178	1	defining	define	VERB
fumecheng-94	178	2	the	the	DET
fumecheng-94	178	3	nodes	node	NOUN
fumecheng-94	178	4	at	at	ADP
fumecheng-94	178	5	the	the	DET
fumecheng-94	178	6	intersecting	intersecting	NOUN
fumecheng-94	178	7	points	point	NOUN
fumecheng-94	178	8	between	between	ADP
fumecheng-94	178	9	elements	element	NOUN
fumecheng-94	178	10	would	would	AUX
fumecheng-94	178	11	greatly	greatly	ADV
fumecheng-94	178	12	increase	increase	VERB
fumecheng-94	178	13	the	the	DET
fumecheng-94	178	14	computational	computational	ADJ
fumecheng-94	178	15	time	time	NOUN
fumecheng-94	178	16	because	because	SCONJ
fumecheng-94	178	17	the	the	DET
fumecheng-94	178	18	ground	ground	NOUN
fumecheng-94	178	19	structure	structure	NOUN
fumecheng-94	178	20	becomes	become	VERB
fumecheng-94	178	21	highly	highly	ADV
fumecheng-94	178	22	complex	complex	ADJ
fumecheng-94	178	23	with	with	ADP
fumecheng-94	178	24	many	many	ADJ
fumecheng-94	178	25	intersecting	intersecting	ADJ
fumecheng-94	178	26	elements	element	NOUN
fumecheng-94	178	27	(	(	PUNCT
fumecheng-94	178	28	fig	fig	NOUN
fumecheng-94	178	29	.	.	PUNCT
fumecheng-94	178	30	4a	4a	NUM
fumecheng-94	178	31	)	)	PUNCT
fumecheng-94	178	32	.	.	PUNCT
fumecheng-94	179	1	a	a	DET
fumecheng-94	179	2	designer	designer	NOUN
fumecheng-94	179	3	must	must	AUX
fumecheng-94	179	4	keep	keep	VERB
fumecheng-94	179	5	in	in	ADP
fumecheng-94	179	6	mind	mind	NOUN
fumecheng-94	179	7	that	that	SCONJ
fumecheng-94	179	8	when	when	SCONJ
fumecheng-94	179	9	it	it	PRON
fumecheng-94	179	10	comes	come	VERB
fumecheng-94	179	11	to	to	ADP
fumecheng-94	179	12	manufacturing	manufacturing	NOUN
fumecheng-94	179	13	of	of	ADP
fumecheng-94	179	14	compliant	compliant	ADJ
fumecheng-94	179	15	mechanisms	mechanism	NOUN
fumecheng-94	179	16	obtained	obtain	VERB
fumecheng-94	179	17	with	with	ADP
fumecheng-94	179	18	this	this	DET
fumecheng-94	179	19	kind	kind	NOUN
fumecheng-94	179	20	of	of	ADP
fumecheng-94	179	21	ground	ground	NOUN
fumecheng-94	179	22	structure	structure	NOUN
fumecheng-94	179	23	,	,	PUNCT
fumecheng-94	179	24	elements	element	NOUN
fumecheng-94	179	25	that	that	PRON
fumecheng-94	179	26	intersect	intersect	VERB
fumecheng-94	179	27	themselves	themselves	PRON
fumecheng-94	179	28	must	must	AUX
fumecheng-94	179	29	be	be	AUX
fumecheng-94	179	30	manufactured	manufacture	VERB
fumecheng-94	179	31	in	in	ADP
fumecheng-94	179	32	separate	separate	ADJ
fumecheng-94	179	33	planes	plane	NOUN
fumecheng-94	179	34	.	.	PUNCT
fumecheng-94	180	1	this	this	PRON
fumecheng-94	180	2	can	can	AUX
fumecheng-94	180	3	be	be	AUX
fumecheng-94	180	4	sometimes	sometimes	ADV
fumecheng-94	180	5	very	very	ADV
fumecheng-94	180	6	difficult	difficult	ADJ
fumecheng-94	180	7	to	to	PART
fumecheng-94	180	8	achieve	achieve	VERB
fumecheng-94	180	9	.	.	PUNCT
fumecheng-94	181	1	other	other	ADJ
fumecheng-94	181	2	solution	solution	NOUN
fumecheng-94	181	3	is	be	AUX
fumecheng-94	181	4	to	to	PART
fumecheng-94	181	5	produce	produce	VERB
fumecheng-94	181	6	elements	element	NOUN
fumecheng-94	181	7	in	in	ADP
fumecheng-94	181	8	the	the	DET
fumecheng-94	181	9	same	same	ADJ
fumecheng-94	181	10	plane	plane	NOUN
fumecheng-94	181	11	with	with	ADP
fumecheng-94	181	12	intersections	intersection	NOUN
fumecheng-94	181	13	(	(	PUNCT
fumecheng-94	181	14	like	like	INTJ
fumecheng-94	181	15	in	in	ADP
fumecheng-94	181	16	fig	fig	NOUN
fumecheng-94	181	17	.	.	PUNCT
fumecheng-94	182	1	7a	7a	NUM
fumecheng-94	182	2	and	and	CCONJ
fumecheng-94	182	3	fig	fig	NOUN
fumecheng-94	182	4	.	.	PUNCT
fumecheng-94	183	1	9b	9b	NUM
fumecheng-94	183	2	)	)	PUNCT
fumecheng-94	183	3	,	,	PUNCT
fumecheng-94	183	4	but	but	CCONJ
fumecheng-94	183	5	then	then	ADV
fumecheng-94	183	6	the	the	DET
fumecheng-94	183	7	stiffness	stiffness	NOUN
fumecheng-94	183	8	of	of	ADP
fumecheng-94	183	9	the	the	DET
fumecheng-94	183	10	system	system	NOUN
fumecheng-94	183	11	will	will	AUX
fumecheng-94	183	12	increase	increase	VERB
fumecheng-94	183	13	and	and	CCONJ
fumecheng-94	183	14	the	the	DET
fumecheng-94	183	15	functionality	functionality	NOUN
fumecheng-94	183	16	of	of	ADP
fumecheng-94	183	17	the	the	DET
fumecheng-94	183	18	mechanism	mechanism	NOUN
fumecheng-94	183	19	will	will	AUX
fumecheng-94	183	20	decrease	decrease	VERB
fumecheng-94	183	21	regarding	regard	VERB
fumecheng-94	183	22	the	the	DET
fumecheng-94	183	23	originally	originally	ADV
fumecheng-94	183	24	obtained	obtain	VERB
fumecheng-94	183	25	mechanism	mechanism	NOUN
fumecheng-94	183	26	.	.	PUNCT
fumecheng-94	184	1	this	this	DET
fumecheng-94	184	2	deficiency	deficiency	NOUN
fumecheng-94	184	3	has	have	AUX
fumecheng-94	184	4	motivated	motivate	VERB
fumecheng-94	184	5	us	we	PRON
fumecheng-94	184	6	to	to	PART
fumecheng-94	184	7	improve	improve	VERB
fumecheng-94	184	8	the	the	DET
fumecheng-94	184	9	existing	exist	VERB
fumecheng-94	184	10	topology	topology	NOUN
fumecheng-94	184	11	optimization	optimization	NOUN
fumecheng-94	184	12	technique	technique	NOUN
fumecheng-94	184	13	so	so	SCONJ
fumecheng-94	184	14	that	that	SCONJ
fumecheng-94	184	15	the	the	DET
fumecheng-94	184	16	intersections	intersection	NOUN
fumecheng-94	184	17	between	between	ADP
fumecheng-94	184	18	elements	element	NOUN
fumecheng-94	184	19	would	would	AUX
fumecheng-94	184	20	be	be	AUX
fumecheng-94	184	21	eliminated	eliminate	VERB
fumecheng-94	184	22	in	in	ADP
fumecheng-94	184	23	the	the	DET
fumecheng-94	184	24	process	process	NOUN
fumecheng-94	184	25	of	of	ADP
fumecheng-94	184	26	optimization	optimization	NOUN
fumecheng-94	184	27	.	.	PUNCT
fumecheng-94	185	1	this	this	PRON
fumecheng-94	185	2	represents	represent	VERB
fumecheng-94	185	3	a	a	DET
fumecheng-94	185	4	novel	novel	ADJ
fumecheng-94	185	5	approach	approach	NOUN
fumecheng-94	185	6	to	to	ADP
fumecheng-94	185	7	the	the	DET
fumecheng-94	185	8	synthesis	synthesis	NOUN
fumecheng-94	185	9	of	of	ADP
fumecheng-94	185	10	compliant	compliant	ADJ
fumecheng-94	185	11	mechanisms	mechanism	NOUN
fumecheng-94	185	12	.	.	PUNCT
fumecheng-94	186	1	software	software	NOUN
fumecheng-94	186	2	for	for	ADP
fumecheng-94	186	3	synthesis	synthesis	NOUN
fumecheng-94	186	4	of	of	ADP
fumecheng-94	186	5	compliant	compliant	ADJ
fumecheng-94	186	6	mechanisms	mechanism	NOUN
fumecheng-94	186	7	without	without	ADP
fumecheng-94	186	8	intersecting	intersect	VERB
fumecheng-94	186	9	elements	element	NOUN
fumecheng-94	186	10	163	163	NUM
fumecheng-94	186	11	fig	fig	NOUN
fumecheng-94	186	12	.	.	PUNCT
fumecheng-94	187	1	10	10	NUM
fumecheng-94	187	2	reduced	reduce	VERB
fumecheng-94	187	3	initial	initial	ADJ
fumecheng-94	187	4	ground	ground	NOUN
fumecheng-94	187	5	structure	structure	NOUN
fumecheng-94	187	6	to	to	PART
fumecheng-94	187	7	eliminate	eliminate	VERB
fumecheng-94	187	8	intersections	intersection	NOUN
fumecheng-94	187	9	between	between	ADP
fumecheng-94	187	10	elements	element	NOUN
fumecheng-94	187	11	in	in	ADP
fumecheng-94	187	12	the	the	DET
fumecheng-94	187	13	topology	topology	NOUN
fumecheng-94	187	14	optimization	optimization	NOUN
fumecheng-94	187	15	process	process	NOUN
fumecheng-94	187	16	,	,	PUNCT
fumecheng-94	187	17	a	a	DET
fumecheng-94	187	18	computer	computer	NOUN
fumecheng-94	187	19	-	-	PUNCT
fumecheng-94	187	20	coded	code	VERB
fumecheng-94	187	21	algorithm	algorithm	NOUN
fumecheng-94	187	22	as	as	SCONJ
fumecheng-94	187	23	a	a	DET
fumecheng-94	187	24	search	search	NOUN
fumecheng-94	187	25	filter	filter	NOUN
fumecheng-94	187	26	is	be	AUX
fumecheng-94	187	27	created	create	VERB
fumecheng-94	187	28	.	.	PUNCT
fumecheng-94	188	1	in	in	ADP
fumecheng-94	188	2	every	every	DET
fumecheng-94	188	3	iteration	iteration	NOUN
fumecheng-94	188	4	during	during	ADP
fumecheng-94	188	5	the	the	DET
fumecheng-94	188	6	optimization	optimization	NOUN
fumecheng-94	188	7	process	process	NOUN
fumecheng-94	188	8	,	,	PUNCT
fumecheng-94	188	9	the	the	DET
fumecheng-94	188	10	algorithm	algorithm	NOUN
fumecheng-94	188	11	searches	search	VERB
fumecheng-94	188	12	for	for	ADP
fumecheng-94	188	13	intersecting	intersecting	ADJ
fumecheng-94	188	14	points	point	NOUN
fumecheng-94	188	15	between	between	ADP
fumecheng-94	188	16	elements	element	NOUN
fumecheng-94	188	17	in	in	ADP
fumecheng-94	188	18	the	the	DET
fumecheng-94	188	19	structure	structure	NOUN
fumecheng-94	188	20	(	(	PUNCT
fumecheng-94	188	21	fig	fig	NOUN
fumecheng-94	188	22	.	.	PUNCT
fumecheng-94	188	23	11	11	NUM
fumecheng-94	188	24	)	)	PUNCT
fumecheng-94	188	25	.	.	PUNCT
fumecheng-94	189	1	then	then	ADV
fumecheng-94	189	2	the	the	DET
fumecheng-94	189	3	total	total	ADJ
fumecheng-94	189	4	number	number	NOUN
fumecheng-94	189	5	of	of	ADP
fumecheng-94	189	6	intersections	intersection	NOUN
fumecheng-94	189	7	(	(	PUNCT
fumecheng-94	189	8	for	for	ADP
fumecheng-94	189	9	every	every	DET
fumecheng-94	189	10	structure	structure	NOUN
fumecheng-94	189	11	)	)	PUNCT
fumecheng-94	189	12	is	be	AUX
fumecheng-94	189	13	calculated	calculate	VERB
fumecheng-94	189	14	.	.	PUNCT
fumecheng-94	190	1	the	the	DET
fumecheng-94	190	2	goal	goal	NOUN
fumecheng-94	190	3	is	be	AUX
fumecheng-94	190	4	to	to	PART
fumecheng-94	190	5	eliminate	eliminate	VERB
fumecheng-94	190	6	all	all	DET
fumecheng-94	190	7	the	the	DET
fumecheng-94	190	8	intersections	intersection	NOUN
fumecheng-94	190	9	in	in	ADP
fumecheng-94	190	10	the	the	DET
fumecheng-94	190	11	structure	structure	NOUN
fumecheng-94	190	12	thus	thus	ADV
fumecheng-94	190	13	minimizing	minimize	VERB
fumecheng-94	190	14	their	their	PRON
fumecheng-94	190	15	total	total	ADJ
fumecheng-94	190	16	number	number	NOUN
fumecheng-94	190	17	represents	represent	VERB
fumecheng-94	190	18	the	the	DET
fumecheng-94	190	19	objective	objective	ADJ
fumecheng-94	190	20	function	function	NOUN
fumecheng-94	190	21	term	term	NOUN
fumecheng-94	190	22	.	.	PUNCT
fumecheng-94	191	1	here	here	ADV
fumecheng-94	191	2	the	the	DET
fumecheng-94	191	3	total	total	ADJ
fumecheng-94	191	4	number	number	NOUN
fumecheng-94	191	5	of	of	ADP
fumecheng-94	191	6	intersections	intersection	NOUN
fumecheng-94	191	7	(	(	PUNCT
fumecheng-94	191	8	nint	nint	NOUN
fumecheng-94	191	9	)	)	PUNCT
fumecheng-94	191	10	is	be	AUX
fumecheng-94	191	11	used	use	VERB
fumecheng-94	191	12	as	as	ADP
fumecheng-94	191	13	a	a	DET
fumecheng-94	191	14	constraint	constraint	NOUN
fumecheng-94	191	15	rather	rather	ADV
fumecheng-94	191	16	than	than	ADP
fumecheng-94	191	17	an	an	DET
fumecheng-94	191	18	objective	objective	ADJ
fumecheng-94	191	19	function	function	NOUN
fumecheng-94	191	20	term	term	NOUN
fumecheng-94	191	21	.	.	PUNCT
fumecheng-94	192	1	the	the	DET
fumecheng-94	192	2	final	final	ADJ
fumecheng-94	192	3	form	form	NOUN
fumecheng-94	192	4	of	of	ADP
fumecheng-94	192	5	the	the	DET
fumecheng-94	192	6	objective	objective	ADJ
fumecheng-94	192	7	function	function	NOUN
fumecheng-94	192	8	that	that	PRON
fumecheng-94	192	9	is	be	AUX
fumecheng-94	192	10	used	use	VERB
fumecheng-94	192	11	in	in	ADP
fumecheng-94	192	12	the	the	DET
fumecheng-94	192	13	software	software	NOUN
fumecheng-94	192	14	for	for	ADP
fumecheng-94	192	15	the	the	DET
fumecheng-94	192	16	synthesis	synthesis	NOUN
fumecheng-94	192	17	of	of	ADP
fumecheng-94	192	18	compliant	compliant	ADJ
fumecheng-94	192	19	mechanisms	mechanism	NOUN
fumecheng-94	192	20	without	without	ADP
fumecheng-94	192	21	intersecting	intersect	VERB
fumecheng-94	192	22	elements	element	NOUN
fumecheng-94	192	23	is	be	AUX
fumecheng-94	192	24	:	:	PUNCT
fumecheng-94	192	25			PROPN
fumecheng-94	192	26			PROPN
fumecheng-94	192	27			X
fumecheng-94	192	28			NOUN
fumecheng-94	192	29			VERB
fumecheng-94	192	30			PROPN
fumecheng-94	192	31			NOUN
fumecheng-94	192	32			ADJ
fumecheng-94	192	33	intntargettnn	intntargettnn	NOUN
fumecheng-94	192	34	in	in	ADP
fumecheng-94	192	35	out	out	ADP
fumecheng-94	192	36	nwllwnstraintsvarious	nwllwnstraintsvarious	ADJ
fumecheng-94	192	37	conwmaximize	conwmaximize	NOUN
fumecheng-94	192	38	21	21	NUM
fumecheng-94	192	39	||	||	NUM
fumecheng-94	192	40	)	)	PUNCT
fumecheng-94	193	1	(	(	PUNCT
fumecheng-94	193	2	δ	δ	PROPN
fumecheng-94	193	3	δ	δ	PROPN
fumecheng-94	193	4	(	(	PUNCT
fumecheng-94	193	5	2	2	X
fumecheng-94	193	6	)	)	PUNCT
fumecheng-94	193	7	the	the	DET
fumecheng-94	193	8	synthesis	synthesis	NOUN
fumecheng-94	193	9	of	of	ADP
fumecheng-94	193	10	compliant	compliant	ADJ
fumecheng-94	193	11	mechanisms	mechanism	NOUN
fumecheng-94	193	12	without	without	ADP
fumecheng-94	193	13	intersecting	intersect	VERB
fumecheng-94	193	14	elements	element	NOUN
fumecheng-94	193	15	will	will	AUX
fumecheng-94	193	16	be	be	AUX
fumecheng-94	193	17	shown	show	VERB
fumecheng-94	193	18	on	on	ADP
fumecheng-94	193	19	the	the	DET
fumecheng-94	193	20	example	example	NOUN
fumecheng-94	193	21	of	of	ADP
fumecheng-94	193	22	the	the	DET
fumecheng-94	193	23	synthesis	synthesis	NOUN
fumecheng-94	193	24	of	of	ADP
fumecheng-94	193	25	the	the	DET
fumecheng-94	193	26	compliant	compliant	ADJ
fumecheng-94	193	27	gripper	gripper	NOUN
fumecheng-94	193	28	and	and	CCONJ
fumecheng-94	193	29	the	the	DET
fumecheng-94	193	30	compliant	compliant	ADJ
fumecheng-94	193	31	displacement	displacement	ADJ
fumecheng-94	193	32	inverter	inverter	NOUN
fumecheng-94	193	33	.	.	PUNCT
fumecheng-94	194	1	fig	fig	NOUN
fumecheng-94	194	2	.	.	PUNCT
fumecheng-94	195	1	11	11	NUM
fumecheng-94	196	1	finding	find	VERB
fumecheng-94	196	2	the	the	DET
fumecheng-94	196	3	intersections	intersection	NOUN
fumecheng-94	196	4	between	between	ADP
fumecheng-94	196	5	elements	element	NOUN
fumecheng-94	196	6	in	in	ADP
fumecheng-94	196	7	different	different	ADJ
fumecheng-94	196	8	steps	step	NOUN
fumecheng-94	196	9	of	of	ADP
fumecheng-94	196	10	optimization	optimization	NOUN
fumecheng-94	196	11	6	6	NUM
fumecheng-94	196	12	.	.	PUNCT
fumecheng-94	197	1	synthesis	synthesis	NOUN
fumecheng-94	197	2	of	of	ADP
fumecheng-94	197	3	the	the	DET
fumecheng-94	197	4	compliant	compliant	ADJ
fumecheng-94	197	5	gripper	gripper	NOUN
fumecheng-94	197	6	and	and	CCONJ
fumecheng-94	197	7	the	the	DET
fumecheng-94	197	8	displacement	displacement	ADJ
fumecheng-94	197	9	inverter	inverter	NOUN
fumecheng-94	197	10	without	without	ADP
fumecheng-94	197	11	intersecting	intersect	VERB
fumecheng-94	197	12	elements	element	NOUN
fumecheng-94	197	13	for	for	ADP
fumecheng-94	197	14	the	the	DET
fumecheng-94	197	15	synthesis	synthesis	NOUN
fumecheng-94	197	16	of	of	ADP
fumecheng-94	197	17	the	the	DET
fumecheng-94	197	18	compliant	compliant	ADJ
fumecheng-94	197	19	gripper	gripper	NOUN
fumecheng-94	197	20	and	and	CCONJ
fumecheng-94	197	21	the	the	DET
fumecheng-94	197	22	compliant	compliant	ADJ
fumecheng-94	197	23	displacement	displacement	ADJ
fumecheng-94	197	24	inverter	inverter	NOUN
fumecheng-94	197	25	without	without	ADP
fumecheng-94	197	26	intersecting	intersect	VERB
fumecheng-94	197	27	elements	element	NOUN
fumecheng-94	197	28	the	the	DET
fumecheng-94	197	29	same	same	ADJ
fumecheng-94	197	30	design	design	NOUN
fumecheng-94	197	31	domain	domain	NOUN
fumecheng-94	197	32	is	be	AUX
fumecheng-94	197	33	used	use	VERB
fumecheng-94	197	34	as	as	ADP
fumecheng-94	197	35	in	in	ADP
fumecheng-94	197	36	fig	fig	NOUN
fumecheng-94	197	37	.	.	PUNCT
fumecheng-94	198	1	3	3	X
fumecheng-94	198	2	.	.	X
fumecheng-94	198	3	the	the	DET
fumecheng-94	198	4	only	only	ADJ
fumecheng-94	198	5	164	164	NUM
fumecheng-94	198	6	a.	a.	NOUN
fumecheng-94	198	7	milojević	milojević	NOUN
fumecheng-94	198	8	,	,	PUNCT
fumecheng-94	198	9	n.	n.	PROPN
fumecheng-94	198	10	d.	d.	PROPN
fumecheng-94	198	11	pavlović	pavlović	NOUN
fumecheng-94	198	12	difference	difference	NOUN
fumecheng-94	198	13	is	be	AUX
fumecheng-94	198	14	that	that	SCONJ
fumecheng-94	198	15	instead	instead	ADV
fumecheng-94	198	16	of	of	ADP
fumecheng-94	198	17	the	the	DET
fumecheng-94	198	18	force	force	NOUN
fumecheng-94	198	19	,	,	PUNCT
fumecheng-94	198	20	now	now	ADV
fumecheng-94	198	21	the	the	DET
fumecheng-94	198	22	displacement	displacement	NOUN
fumecheng-94	198	23	is	be	AUX
fumecheng-94	198	24	applied	apply	VERB
fumecheng-94	198	25	at	at	ADP
fumecheng-94	198	26	the	the	DET
fumecheng-94	198	27	input	input	NOUN
fumecheng-94	198	28	port	port	NOUN
fumecheng-94	198	29	.	.	PUNCT
fumecheng-94	199	1	design	design	NOUN
fumecheng-94	199	2	specifications	specification	NOUN
fumecheng-94	199	3	for	for	ADP
fumecheng-94	199	4	both	both	DET
fumecheng-94	199	5	compliant	compliant	ADJ
fumecheng-94	199	6	mechanisms	mechanism	NOUN
fumecheng-94	199	7	are	be	AUX
fumecheng-94	199	8	given	give	VERB
fumecheng-94	199	9	in	in	ADP
fumecheng-94	199	10	table	table	NOUN
fumecheng-94	199	11	4	4	NUM
fumecheng-94	199	12	.	.	PUNCT
fumecheng-94	199	13	table	table	NOUN
fumecheng-94	199	14	4	4	NUM
fumecheng-94	199	15	design	design	NOUN
fumecheng-94	199	16	specifications	specification	NOUN
fumecheng-94	199	17	for	for	ADP
fumecheng-94	199	18	the	the	DET
fumecheng-94	199	19	synthesis	synthesis	NOUN
fumecheng-94	199	20	of	of	ADP
fumecheng-94	199	21	the	the	DET
fumecheng-94	199	22	compliant	compliant	ADJ
fumecheng-94	199	23	gripper	gripper	NOUN
fumecheng-94	199	24	and	and	CCONJ
fumecheng-94	199	25	the	the	DET
fumecheng-94	199	26	compliant	compliant	ADJ
fumecheng-94	199	27	displacement	displacement	ADJ
fumecheng-94	199	28	inverter	inverter	NOUN
fumecheng-94	199	29	without	without	ADP
fumecheng-94	199	30	intersecting	intersect	VERB
fumecheng-94	199	31	elements	element	NOUN
fumecheng-94	199	32	design	design	NOUN
fumecheng-94	199	33	parameters	parameter	NOUN
fumecheng-94	199	34	compliant	compliant	ADJ
fumecheng-94	199	35	gripper	gripper	NOUN
fumecheng-94	199	36	compliant	compliant	ADJ
fumecheng-94	199	37	displacement	displacement	ADJ
fumecheng-94	199	38	inverter	inverter	NOUN
fumecheng-94	199	39	element	element	NOUN
fumecheng-94	199	40	modulus	modulus	NOUN
fumecheng-94	199	41	e=2.1	e=2.1	NOUN
fumecheng-94	199	42	gpa	gpa	PROPN
fumecheng-94	199	43	e=2.1	e=2.1	NOUN
fumecheng-94	199	44	gpa	gpa	PROPN
fumecheng-94	199	45	design	design	NOUN
fumecheng-94	199	46	domain	domain	NOUN
fumecheng-94	199	47	50	50	NUM
fumecheng-94	199	48	mm	mm	NOUN
fumecheng-94	199	49			NOUN
fumecheng-94	199	50	25	25	NUM
fumecheng-94	199	51	mm	mm	PROPN
fumecheng-94	199	52	50	50	NUM
fumecheng-94	199	53	mm	mm	NOUN
fumecheng-94	199	54			NOUN
fumecheng-94	199	55	25	25	NUM
fumecheng-94	199	56	mm	mm	NOUN
fumecheng-94	199	57	grid	grid	NOUN
fumecheng-94	199	58	size	size	NOUN
fumecheng-94	199	59	3	3	NUM
fumecheng-94	199	60			NOUN
fumecheng-94	199	61	4	4	NUM
fumecheng-94	199	62	3	3	NUM
fumecheng-94	199	63			NOUN
fumecheng-94	199	64	2	2	NUM
fumecheng-94	199	65	input	input	NOUN
fumecheng-94	199	66	displacement	displacement	NOUN
fumecheng-94	199	67	node	node	NOUN
fumecheng-94	199	68	=	=	NOUN
fumecheng-94	199	69	10	10	NUM
fumecheng-94	199	70	;	;	PUNCT
fumecheng-94	199	71	direction	direction	NOUN
fumecheng-94	199	72	:	:	PUNCT
fumecheng-94	199	73	x	x	X
fumecheng-94	199	74	;	;	PUNCT
fumecheng-94	199	75	δin	δin	X
fumecheng-94	199	76	=	=	SYM
fumecheng-94	199	77	2	2	NUM
fumecheng-94	199	78	mm	mm	NOUN
fumecheng-94	199	79	node	node	NOUN
fumecheng-94	199	80	=	=	NOUN
fumecheng-94	199	81	4	4	NUM
fumecheng-94	199	82	;	;	PUNCT
fumecheng-94	199	83	direction	direction	NOUN
fumecheng-94	199	84	:	:	PUNCT
fumecheng-94	199	85	x	x	X
fumecheng-94	199	86	;	;	PUNCT
fumecheng-94	199	87	δin	δin	X
fumecheng-94	199	88	=	=	SYM
fumecheng-94	199	89	1	1	NUM
fumecheng-94	199	90	mm	mm	NOUN
fumecheng-94	199	91	desired	desire	VERB
fumecheng-94	199	92	output	output	NOUN
fumecheng-94	199	93	displacement	displacement	NOUN
fumecheng-94	199	94	node	node	NOUN
fumecheng-94	199	95	=	=	NOUN
fumecheng-94	199	96	9	9	NUM
fumecheng-94	199	97	;	;	PUNCT
fumecheng-94	199	98	direction	direction	NOUN
fumecheng-94	199	99	:	:	PUNCT
fumecheng-94	199	100	y	y	NOUN
fumecheng-94	199	101	;	;	PUNCT
fumecheng-94	199	102	δmin	δmin	NOUN
fumecheng-94	199	103	=	=	SYM
fumecheng-94	199	104	1	1	NUM
fumecheng-94	199	105	mm	mm	NOUN
fumecheng-94	199	106	node	node	NOUN
fumecheng-94	199	107	=	=	PROPN
fumecheng-94	199	108	6	6	NUM
fumecheng-94	199	109	;	;	PUNCT
fumecheng-94	199	110	direction	direction	NOUN
fumecheng-94	199	111	:	:	PUNCT
fumecheng-94	199	112	x	x	X
fumecheng-94	199	113	;	;	PUNCT
fumecheng-94	199	114	δmin	δmin	NOUN
fumecheng-94	199	115	=	=	NUM
fumecheng-94	199	116	0.5	0.5	NUM
fumecheng-94	199	117	mm	mm	NOUN
fumecheng-94	199	118	supports	support	VERB
fumecheng-94	199	119	nodes=1	nodes=1	PROPN
fumecheng-94	199	120	,	,	PUNCT
fumecheng-94	199	121	4	4	NUM
fumecheng-94	199	122	,	,	PUNCT
fumecheng-94	199	123	7	7	NUM
fumecheng-94	199	124	nodes=1	nodes=1	NOUN
fumecheng-94	199	125	,	,	PUNCT
fumecheng-94	199	126	3	3	NUM
fumecheng-94	199	127	element	element	NOUN
fumecheng-94	199	128	thickness	thickness	NOUN
fumecheng-94	199	129	0.5	0.5	NUM
fumecheng-94	199	130	mm	mm	NOUN
fumecheng-94	199	131	,	,	PUNCT
fumecheng-94	199	132	1	1	NUM
fumecheng-94	199	133	mm	mm	NOUN
fumecheng-94	199	134	,	,	PUNCT
fumecheng-94	199	135	1.5	1.5	NUM
fumecheng-94	199	136	mm	mm	NOUN
fumecheng-94	199	137	0.5	0.5	NUM
fumecheng-94	199	138	mm	mm	PROPN
fumecheng-94	199	139	,	,	PUNCT
fumecheng-94	199	140	1	1	NUM
fumecheng-94	199	141	mm	mm	NOUN
fumecheng-94	199	142	,	,	PUNCT
fumecheng-94	199	143	1.5	1.5	NUM
fumecheng-94	199	144	mm	mm	NOUN
fumecheng-94	199	145	degree	degree	NOUN
fumecheng-94	199	146	of	of	ADP
fumecheng-94	199	147	nodal	nodal	NOUN
fumecheng-94	199	148	connectivity	connectivity	NOUN
fumecheng-94	199	149	3	3	NUM
fumecheng-94	199	150	2	2	NUM
fumecheng-94	199	151	initial	initial	ADJ
fumecheng-94	199	152	ground	ground	NOUN
fumecheng-94	199	153	structures	structure	NOUN
fumecheng-94	199	154	with	with	ADP
fumecheng-94	199	155	an	an	DET
fumecheng-94	199	156	initial	initial	ADJ
fumecheng-94	199	157	number	number	NOUN
fumecheng-94	199	158	of	of	ADP
fumecheng-94	199	159	intersections	intersection	NOUN
fumecheng-94	199	160	for	for	ADP
fumecheng-94	199	161	the	the	DET
fumecheng-94	199	162	compliant	compliant	ADJ
fumecheng-94	199	163	gripper	gripper	NOUN
fumecheng-94	199	164	and	and	CCONJ
fumecheng-94	199	165	the	the	DET
fumecheng-94	199	166	compliant	compliant	ADJ
fumecheng-94	199	167	displacement	displacement	ADJ
fumecheng-94	199	168	inverter	inverter	NOUN
fumecheng-94	199	169	problem	problem	NOUN
fumecheng-94	199	170	are	be	AUX
fumecheng-94	199	171	shown	show	VERB
fumecheng-94	199	172	in	in	ADP
fumecheng-94	199	173	fig	fig	NOUN
fumecheng-94	199	174	.	.	PUNCT
fumecheng-94	200	1	12	12	NUM
fumecheng-94	200	2	(	(	PUNCT
fumecheng-94	200	3	intersections	intersection	NOUN
fumecheng-94	200	4	are	be	AUX
fumecheng-94	200	5	shown	show	VERB
fumecheng-94	200	6	with	with	ADP
fumecheng-94	200	7	red	red	ADJ
fumecheng-94	200	8	circles	circle	NOUN
fumecheng-94	200	9	)	)	PUNCT
fumecheng-94	200	10	.	.	PUNCT
fumecheng-94	201	1	a	a	DET
fumecheng-94	201	2	)	)	PUNCT
fumecheng-94	201	3	b	b	NOUN
fumecheng-94	201	4	)	)	PUNCT
fumecheng-94	201	5	fig	fig	NOUN
fumecheng-94	201	6	.	.	PUNCT
fumecheng-94	202	1	12	12	NUM
fumecheng-94	202	2	initial	initial	ADJ
fumecheng-94	202	3	ground	ground	NOUN
fumecheng-94	202	4	structure	structure	NOUN
fumecheng-94	202	5	with	with	ADP
fumecheng-94	202	6	an	an	DET
fumecheng-94	202	7	initial	initial	ADJ
fumecheng-94	202	8	number	number	NOUN
fumecheng-94	202	9	of	of	ADP
fumecheng-94	202	10	intersections	intersection	NOUN
fumecheng-94	202	11	:	:	PUNCT
fumecheng-94	202	12	a	a	X
fumecheng-94	202	13	)	)	PUNCT
fumecheng-94	202	14	compliant	compliant	ADJ
fumecheng-94	202	15	gripper	gripper	NOUN
fumecheng-94	202	16	(	(	PUNCT
fumecheng-94	202	17	number	number	NOUN
fumecheng-94	202	18	of	of	ADP
fumecheng-94	202	19	intersections	intersection	NOUN
fumecheng-94	202	20	81	81	NUM
fumecheng-94	202	21	)	)	PUNCT
fumecheng-94	202	22	;	;	PUNCT
fumecheng-94	202	23	b	b	X
fumecheng-94	202	24	)	)	PUNCT
fumecheng-94	202	25	displacement	displacement	ADJ
fumecheng-94	202	26	inverter	inverter	NOUN
fumecheng-94	202	27	(	(	PUNCT
fumecheng-94	202	28	number	number	NOUN
fumecheng-94	202	29	of	of	ADP
fumecheng-94	202	30	intersections	intersection	NOUN
fumecheng-94	202	31	9	9	NUM
fumecheng-94	202	32	)	)	PUNCT
fumecheng-94	202	33	the	the	DET
fumecheng-94	202	34	objective	objective	ADJ
fumecheng-94	202	35	function	function	NOUN
fumecheng-94	202	36	used	use	VERB
fumecheng-94	202	37	in	in	ADP
fumecheng-94	202	38	the	the	DET
fumecheng-94	202	39	synthesis	synthesis	NOUN
fumecheng-94	202	40	of	of	ADP
fumecheng-94	202	41	the	the	DET
fumecheng-94	202	42	compliant	compliant	ADJ
fumecheng-94	202	43	gripper	gripper	NOUN
fumecheng-94	202	44	and	and	CCONJ
fumecheng-94	202	45	the	the	DET
fumecheng-94	202	46	compliant	compliant	ADJ
fumecheng-94	202	47	displacement	displacement	ADJ
fumecheng-94	202	48	inverter	inverter	NOUN
fumecheng-94	202	49	is	be	AUX
fumecheng-94	202	50	similar	similar	ADJ
fumecheng-94	202	51	as	as	ADP
fumecheng-94	202	52	in	in	ADP
fumecheng-94	202	53	eq	eq	ADP
fumecheng-94	202	54	.	.	PUNCT
fumecheng-94	203	1	(	(	PUNCT
fumecheng-94	203	2	1	1	NUM
fumecheng-94	203	3	)	)	PUNCT
fumecheng-94	203	4	,	,	PUNCT
fumecheng-94	203	5	where	where	SCONJ
fumecheng-94	203	6	the	the	DET
fumecheng-94	203	7	constraint	constraint	NOUN
fumecheng-94	203	8	of	of	ADP
fumecheng-94	203	9	the	the	DET
fumecheng-94	203	10	total	total	ADJ
fumecheng-94	203	11	number	number	NOUN
fumecheng-94	203	12	of	of	ADP
fumecheng-94	203	13	intersections	intersection	NOUN
fumecheng-94	203	14	is	be	AUX
fumecheng-94	203	15	now	now	ADV
fumecheng-94	203	16	added	add	VERB
fumecheng-94	203	17	(	(	PUNCT
fumecheng-94	203	18	constrains	constrain	NOUN
fumecheng-94	203	19	are	be	AUX
fumecheng-94	203	20	given	give	VERB
fumecheng-94	203	21	in	in	ADP
fumecheng-94	203	22	table	table	NOUN
fumecheng-94	203	23	4	4	NUM
fumecheng-94	203	24	and	and	CCONJ
fumecheng-94	203	25	table	table	NOUN
fumecheng-94	203	26	5	5	NUM
fumecheng-94	203	27	):	):	PUNCT
fumecheng-94	203	28			PROPN
fumecheng-94	203	29			PROPN
fumecheng-94	203	30			X
fumecheng-94	203	31			NOUN
fumecheng-94	203	32			VERB
fumecheng-94	203	33			PROPN
fumecheng-94	203	34			NOUN
fumecheng-94	203	35			NOUN
fumecheng-94	203	36	inttargettoutmaxminout	inttargettoutmaxminout	NOUN
fumecheng-94	203	37	in	in	ADP
fumecheng-94	203	38	out	out	ADP
fumecheng-94	203	39	nwllwwwmaximize	nwllwwwmaximize	VERB
fumecheng-94	203	40	4321	4321	NUM
fumecheng-94	203	41	|||	|||	NOUN
fumecheng-94	203	42	)	)	PUNCT
fumecheng-94	203	43	δ|δ()δδ	δ|δ()δδ	NOUN
fumecheng-94	203	44	(	(	PUNCT
fumecheng-94	203	45	δ	δ	PROPN
fumecheng-94	203	46	δ	δ	PROPN
fumecheng-94	203	47	(	(	PUNCT
fumecheng-94	203	48	3	3	X
fumecheng-94	203	49	)	)	PUNCT
fumecheng-94	203	50	the	the	DET
fumecheng-94	203	51	algorithm	algorithm	NOUN
fumecheng-94	203	52	parameters	parameter	NOUN
fumecheng-94	203	53	used	use	VERB
fumecheng-94	203	54	in	in	ADP
fumecheng-94	203	55	the	the	DET
fumecheng-94	203	56	synthesis	synthesis	NOUN
fumecheng-94	203	57	of	of	ADP
fumecheng-94	203	58	both	both	DET
fumecheng-94	203	59	compliant	compliant	ADJ
fumecheng-94	203	60	mechanisms	mechanism	NOUN
fumecheng-94	203	61	are	be	AUX
fumecheng-94	203	62	:	:	PUNCT
fumecheng-94	203	63	initial	initial	ADJ
fumecheng-94	203	64	population	population	NOUN
fumecheng-94	203	65	of	of	ADP
fumecheng-94	203	66	200	200	NUM
fumecheng-94	203	67	designs	design	NOUN
fumecheng-94	203	68	,	,	PUNCT
fumecheng-94	203	69	total	total	ADJ
fumecheng-94	203	70	number	number	NOUN
fumecheng-94	203	71	of	of	ADP
fumecheng-94	203	72	500	500	NUM
fumecheng-94	203	73	generations	generation	NOUN
fumecheng-94	203	74	,	,	PUNCT
fumecheng-94	203	75	crossover	crossover	VERB
fumecheng-94	203	76	probability	probability	NOUN
fumecheng-94	203	77	of	of	ADP
fumecheng-94	203	78	80	80	NUM
fumecheng-94	203	79	%	%	NOUN
fumecheng-94	203	80	and	and	CCONJ
fumecheng-94	203	81	mutation	mutation	NOUN
fumecheng-94	203	82	probability	probability	NOUN
fumecheng-94	203	83	of	of	ADP
fumecheng-94	203	84	9	9	NUM
fumecheng-94	203	85	%	%	NOUN
fumecheng-94	203	86	.	.	PUNCT
fumecheng-94	204	1	software	software	NOUN
fumecheng-94	204	2	for	for	ADP
fumecheng-94	204	3	synthesis	synthesis	NOUN
fumecheng-94	204	4	of	of	ADP
fumecheng-94	204	5	compliant	compliant	ADJ
fumecheng-94	204	6	mechanisms	mechanism	NOUN
fumecheng-94	204	7	without	without	ADP
fumecheng-94	204	8	intersecting	intersect	VERB
fumecheng-94	204	9	elements	element	NOUN
fumecheng-94	204	10	165	165	NUM
fumecheng-94	204	11	table	table	NOUN
fumecheng-94	204	12	5	5	NUM
fumecheng-94	204	13	constraints	constraint	NOUN
fumecheng-94	204	14	used	use	VERB
fumecheng-94	204	15	in	in	ADP
fumecheng-94	204	16	the	the	DET
fumecheng-94	204	17	synthesis	synthesis	NOUN
fumecheng-94	204	18	of	of	ADP
fumecheng-94	204	19	the	the	DET
fumecheng-94	204	20	compliant	compliant	ADJ
fumecheng-94	204	21	gripper	gripper	NOUN
fumecheng-94	204	22	and	and	CCONJ
fumecheng-94	204	23	the	the	DET
fumecheng-94	204	24	displacement	displacement	ADJ
fumecheng-94	204	25	inverter	inverter	NOUN
fumecheng-94	204	26	without	without	ADP
fumecheng-94	204	27	intersecting	intersect	VERB
fumecheng-94	204	28	elements	element	NOUN
fumecheng-94	204	29	constraints	constraint	VERB
fumecheng-94	204	30	compliant	compliant	ADJ
fumecheng-94	204	31	gripper	gripper	NOUN
fumecheng-94	204	32	compliant	compliant	ADJ
fumecheng-94	204	33	displacement	displacement	ADJ
fumecheng-94	204	34	inverter	inverter	NOUN
fumecheng-94	204	35	weighting	weighting	NOUN
fumecheng-94	204	36	constants	constant	NOUN
fumecheng-94	204	37	w1=0.3	w1=0.3	PROPN
fumecheng-94	204	38	;	;	PUNCT
fumecheng-94	204	39	w2=0.3	w2=0.3	PROPN
fumecheng-94	204	40	;	;	PUNCT
fumecheng-94	204	41	w3=0.1	w3=0.1	PROPN
fumecheng-94	204	42	;	;	PUNCT
fumecheng-94	204	43	w4=1	w4=1	PROPN
fumecheng-94	204	44	w1=0.3	w1=0.3	PROPN
fumecheng-94	204	45	;	;	PUNCT
fumecheng-94	204	46	w2=0.3	w2=0.3	PROPN
fumecheng-94	204	47	;	;	PUNCT
fumecheng-94	204	48	w3=0.1	w3=0.1	PROPN
fumecheng-94	204	49	;	;	PUNCT
fumecheng-94	204	50	w4=1	w4=1	PROPN
fumecheng-94	204	51	max	max	PROPN
fumecheng-94	204	52			ADJ
fumecheng-94	204	53	0.5	0.5	NUM
fumecheng-94	204	54	mm	mm	NOUN
fumecheng-94	204	55	0.5	0.5	NUM
fumecheng-94	204	56	mm	mm	PROPN
fumecheng-94	204	57	ltarget	ltarget	NOUN
fumecheng-94	204	58	167	167	NUM
fumecheng-94	204	59	mm	mm	NUM
fumecheng-94	204	60	111	111	NUM
fumecheng-94	204	61	mm	mm	NOUN
fumecheng-94	204	62	after	after	ADP
fumecheng-94	204	63	defining	define	VERB
fumecheng-94	204	64	all	all	DET
fumecheng-94	204	65	the	the	DET
fumecheng-94	204	66	design	design	NOUN
fumecheng-94	204	67	and	and	CCONJ
fumecheng-94	204	68	algorithm	algorithm	NOUN
fumecheng-94	204	69	parameters	parameter	NOUN
fumecheng-94	204	70	,	,	PUNCT
fumecheng-94	204	71	the	the	DET
fumecheng-94	204	72	optimization	optimization	NOUN
fumecheng-94	204	73	procedure	procedure	NOUN
fumecheng-94	204	74	is	be	AUX
fumecheng-94	204	75	started	start	VERB
fumecheng-94	204	76	and	and	CCONJ
fumecheng-94	204	77	the	the	DET
fumecheng-94	204	78	optimal	optimal	ADJ
fumecheng-94	204	79	topology	topology	NOUN
fumecheng-94	204	80	of	of	ADP
fumecheng-94	204	81	compliant	compliant	ADJ
fumecheng-94	204	82	mechanisms	mechanism	NOUN
fumecheng-94	204	83	is	be	AUX
fumecheng-94	204	84	searched	search	VERB
fumecheng-94	204	85	for	for	ADP
fumecheng-94	204	86	.	.	PUNCT
fumecheng-94	205	1	the	the	DET
fumecheng-94	205	2	obtained	obtain	VERB
fumecheng-94	205	3	optimal	optimal	ADJ
fumecheng-94	205	4	topologies	topology	NOUN
fumecheng-94	205	5	of	of	ADP
fumecheng-94	205	6	the	the	DET
fumecheng-94	205	7	compliant	compliant	ADJ
fumecheng-94	205	8	gripper	gripper	NOUN
fumecheng-94	205	9	and	and	CCONJ
fumecheng-94	205	10	the	the	DET
fumecheng-94	205	11	compliant	compliant	ADJ
fumecheng-94	205	12	displacement	displacement	ADJ
fumecheng-94	205	13	inverter	inverter	NOUN
fumecheng-94	205	14	are	be	AUX
fumecheng-94	205	15	shown	show	VERB
fumecheng-94	205	16	in	in	ADP
fumecheng-94	205	17	fig	fig	NOUN
fumecheng-94	205	18	.	.	PUNCT
fumecheng-94	206	1	13	13	NUM
fumecheng-94	206	2	.	.	X
fumecheng-94	207	1	a	a	DET
fumecheng-94	207	2	)	)	PUNCT
fumecheng-94	207	3	b	b	NOUN
fumecheng-94	207	4	)	)	PUNCT
fumecheng-94	207	5	fig	fig	NOUN
fumecheng-94	207	6	.	.	PUNCT
fumecheng-94	208	1	13	13	NUM
fumecheng-94	208	2	optimal	optimal	ADJ
fumecheng-94	208	3	topology	topology	NOUN
fumecheng-94	208	4	of	of	ADP
fumecheng-94	208	5	the	the	DET
fumecheng-94	208	6	compliant	compliant	ADJ
fumecheng-94	208	7	gripper	gripper	NOUN
fumecheng-94	208	8	(	(	PUNCT
fumecheng-94	208	9	a	a	NOUN
fumecheng-94	208	10	)	)	PUNCT
fumecheng-94	208	11	and	and	CCONJ
fumecheng-94	208	12	the	the	DET
fumecheng-94	208	13	displacement	displacement	ADJ
fumecheng-94	208	14	inverter	inverter	NOUN
fumecheng-94	208	15	(	(	PUNCT
fumecheng-94	208	16	b	b	NOUN
fumecheng-94	208	17	)	)	PUNCT
fumecheng-94	208	18	without	without	ADP
fumecheng-94	208	19	intersections	intersection	NOUN
fumecheng-94	208	20	,	,	PUNCT
fumecheng-94	208	21	only	only	ADV
fumecheng-94	208	22	the	the	DET
fumecheng-94	208	23	top	top	ADJ
fumecheng-94	208	24	-	-	PUNCT
fumecheng-94	208	25	halves	half	NOUN
fumecheng-94	208	26	of	of	ADP
fumecheng-94	208	27	the	the	DET
fumecheng-94	208	28	mechanisms	mechanism	NOUN
fumecheng-94	208	29	are	be	AUX
fumecheng-94	208	30	shown	show	VERB
fumecheng-94	208	31	(	(	PUNCT
fumecheng-94	208	32	deformed	deform	VERB
fumecheng-94	208	33	position	position	NOUN
fumecheng-94	208	34	is	be	AUX
fumecheng-94	208	35	shown	show	VERB
fumecheng-94	208	36	with	with	ADP
fumecheng-94	208	37	dashed	dash	VERB
fumecheng-94	208	38	lines	line	NOUN
fumecheng-94	208	39	)	)	PUNCT
fumecheng-94	208	40	unlike	unlike	ADP
fumecheng-94	208	41	solutions	solution	NOUN
fumecheng-94	208	42	in	in	ADP
fumecheng-94	208	43	fig	fig	NOUN
fumecheng-94	208	44	.	.	PUNCT
fumecheng-94	209	1	6a	6a	NOUN
fumecheng-94	209	2	and	and	CCONJ
fumecheng-94	209	3	fig	fig	NOUN
fumecheng-94	209	4	.	.	PUNCT
fumecheng-94	210	1	8b	8b	PROPN
fumecheng-94	210	2	here	here	ADV
fumecheng-94	210	3	the	the	DET
fumecheng-94	210	4	compliant	compliant	ADJ
fumecheng-94	210	5	mechanisms	mechanism	NOUN
fumecheng-94	210	6	without	without	ADP
fumecheng-94	210	7	intersections	intersection	NOUN
fumecheng-94	210	8	are	be	AUX
fumecheng-94	210	9	obtained	obtain	VERB
fumecheng-94	210	10	.	.	PUNCT
fumecheng-94	211	1	the	the	DET
fumecheng-94	211	2	results	result	NOUN
fumecheng-94	211	3	for	for	ADP
fumecheng-94	211	4	both	both	DET
fumecheng-94	211	5	mechanisms	mechanism	NOUN
fumecheng-94	211	6	are	be	AUX
fumecheng-94	211	7	shown	show	VERB
fumecheng-94	211	8	in	in	ADP
fumecheng-94	211	9	table	table	NOUN
fumecheng-94	211	10	6	6	NUM
fumecheng-94	211	11	.	.	PUNCT
fumecheng-94	211	12	table	table	NOUN
fumecheng-94	211	13	6	6	NUM
fumecheng-94	211	14	results	result	NOUN
fumecheng-94	211	15	for	for	ADP
fumecheng-94	211	16	the	the	DET
fumecheng-94	211	17	obtained	obtain	VERB
fumecheng-94	211	18	optimal	optimal	ADJ
fumecheng-94	211	19	topologies	topology	NOUN
fumecheng-94	211	20	of	of	ADP
fumecheng-94	211	21	the	the	DET
fumecheng-94	211	22	compliant	compliant	ADJ
fumecheng-94	211	23	gripper	gripper	NOUN
fumecheng-94	211	24	and	and	CCONJ
fumecheng-94	211	25	the	the	DET
fumecheng-94	211	26	compliant	compliant	ADJ
fumecheng-94	211	27	displacement	displacement	ADJ
fumecheng-94	211	28	inverter	inverter	NOUN
fumecheng-94	211	29	without	without	ADP
fumecheng-94	211	30	intersections	intersection	NOUN
fumecheng-94	211	31	results	result	VERB
fumecheng-94	211	32	compliant	compliant	ADJ
fumecheng-94	211	33	gripper	gripper	NOUN
fumecheng-94	211	34	compliant	compliant	ADJ
fumecheng-94	211	35	displacement	displacement	ADJ
fumecheng-94	211	36	inverter	inverter	NOUN
fumecheng-94	211	37	with	with	ADP
fumecheng-94	211	38	grid	grid	NOUN
fumecheng-94	211	39	size	size	NOUN
fumecheng-94	211	40	32	32	NUM
fumecheng-94	211	41	compliant	compliant	ADJ
fumecheng-94	211	42	displacement	displacement	ADJ
fumecheng-94	211	43	inverter	inverter	NOUN
fumecheng-94	211	44	with	with	ADP
fumecheng-94	211	45	grid	grid	NOUN
fumecheng-94	211	46	size	size	NOUN
fumecheng-94	211	47	33	33	NUM
fumecheng-94	211	48	output	output	NOUN
fumecheng-94	211	49	displacement	displacement	NOUN
fumecheng-94	211	50	8.53	8.53	NUM
fumecheng-94	211	51	mm	mm	NOUN
fumecheng-94	211	52	0.996	0.996	NUM
fumecheng-94	211	53	mm	mm	PROPN
fumecheng-94	211	54	3.9023	3.9023	NUM
fumecheng-94	211	55	mm	mm	NOUN
fumecheng-94	211	56	realized	realize	VERB
fumecheng-94	211	57	max	max	PROPN
fumecheng-94	211	58			PROPN
fumecheng-94	211	59	0.40	0.40	NUM
fumecheng-94	211	60	mm	mm	NOUN
fumecheng-94	211	61	0	0	NUM
fumecheng-94	212	1	mm	mm	NOUN
fumecheng-94	212	2	0	0	NUM
fumecheng-94	212	3	mm	mm	PROPN
fumecheng-94	212	4	geometrical	geometrical	ADJ
fumecheng-94	212	5	advantage	advantage	NOUN
fumecheng-94	212	6	:	:	PUNCT
fumecheng-94	212	7	δout	δout	PROPN
fumecheng-94	212	8	/	/	SYM
fumecheng-94	212	9	δin	δin	PROPN
fumecheng-94	212	10	4.2693	4.2693	NUM
fumecheng-94	212	11	0.996	0.996	NUM
fumecheng-94	212	12	1.9512	1.9512	NUM
fumecheng-94	212	13	lt	lt	PRON
fumecheng-94	212	14	171	171	NUM
fumecheng-94	212	15	mm	mm	NOUN
fumecheng-94	212	16	120	120	NUM
fumecheng-94	212	17	mm	mm	NUM
fumecheng-94	212	18	222	222	NUM
fumecheng-94	212	19	mm	mm	INTJ
fumecheng-94	212	20	the	the	DET
fumecheng-94	212	21	compliant	compliant	ADJ
fumecheng-94	212	22	gripper	gripper	NOUN
fumecheng-94	212	23	mechanism	mechanism	NOUN
fumecheng-94	212	24	analysis	analysis	NOUN
fumecheng-94	212	25	shows	show	VERB
fumecheng-94	212	26	that	that	SCONJ
fumecheng-94	212	27	the	the	DET
fumecheng-94	212	28	mechanism	mechanism	NOUN
fumecheng-94	212	29	expresses	express	VERB
fumecheng-94	212	30	a	a	DET
fumecheng-94	212	31	better	well	ADJ
fumecheng-94	212	32	performance	performance	NOUN
fumecheng-94	212	33	than	than	ADP
fumecheng-94	212	34	the	the	DET
fumecheng-94	212	35	one	one	NOUN
fumecheng-94	212	36	with	with	ADP
fumecheng-94	212	37	intersections	intersection	NOUN
fumecheng-94	212	38	(	(	PUNCT
fumecheng-94	212	39	fig	fig	NOUN
fumecheng-94	212	40	.	.	PUNCT
fumecheng-94	212	41	6a	6a	NOUN
fumecheng-94	212	42	)	)	PUNCT
fumecheng-94	212	43	.	.	PUNCT
fumecheng-94	213	1	geometrical	geometrical	ADJ
fumecheng-94	213	2	advantage	advantage	NOUN
fumecheng-94	213	3	of	of	ADP
fumecheng-94	213	4	the	the	DET
fumecheng-94	213	5	gripper	gripper	NOUN
fumecheng-94	213	6	mechanism	mechanism	NOUN
fumecheng-94	213	7	without	without	ADP
fumecheng-94	213	8	intersections	intersection	NOUN
fumecheng-94	213	9	is	be	AUX
fumecheng-94	213	10	much	much	ADV
fumecheng-94	213	11	greater	great	ADJ
fumecheng-94	213	12	than	than	ADP
fumecheng-94	213	13	the	the	DET
fumecheng-94	213	14	one	one	NOUN
fumecheng-94	213	15	with	with	ADP
fumecheng-94	213	16	intersections	intersection	NOUN
fumecheng-94	213	17	(	(	PUNCT
fumecheng-94	213	18	table	table	NOUN
fumecheng-94	213	19	6	6	NUM
fumecheng-94	213	20	)	)	PUNCT
fumecheng-94	213	21	.	.	PUNCT
fumecheng-94	214	1	this	this	PRON
fumecheng-94	214	2	is	be	AUX
fumecheng-94	214	3	due	due	ADJ
fumecheng-94	214	4	to	to	ADP
fumecheng-94	214	5	the	the	DET
fumecheng-94	214	6	fact	fact	NOUN
fumecheng-94	214	7	that	that	SCONJ
fumecheng-94	214	8	intersections	intersection	NOUN
fumecheng-94	214	9	between	between	ADP
fumecheng-94	214	10	elements	element	NOUN
fumecheng-94	214	11	increase	increase	VERB
fumecheng-94	214	12	stiffness	stiffness	NOUN
fumecheng-94	214	13	of	of	ADP
fumecheng-94	214	14	the	the	DET
fumecheng-94	214	15	structure	structure	NOUN
fumecheng-94	214	16	thus	thus	ADV
fumecheng-94	214	17	lowering	lower	VERB
fumecheng-94	214	18	the	the	DET
fumecheng-94	214	19	functionality	functionality	NOUN
fumecheng-94	214	20	of	of	ADP
fumecheng-94	214	21	the	the	DET
fumecheng-94	214	22	mechanism	mechanism	NOUN
fumecheng-94	214	23	.	.	PUNCT
fumecheng-94	215	1	because	because	SCONJ
fumecheng-94	215	2	the	the	DET
fumecheng-94	215	3	geometrical	geometrical	ADJ
fumecheng-94	215	4	166	166	NUM
fumecheng-94	215	5	a.	a.	NOUN
fumecheng-94	215	6	milojević	milojević	NOUN
fumecheng-94	215	7	,	,	PUNCT
fumecheng-94	215	8	n.	n.	PROPN
fumecheng-94	215	9	d.	d.	PROPN
fumecheng-94	215	10	pavlović	pavlović	NOUN
fumecheng-94	215	11	advantage	advantage	NOUN
fumecheng-94	215	12	of	of	ADP
fumecheng-94	215	13	the	the	DET
fumecheng-94	215	14	compliant	compliant	ADJ
fumecheng-94	215	15	gripper	gripper	NOUN
fumecheng-94	215	16	without	without	ADP
fumecheng-94	215	17	intersections	intersection	NOUN
fumecheng-94	215	18	is	be	AUX
fumecheng-94	215	19	greater	great	ADJ
fumecheng-94	215	20	than	than	ADP
fumecheng-94	215	21	1	1	NUM
fumecheng-94	215	22	(	(	PUNCT
fumecheng-94	215	23	δout	δout	NOUN
fumecheng-94	215	24	/	/	SYM
fumecheng-94	215	25	δin=4.2693	δin=4.2693	PROPN
fumecheng-94	215	26	)	)	PUNCT
fumecheng-94	215	27	,	,	PUNCT
fumecheng-94	215	28	the	the	DET
fumecheng-94	215	29	compliant	compliant	ADJ
fumecheng-94	215	30	gripper	gripper	NOUN
fumecheng-94	215	31	also	also	ADV
fumecheng-94	215	32	acts	act	VERB
fumecheng-94	215	33	as	as	ADP
fumecheng-94	215	34	an	an	DET
fumecheng-94	215	35	amplifier	amplifier	NOUN
fumecheng-94	215	36	of	of	ADP
fumecheng-94	215	37	the	the	DET
fumecheng-94	215	38	output	output	NOUN
fumecheng-94	215	39	displacement	displacement	NOUN
fumecheng-94	215	40	in	in	ADP
fumecheng-94	215	41	respect	respect	NOUN
fumecheng-94	215	42	to	to	ADP
fumecheng-94	215	43	the	the	DET
fumecheng-94	215	44	input	input	NOUN
fumecheng-94	215	45	displacement	displacement	NOUN
fumecheng-94	215	46	.	.	PUNCT
fumecheng-94	216	1	it	it	PRON
fumecheng-94	216	2	is	be	AUX
fumecheng-94	216	3	important	important	ADJ
fumecheng-94	216	4	to	to	PART
fumecheng-94	216	5	note	note	VERB
fumecheng-94	216	6	that	that	SCONJ
fumecheng-94	216	7	the	the	DET
fumecheng-94	216	8	topology	topology	NOUN
fumecheng-94	216	9	of	of	ADP
fumecheng-94	216	10	the	the	DET
fumecheng-94	216	11	compliant	compliant	ADJ
fumecheng-94	216	12	gripper	gripper	NOUN
fumecheng-94	216	13	in	in	ADP
fumecheng-94	216	14	fig	fig	NOUN
fumecheng-94	216	15	.	.	PUNCT
fumecheng-94	217	1	13a	13a	PROPN
fumecheng-94	217	2	is	be	AUX
fumecheng-94	217	3	mainly	mainly	ADV
fumecheng-94	217	4	formed	form	VERB
fumecheng-94	217	5	of	of	ADP
fumecheng-94	217	6	elements	element	NOUN
fumecheng-94	217	7	that	that	PRON
fumecheng-94	217	8	would	would	AUX
fumecheng-94	217	9	not	not	PART
fumecheng-94	217	10	exist	exist	VERB
fumecheng-94	217	11	if	if	SCONJ
fumecheng-94	217	12	a	a	DET
fumecheng-94	217	13	simplified	simplified	ADJ
fumecheng-94	217	14	initial	initial	ADJ
fumecheng-94	217	15	ground	ground	NOUN
fumecheng-94	217	16	structure	structure	NOUN
fumecheng-94	217	17	was	be	AUX
fumecheng-94	217	18	used	use	VERB
fumecheng-94	217	19	(	(	PUNCT
fumecheng-94	217	20	fig	fig	NOUN
fumecheng-94	217	21	.	.	PUNCT
fumecheng-94	218	1	10	10	NUM
fumecheng-94	218	2	)	)	PUNCT
fumecheng-94	218	3	.	.	PUNCT
fumecheng-94	219	1	in	in	ADP
fumecheng-94	219	2	the	the	DET
fumecheng-94	219	3	case	case	NOUN
fumecheng-94	219	4	of	of	ADP
fumecheng-94	219	5	the	the	DET
fumecheng-94	219	6	compliant	compliant	ADJ
fumecheng-94	219	7	displacement	displacement	ADJ
fumecheng-94	219	8	inverter	inverter	NOUN
fumecheng-94	219	9	,	,	PUNCT
fumecheng-94	219	10	both	both	CCONJ
fumecheng-94	219	11	the	the	DET
fumecheng-94	219	12	compliant	compliant	ADJ
fumecheng-94	219	13	mechanisms	mechanism	NOUN
fumecheng-94	219	14	in	in	ADP
fumecheng-94	219	15	fig	fig	NOUN
fumecheng-94	219	16	.	.	PUNCT
fumecheng-94	220	1	6b	6b	NOUN
fumecheng-94	220	2	and	and	CCONJ
fumecheng-94	220	3	fig.13b	fig.13b	X
fumecheng-94	220	4	are	be	AUX
fumecheng-94	220	5	without	without	ADP
fumecheng-94	220	6	intersections	intersection	NOUN
fumecheng-94	220	7	.	.	PUNCT
fumecheng-94	221	1	this	this	PRON
fumecheng-94	221	2	is	be	AUX
fumecheng-94	221	3	because	because	SCONJ
fumecheng-94	221	4	the	the	DET
fumecheng-94	221	5	initial	initial	ADJ
fumecheng-94	221	6	ground	ground	NOUN
fumecheng-94	221	7	structure	structure	NOUN
fumecheng-94	221	8	with	with	ADP
fumecheng-94	221	9	a	a	DET
fumecheng-94	221	10	small	small	ADJ
fumecheng-94	221	11	grid	grid	NOUN
fumecheng-94	221	12	size	size	NOUN
fumecheng-94	221	13	is	be	AUX
fumecheng-94	221	14	used	use	VERB
fumecheng-94	221	15	in	in	ADP
fumecheng-94	221	16	both	both	CCONJ
fumecheng-94	221	17	the	the	DET
fumecheng-94	221	18	cases	case	NOUN
fumecheng-94	221	19	and	and	CCONJ
fumecheng-94	221	20	thus	thus	ADV
fumecheng-94	221	21	the	the	DET
fumecheng-94	221	22	number	number	NOUN
fumecheng-94	221	23	of	of	ADP
fumecheng-94	221	24	possible	possible	ADJ
fumecheng-94	221	25	solutions	solution	NOUN
fumecheng-94	221	26	is	be	AUX
fumecheng-94	221	27	small	small	ADJ
fumecheng-94	221	28	.	.	PUNCT
fumecheng-94	222	1	although	although	SCONJ
fumecheng-94	222	2	the	the	DET
fumecheng-94	222	3	topology	topology	NOUN
fumecheng-94	222	4	of	of	ADP
fumecheng-94	222	5	the	the	DET
fumecheng-94	222	6	mechanisms	mechanism	NOUN
fumecheng-94	222	7	is	be	AUX
fumecheng-94	222	8	slightly	slightly	ADV
fumecheng-94	222	9	different	different	ADJ
fumecheng-94	222	10	,	,	PUNCT
fumecheng-94	222	11	their	their	PRON
fumecheng-94	222	12	geometrical	geometrical	ADJ
fumecheng-94	222	13	advantage	advantage	NOUN
fumecheng-94	222	14	is	be	AUX
fumecheng-94	222	15	nearly	nearly	ADV
fumecheng-94	222	16	the	the	DET
fumecheng-94	222	17	same	same	ADJ
fumecheng-94	222	18	(	(	PUNCT
fumecheng-94	222	19	table	table	NOUN
fumecheng-94	222	20	6	6	NUM
fumecheng-94	222	21	)	)	PUNCT
fumecheng-94	222	22	.	.	PUNCT
fumecheng-94	223	1	to	to	PART
fumecheng-94	223	2	confirm	confirm	VERB
fumecheng-94	223	3	the	the	DET
fumecheng-94	223	4	elimination	elimination	NOUN
fumecheng-94	223	5	of	of	ADP
fumecheng-94	223	6	the	the	DET
fumecheng-94	223	7	intersections	intersection	NOUN
fumecheng-94	223	8	in	in	ADP
fumecheng-94	223	9	the	the	DET
fumecheng-94	223	10	case	case	NOUN
fumecheng-94	223	11	of	of	ADP
fumecheng-94	223	12	the	the	DET
fumecheng-94	223	13	compliant	compliant	ADJ
fumecheng-94	223	14	displacement	displacement	ADJ
fumecheng-94	223	15	inverter	inverter	NOUN
fumecheng-94	223	16	,	,	PUNCT
fumecheng-94	223	17	another	another	DET
fumecheng-94	223	18	optimization	optimization	NOUN
fumecheng-94	223	19	is	be	AUX
fumecheng-94	223	20	run	run	VERB
fumecheng-94	223	21	but	but	CCONJ
fumecheng-94	223	22	now	now	ADV
fumecheng-94	223	23	with	with	ADP
fumecheng-94	223	24	higher	high	ADJ
fumecheng-94	223	25	grid	grid	NOUN
fumecheng-94	223	26	resolution	resolution	NOUN
fumecheng-94	223	27	:	:	PUNCT
fumecheng-94	223	28	3x3	3x3	NUM
fumecheng-94	223	29	(	(	PUNCT
fumecheng-94	223	30	fig	fig	NOUN
fumecheng-94	223	31	.	.	PUNCT
fumecheng-94	223	32	14a	14a	NOUN
fumecheng-94	223	33	)	)	PUNCT
fumecheng-94	223	34	.	.	PUNCT
fumecheng-94	224	1	all	all	DET
fumecheng-94	224	2	the	the	DET
fumecheng-94	224	3	other	other	ADJ
fumecheng-94	224	4	design	design	NOUN
fumecheng-94	224	5	and	and	CCONJ
fumecheng-94	224	6	algorithm	algorithm	NOUN
fumecheng-94	224	7	parameters	parameter	NOUN
fumecheng-94	224	8	are	be	AUX
fumecheng-94	224	9	the	the	DET
fumecheng-94	224	10	same	same	ADJ
fumecheng-94	224	11	as	as	ADP
fumecheng-94	224	12	for	for	ADP
fumecheng-94	224	13	the	the	DET
fumecheng-94	224	14	displacement	displacement	ADJ
fumecheng-94	224	15	inverter	inverter	NOUN
fumecheng-94	224	16	in	in	ADP
fumecheng-94	224	17	fig.13b	fig.13b	PROPN
fumecheng-94	224	18	;	;	PUNCT
fumecheng-94	224	19	here	here	ADV
fumecheng-94	224	20	ltarget=223	ltarget=223	VERB
fumecheng-94	224	21	mm	mm	PROPN
fumecheng-94	224	22	,	,	PUNCT
fumecheng-94	224	23	the	the	DET
fumecheng-94	224	24	input	input	NOUN
fumecheng-94	224	25	and	and	CCONJ
fumecheng-94	224	26	the	the	DET
fumecheng-94	224	27	output	output	NOUN
fumecheng-94	224	28	port	port	NOUN
fumecheng-94	224	29	are	be	AUX
fumecheng-94	224	30	nodes	node	NOUN
fumecheng-94	224	31	7	7	NUM
fumecheng-94	224	32	and	and	CCONJ
fumecheng-94	224	33	9	9	NUM
fumecheng-94	224	34	,	,	PUNCT
fumecheng-94	224	35	respectively	respectively	ADV
fumecheng-94	224	36	.	.	PUNCT
fumecheng-94	225	1	the	the	DET
fumecheng-94	225	2	optimal	optimal	ADJ
fumecheng-94	225	3	topology	topology	NOUN
fumecheng-94	225	4	of	of	ADP
fumecheng-94	225	5	the	the	DET
fumecheng-94	225	6	compliant	compliant	ADJ
fumecheng-94	225	7	displacement	displacement	ADJ
fumecheng-94	225	8	inverter	inverter	NOUN
fumecheng-94	225	9	is	be	AUX
fumecheng-94	225	10	shown	show	VERB
fumecheng-94	225	11	in	in	ADP
fumecheng-94	225	12	fig.14b	fig.14b	PROPN
fumecheng-94	225	13	.	.	PUNCT
fumecheng-94	226	1	again	again	ADV
fumecheng-94	226	2	the	the	DET
fumecheng-94	226	3	compliant	compliant	ADJ
fumecheng-94	226	4	mechanism	mechanism	NOUN
fumecheng-94	226	5	without	without	ADP
fumecheng-94	226	6	intersections	intersection	NOUN
fumecheng-94	226	7	is	be	AUX
fumecheng-94	226	8	obtained	obtain	VERB
fumecheng-94	226	9	,	,	PUNCT
fumecheng-94	226	10	unlike	unlike	ADP
fumecheng-94	226	11	mechanism	mechanism	NOUN
fumecheng-94	226	12	in	in	ADP
fumecheng-94	226	13	fig	fig	NOUN
fumecheng-94	226	14	.	.	PUNCT
fumecheng-94	227	1	8b	8b	NUM
fumecheng-94	227	2	.	.	PUNCT
fumecheng-94	228	1	the	the	DET
fumecheng-94	228	2	previously	previously	ADV
fumecheng-94	228	3	made	make	VERB
fumecheng-94	228	4	conclusion	conclusion	NOUN
fumecheng-94	228	5	is	be	AUX
fumecheng-94	228	6	confirmed	confirm	VERB
fumecheng-94	228	7	here	here	ADV
fumecheng-94	228	8	,	,	PUNCT
fumecheng-94	228	9	the	the	DET
fumecheng-94	228	10	compliant	compliant	ADJ
fumecheng-94	228	11	displacement	displacement	ADJ
fumecheng-94	228	12	inverter	inverter	NOUN
fumecheng-94	228	13	that	that	PRON
fumecheng-94	228	14	has	have	VERB
fumecheng-94	228	15	the	the	DET
fumecheng-94	228	16	geometrical	geometrical	ADJ
fumecheng-94	228	17	advantage	advantage	NOUN
fumecheng-94	228	18	greater	great	ADJ
fumecheng-94	228	19	than	than	ADP
fumecheng-94	228	20	1	1	NUM
fumecheng-94	228	21	(	(	PUNCT
fumecheng-94	228	22	thus	thus	ADV
fumecheng-94	228	23	acting	act	VERB
fumecheng-94	228	24	as	as	ADP
fumecheng-94	228	25	an	an	DET
fumecheng-94	228	26	amplifier	amplifier	NOUN
fumecheng-94	228	27	)	)	PUNCT
fumecheng-94	228	28	can	can	AUX
fumecheng-94	228	29	be	be	AUX
fumecheng-94	228	30	obtained	obtain	VERB
fumecheng-94	228	31	with	with	ADP
fumecheng-94	228	32	higher	high	ADJ
fumecheng-94	228	33	grid	grid	NOUN
fumecheng-94	228	34	resolution	resolution	NOUN
fumecheng-94	228	35	(	(	PUNCT
fumecheng-94	228	36	table	table	NOUN
fumecheng-94	228	37	6	6	NUM
fumecheng-94	228	38	)	)	PUNCT
fumecheng-94	228	39	.	.	PUNCT
fumecheng-94	229	1	compared	compare	VERB
fumecheng-94	229	2	to	to	ADP
fumecheng-94	229	3	the	the	DET
fumecheng-94	229	4	compliant	compliant	ADJ
fumecheng-94	229	5	mechanism	mechanism	NOUN
fumecheng-94	229	6	in	in	ADP
fumecheng-94	229	7	fig	fig	NOUN
fumecheng-94	229	8	.	.	PUNCT
fumecheng-94	230	1	8b	8b	NUM
fumecheng-94	230	2	,	,	PUNCT
fumecheng-94	230	3	the	the	DET
fumecheng-94	230	4	geometrical	geometrical	ADJ
fumecheng-94	230	5	advantage	advantage	NOUN
fumecheng-94	230	6	of	of	ADP
fumecheng-94	230	7	the	the	DET
fumecheng-94	230	8	compliant	compliant	ADJ
fumecheng-94	230	9	displacement	displacement	ADJ
fumecheng-94	230	10	inverter	inverter	NOUN
fumecheng-94	230	11	without	without	ADP
fumecheng-94	230	12	intersection	intersection	NOUN
fumecheng-94	230	13	is	be	AUX
fumecheng-94	230	14	better	well	ADJ
fumecheng-94	230	15	(	(	PUNCT
fumecheng-94	230	16	table	table	NOUN
fumecheng-94	230	17	6	6	NUM
fumecheng-94	230	18	)	)	PUNCT
fumecheng-94	230	19	.	.	PUNCT
fumecheng-94	231	1	similar	similar	ADJ
fumecheng-94	231	2	to	to	ADP
fumecheng-94	231	3	the	the	DET
fumecheng-94	231	4	case	case	NOUN
fumecheng-94	231	5	of	of	ADP
fumecheng-94	231	6	the	the	DET
fumecheng-94	231	7	compliant	compliant	ADJ
fumecheng-94	231	8	gripper	gripper	NOUN
fumecheng-94	231	9	,	,	PUNCT
fumecheng-94	231	10	the	the	DET
fumecheng-94	231	11	optimal	optimal	ADJ
fumecheng-94	231	12	topology	topology	NOUN
fumecheng-94	231	13	of	of	ADP
fumecheng-94	231	14	the	the	DET
fumecheng-94	231	15	displacement	displacement	ADJ
fumecheng-94	231	16	inverter	inverter	NOUN
fumecheng-94	231	17	contains	contain	VERB
fumecheng-94	231	18	beam	beam	NOUN
fumecheng-94	231	19	elements	element	NOUN
fumecheng-94	231	20	that	that	PRON
fumecheng-94	231	21	would	would	AUX
fumecheng-94	231	22	not	not	PART
fumecheng-94	231	23	exist	exist	VERB
fumecheng-94	231	24	if	if	SCONJ
fumecheng-94	231	25	the	the	DET
fumecheng-94	231	26	simplified	simplified	ADJ
fumecheng-94	231	27	ground	ground	NOUN
fumecheng-94	231	28	structure	structure	NOUN
fumecheng-94	231	29	was	be	AUX
fumecheng-94	231	30	used	use	VERB
fumecheng-94	231	31	.	.	PUNCT
fumecheng-94	232	1	a	a	DET
fumecheng-94	232	2	)	)	PUNCT
fumecheng-94	232	3	b	b	NOUN
fumecheng-94	232	4	)	)	PUNCT
fumecheng-94	232	5	fig	fig	NOUN
fumecheng-94	232	6	.	.	PUNCT
fumecheng-94	233	1	14	14	NUM
fumecheng-94	233	2	a	a	PRON
fumecheng-94	233	3	)	)	PUNCT
fumecheng-94	233	4	initial	initial	ADJ
fumecheng-94	233	5	ground	ground	NOUN
fumecheng-94	233	6	structure	structure	NOUN
fumecheng-94	233	7	with	with	ADP
fumecheng-94	233	8	initial	initial	ADJ
fumecheng-94	233	9	number	number	NOUN
fumecheng-94	233	10	of	of	ADP
fumecheng-94	233	11	intersections	intersection	NOUN
fumecheng-94	233	12	(	(	PUNCT
fumecheng-94	233	13	44	44	NUM
fumecheng-94	233	14	)	)	PUNCT
fumecheng-94	233	15	;	;	PUNCT
fumecheng-94	233	16	b	b	X
fumecheng-94	233	17	)	)	PUNCT
fumecheng-94	233	18	optimal	optimal	ADJ
fumecheng-94	233	19	topology	topology	NOUN
fumecheng-94	233	20	of	of	ADP
fumecheng-94	233	21	the	the	DET
fumecheng-94	233	22	compliant	compliant	ADJ
fumecheng-94	233	23	displacement	displacement	ADJ
fumecheng-94	233	24	inverter	inverter	NOUN
fumecheng-94	233	25	,	,	PUNCT
fumecheng-94	233	26	only	only	ADV
fumecheng-94	233	27	the	the	DET
fumecheng-94	233	28	top	top	ADJ
fumecheng-94	233	29	-	-	PUNCT
fumecheng-94	233	30	half	half	NOUN
fumecheng-94	233	31	of	of	ADP
fumecheng-94	233	32	the	the	DET
fumecheng-94	233	33	mechanism	mechanism	NOUN
fumecheng-94	233	34	is	be	AUX
fumecheng-94	233	35	shown	show	VERB
fumecheng-94	233	36	(	(	PUNCT
fumecheng-94	233	37	deformed	deform	VERB
fumecheng-94	233	38	position	position	NOUN
fumecheng-94	233	39	is	be	AUX
fumecheng-94	233	40	shown	show	VERB
fumecheng-94	233	41	with	with	ADP
fumecheng-94	233	42	dashed	dash	VERB
fumecheng-94	233	43	lines	line	NOUN
fumecheng-94	233	44	)	)	PUNCT
fumecheng-94	233	45	all	all	DET
fumecheng-94	233	46	the	the	DET
fumecheng-94	233	47	results	result	NOUN
fumecheng-94	233	48	are	be	AUX
fumecheng-94	233	49	verified	verify	VERB
fumecheng-94	233	50	via	via	ADP
fumecheng-94	233	51	commercially	commercially	ADV
fumecheng-94	233	52	available	available	ADJ
fumecheng-94	233	53	fem	fem	NOUN
fumecheng-94	233	54	analysis	analysis	NOUN
fumecheng-94	233	55	software	software	NOUN
fumecheng-94	233	56	(	(	PUNCT
fumecheng-94	233	57	fig	fig	NOUN
fumecheng-94	233	58	.	.	PUNCT
fumecheng-94	233	59	15	15	NUM
fumecheng-94	233	60	)	)	PUNCT
fumecheng-94	233	61	.	.	PUNCT
fumecheng-94	234	1	a	a	PRON
fumecheng-94	234	2	)	)	PUNCT
fumecheng-94	234	3	b	b	NOUN
fumecheng-94	234	4	)	)	PUNCT
fumecheng-94	234	5	c	c	NOUN
fumecheng-94	234	6	)	)	PUNCT
fumecheng-94	234	7	fig	fig	NOUN
fumecheng-94	234	8	.	.	PUNCT
fumecheng-94	235	1	15	15	NUM
fumecheng-94	235	2	finite	finite	PROPN
fumecheng-94	235	3	element	element	NOUN
fumecheng-94	235	4	analysis	analysis	NOUN
fumecheng-94	235	5	of	of	ADP
fumecheng-94	235	6	:	:	PUNCT
fumecheng-94	235	7	a	a	DET
fumecheng-94	235	8	)	)	PUNCT
fumecheng-94	235	9	compliant	compliant	ADJ
fumecheng-94	235	10	gripper	gripper	NOUN
fumecheng-94	235	11	;	;	PUNCT
fumecheng-94	235	12	b	b	X
fumecheng-94	235	13	)	)	PUNCT
fumecheng-94	235	14	displacement	displacement	ADJ
fumecheng-94	235	15	inverter	inverter	NOUN
fumecheng-94	235	16	(	(	PUNCT
fumecheng-94	235	17	grid	grid	NOUN
fumecheng-94	235	18	size	size	NOUN
fumecheng-94	235	19	32	32	NUM
fumecheng-94	235	20	)	)	PUNCT
fumecheng-94	235	21	;	;	PUNCT
fumecheng-94	235	22	c	c	X
fumecheng-94	235	23	)	)	PUNCT
fumecheng-94	235	24	displacement	displacement	ADJ
fumecheng-94	235	25	inverter	inverter	NOUN
fumecheng-94	235	26	(	(	PUNCT
fumecheng-94	235	27	grid	grid	NOUN
fumecheng-94	235	28	size	size	NOUN
fumecheng-94	235	29	33	33	NUM
fumecheng-94	235	30	)	)	PUNCT
fumecheng-94	235	31	software	software	NOUN
fumecheng-94	235	32	for	for	ADP
fumecheng-94	235	33	synthesis	synthesis	NOUN
fumecheng-94	235	34	of	of	ADP
fumecheng-94	235	35	compliant	compliant	ADJ
fumecheng-94	235	36	mechanisms	mechanism	NOUN
fumecheng-94	235	37	without	without	ADP
fumecheng-94	235	38	intersecting	intersect	VERB
fumecheng-94	235	39	elements	element	NOUN
fumecheng-94	235	40	167	167	NUM
fumecheng-94	235	41	7	7	NUM
fumecheng-94	235	42	.	.	PUNCT
fumecheng-94	236	1	conclusions	conclusion	NOUN
fumecheng-94	236	2	this	this	DET
fumecheng-94	236	3	paper	paper	NOUN
fumecheng-94	236	4	presents	present	VERB
fumecheng-94	236	5	original	original	ADJ
fumecheng-94	236	6	software	software	NOUN
fumecheng-94	236	7	for	for	ADP
fumecheng-94	236	8	an	an	DET
fumecheng-94	236	9	optimal	optimal	ADJ
fumecheng-94	236	10	synthesis	synthesis	NOUN
fumecheng-94	236	11	of	of	ADP
fumecheng-94	236	12	compliant	compliant	ADJ
fumecheng-94	236	13	mechanisms	mechanism	NOUN
fumecheng-94	236	14	without	without	ADP
fumecheng-94	236	15	intersecting	intersect	VERB
fumecheng-94	236	16	elements	element	NOUN
fumecheng-94	236	17	.	.	PUNCT
fumecheng-94	237	1	the	the	DET
fumecheng-94	237	2	software	software	NOUN
fumecheng-94	237	3	uses	use	VERB
fumecheng-94	237	4	the	the	DET
fumecheng-94	237	5	topology	topology	NOUN
fumecheng-94	237	6	optimization	optimization	NOUN
fumecheng-94	237	7	technique	technique	NOUN
fumecheng-94	237	8	that	that	PRON
fumecheng-94	237	9	is	be	AUX
fumecheng-94	237	10	especially	especially	ADV
fumecheng-94	237	11	useful	useful	ADJ
fumecheng-94	237	12	when	when	SCONJ
fumecheng-94	237	13	the	the	DET
fumecheng-94	237	14	designer	designer	NOUN
fumecheng-94	237	15	does	do	AUX
fumecheng-94	237	16	not	not	PART
fumecheng-94	237	17	have	have	VERB
fumecheng-94	237	18	a	a	DET
fumecheng-94	237	19	particular	particular	ADJ
fumecheng-94	237	20	compliant	compliant	ADJ
fumecheng-94	237	21	mechanism	mechanism	NOUN
fumecheng-94	237	22	already	already	ADV
fumecheng-94	237	23	in	in	ADP
fumecheng-94	237	24	mind	mind	NOUN
fumecheng-94	237	25	.	.	PUNCT
fumecheng-94	238	1	in	in	ADP
fumecheng-94	238	2	the	the	DET
fumecheng-94	238	3	software	software	NOUN
fumecheng-94	238	4	the	the	DET
fumecheng-94	238	5	user	user	NOUN
fumecheng-94	238	6	only	only	ADV
fumecheng-94	238	7	needs	need	VERB
fumecheng-94	238	8	to	to	PART
fumecheng-94	238	9	input	input	VERB
fumecheng-94	238	10	the	the	DET
fumecheng-94	238	11	problem	problem	NOUN
fumecheng-94	238	12	specifications	specification	NOUN
fumecheng-94	238	13	and	and	CCONJ
fumecheng-94	238	14	the	the	DET
fumecheng-94	238	15	software	software	NOUN
fumecheng-94	238	16	then	then	ADV
fumecheng-94	238	17	(	(	PUNCT
fumecheng-94	238	18	through	through	ADP
fumecheng-94	238	19	the	the	DET
fumecheng-94	238	20	topology	topology	NOUN
fumecheng-94	238	21	optimization	optimization	NOUN
fumecheng-94	238	22	)	)	PUNCT
fumecheng-94	238	23	automatically	automatically	ADV
fumecheng-94	238	24	generates	generate	VERB
fumecheng-94	238	25	the	the	DET
fumecheng-94	238	26	optimal	optimal	ADJ
fumecheng-94	238	27	structural	structural	ADJ
fumecheng-94	238	28	form	form	NOUN
fumecheng-94	238	29	(	(	PUNCT
fumecheng-94	238	30	optimal	optimal	ADJ
fumecheng-94	238	31	topology	topology	NOUN
fumecheng-94	238	32	)	)	PUNCT
fumecheng-94	238	33	of	of	ADP
fumecheng-94	238	34	a	a	DET
fumecheng-94	238	35	compliant	compliant	ADJ
fumecheng-94	238	36	mechanism	mechanism	NOUN
fumecheng-94	238	37	which	which	PRON
fumecheng-94	238	38	represents	represent	VERB
fumecheng-94	238	39	the	the	DET
fumecheng-94	238	40	solution	solution	NOUN
fumecheng-94	238	41	for	for	ADP
fumecheng-94	238	42	a	a	DET
fumecheng-94	238	43	given	give	VERB
fumecheng-94	238	44	task	task	NOUN
fumecheng-94	238	45	.	.	PUNCT
fumecheng-94	239	1	the	the	DET
fumecheng-94	239	2	methodology	methodology	NOUN
fumecheng-94	239	3	as	as	ADV
fumecheng-94	239	4	well	well	ADV
fumecheng-94	239	5	as	as	ADP
fumecheng-94	239	6	the	the	DET
fumecheng-94	239	7	algorithm	algorithm	NOUN
fumecheng-94	239	8	on	on	ADP
fumecheng-94	239	9	which	which	PRON
fumecheng-94	239	10	the	the	DET
fumecheng-94	239	11	software	software	NOUN
fumecheng-94	239	12	is	be	AUX
fumecheng-94	239	13	built	build	VERB
fumecheng-94	239	14	are	be	AUX
fumecheng-94	239	15	also	also	ADV
fumecheng-94	239	16	described	describe	VERB
fumecheng-94	239	17	.	.	PUNCT
fumecheng-94	240	1	the	the	DET
fumecheng-94	240	2	existing	exist	VERB
fumecheng-94	240	3	topology	topology	NOUN
fumecheng-94	240	4	optimization	optimization	NOUN
fumecheng-94	240	5	technique	technique	NOUN
fumecheng-94	240	6	is	be	AUX
fumecheng-94	240	7	improved	improve	VERB
fumecheng-94	240	8	so	so	SCONJ
fumecheng-94	240	9	that	that	SCONJ
fumecheng-94	240	10	compliant	compliant	ADJ
fumecheng-94	240	11	mechanisms	mechanism	NOUN
fumecheng-94	240	12	without	without	ADP
fumecheng-94	240	13	intersecting	intersect	VERB
fumecheng-94	240	14	elements	element	NOUN
fumecheng-94	240	15	are	be	AUX
fumecheng-94	240	16	obtained	obtain	VERB
fumecheng-94	240	17	.	.	PUNCT
fumecheng-94	241	1	this	this	PRON
fumecheng-94	241	2	represents	represent	VERB
fumecheng-94	241	3	a	a	DET
fumecheng-94	241	4	novel	novel	ADJ
fumecheng-94	241	5	approach	approach	NOUN
fumecheng-94	241	6	to	to	ADP
fumecheng-94	241	7	the	the	DET
fumecheng-94	241	8	synthesis	synthesis	NOUN
fumecheng-94	241	9	of	of	ADP
fumecheng-94	241	10	compliant	compliant	ADJ
fumecheng-94	241	11	mechanisms	mechanism	NOUN
fumecheng-94	241	12	.	.	PUNCT
fumecheng-94	242	1	the	the	DET
fumecheng-94	242	2	capability	capability	NOUN
fumecheng-94	242	3	of	of	ADP
fumecheng-94	242	4	the	the	DET
fumecheng-94	242	5	software	software	NOUN
fumecheng-94	242	6	with	with	ADP
fumecheng-94	242	7	the	the	DET
fumecheng-94	242	8	newly	newly	ADV
fumecheng-94	242	9	introduced	introduce	VERB
fumecheng-94	242	10	approach	approach	NOUN
fumecheng-94	242	11	is	be	AUX
fumecheng-94	242	12	shown	show	VERB
fumecheng-94	242	13	on	on	ADP
fumecheng-94	242	14	the	the	DET
fumecheng-94	242	15	example	example	NOUN
fumecheng-94	242	16	of	of	ADP
fumecheng-94	242	17	the	the	DET
fumecheng-94	242	18	synthesis	synthesis	NOUN
fumecheng-94	242	19	of	of	ADP
fumecheng-94	242	20	two	two	NUM
fumecheng-94	242	21	compliant	compliant	ADJ
fumecheng-94	242	22	mechanisms	mechanism	NOUN
fumecheng-94	242	23	:	:	PUNCT
fumecheng-94	242	24	a	a	DET
fumecheng-94	242	25	compliant	compliant	ADJ
fumecheng-94	242	26	gripper	gripper	NOUN
fumecheng-94	242	27	and	and	CCONJ
fumecheng-94	242	28	a	a	DET
fumecheng-94	242	29	compliant	compliant	ADJ
fumecheng-94	242	30	displacement	displacement	ADJ
fumecheng-94	242	31	inverter	inverter	NOUN
fumecheng-94	242	32	,	,	PUNCT
fumecheng-94	242	33	with	with	ADP
fumecheng-94	242	34	and	and	CCONJ
fumecheng-94	242	35	without	without	ADP
fumecheng-94	242	36	intersecting	intersect	VERB
fumecheng-94	242	37	elements	element	NOUN
fumecheng-94	242	38	for	for	ADP
fumecheng-94	242	39	comparison	comparison	NOUN
fumecheng-94	242	40	.	.	PUNCT
fumecheng-94	243	1	the	the	DET
fumecheng-94	243	2	optimal	optimal	ADJ
fumecheng-94	243	3	topologies	topology	NOUN
fumecheng-94	243	4	of	of	ADP
fumecheng-94	243	5	both	both	DET
fumecheng-94	243	6	mechanisms	mechanism	NOUN
fumecheng-94	243	7	(	(	PUNCT
fumecheng-94	243	8	with	with	ADP
fumecheng-94	243	9	and	and	CCONJ
fumecheng-94	243	10	without	without	ADP
fumecheng-94	243	11	intersections	intersection	NOUN
fumecheng-94	243	12	)	)	PUNCT
fumecheng-94	243	13	are	be	AUX
fumecheng-94	243	14	obtained	obtain	VERB
fumecheng-94	243	15	.	.	PUNCT
fumecheng-94	244	1	the	the	DET
fumecheng-94	244	2	results	result	NOUN
fumecheng-94	244	3	show	show	VERB
fumecheng-94	244	4	that	that	SCONJ
fumecheng-94	244	5	compliant	compliant	ADJ
fumecheng-94	244	6	mechanisms	mechanism	NOUN
fumecheng-94	244	7	without	without	ADP
fumecheng-94	244	8	intersecting	intersect	VERB
fumecheng-94	244	9	elements	element	NOUN
fumecheng-94	244	10	have	have	VERB
fumecheng-94	244	11	better	well	ADJ
fumecheng-94	244	12	performances	performance	NOUN
fumecheng-94	244	13	.	.	PUNCT
fumecheng-94	245	1	it	it	PRON
fumecheng-94	245	2	is	be	AUX
fumecheng-94	245	3	also	also	ADV
fumecheng-94	245	4	shown	show	VERB
fumecheng-94	245	5	that	that	SCONJ
fumecheng-94	245	6	the	the	DET
fumecheng-94	245	7	objective	objective	ADJ
fumecheng-94	245	8	function	function	NOUN
fumecheng-94	245	9	in	in	ADP
fumecheng-94	245	10	eq	eq	ADP
fumecheng-94	245	11	.	.	PUNCT
fumecheng-94	246	1	(	(	PUNCT
fumecheng-94	246	2	2	2	NUM
fumecheng-94	246	3	)	)	PUNCT
fumecheng-94	246	4	and	and	CCONJ
fumecheng-94	246	5	(	(	PUNCT
fumecheng-94	246	6	3	3	X
fumecheng-94	246	7	)	)	PUNCT
fumecheng-94	246	8	will	will	AUX
fumecheng-94	246	9	ensure	ensure	VERB
fumecheng-94	246	10	that	that	SCONJ
fumecheng-94	246	11	compliant	compliant	ADJ
fumecheng-94	246	12	mechanisms	mechanism	NOUN
fumecheng-94	246	13	without	without	ADP
fumecheng-94	246	14	intersecting	intersect	VERB
fumecheng-94	246	15	elements	element	NOUN
fumecheng-94	246	16	will	will	AUX
fumecheng-94	246	17	be	be	AUX
fumecheng-94	246	18	obtained	obtain	VERB
fumecheng-94	246	19	.	.	PUNCT
fumecheng-94	247	1	all	all	DET
fumecheng-94	247	2	the	the	DET
fumecheng-94	247	3	results	result	NOUN
fumecheng-94	247	4	are	be	AUX
fumecheng-94	247	5	verified	verify	VERB
fumecheng-94	247	6	via	via	ADP
fumecheng-94	247	7	commercially	commercially	ADV
fumecheng-94	247	8	available	available	ADJ
fumecheng-94	247	9	fem	fem	NOUN
fumecheng-94	247	10	analysis	analysis	NOUN
fumecheng-94	247	11	software	software	NOUN
fumecheng-94	247	12	and	and	CCONJ
fumecheng-94	247	13	the	the	DET
fumecheng-94	247	14	physical	physical	ADJ
fumecheng-94	247	15	prototypes	prototype	NOUN
fumecheng-94	247	16	of	of	ADP
fumecheng-94	247	17	all	all	DET
fumecheng-94	247	18	the	the	DET
fumecheng-94	247	19	obtained	obtain	VERB
fumecheng-94	247	20	mechanisms	mechanism	NOUN
fumecheng-94	247	21	are	be	AUX
fumecheng-94	247	22	manufactured	manufacture	VERB
fumecheng-94	247	23	(	(	PUNCT
fumecheng-94	247	24	from	from	ADP
fumecheng-94	247	25	plastic	plastic	NOUN
fumecheng-94	247	26	)	)	PUNCT
fumecheng-94	247	27	.	.	PUNCT
fumecheng-94	248	1	the	the	DET
fumecheng-94	248	2	developed	develop	VERB
fumecheng-94	248	3	software	software	NOUN
fumecheng-94	248	4	intends	intend	VERB
fumecheng-94	248	5	to	to	PART
fumecheng-94	248	6	provide	provide	VERB
fumecheng-94	248	7	an	an	DET
fumecheng-94	248	8	easy	easy	ADJ
fumecheng-94	248	9	-	-	PUNCT
fumecheng-94	248	10	to	to	ADP
fumecheng-94	248	11	-	-	PUNCT
fumecheng-94	248	12	use	use	VERB
fumecheng-94	248	13	tool	tool	NOUN
fumecheng-94	248	14	for	for	ADP
fumecheng-94	248	15	the	the	DET
fumecheng-94	248	16	synthesis	synthesis	NOUN
fumecheng-94	248	17	of	of	ADP
fumecheng-94	248	18	compliant	compliant	ADJ
fumecheng-94	248	19	mechanisms	mechanism	NOUN
fumecheng-94	248	20	that	that	PRON
fumecheng-94	248	21	can	can	AUX
fumecheng-94	248	22	be	be	AUX
fumecheng-94	248	23	used	use	VERB
fumecheng-94	248	24	by	by	ADP
fumecheng-94	248	25	both	both	DET
fumecheng-94	248	26	experts	expert	NOUN
fumecheng-94	248	27	and	and	CCONJ
fumecheng-94	248	28	designers	designer	NOUN
fumecheng-94	248	29	who	who	PRON
fumecheng-94	248	30	are	be	AUX
fumecheng-94	248	31	not	not	PART
fumecheng-94	248	32	necessarily	necessarily	ADV
fumecheng-94	248	33	familiar	familiar	ADJ
fumecheng-94	248	34	with	with	ADP
fumecheng-94	248	35	the	the	DET
fumecheng-94	248	36	details	detail	NOUN
fumecheng-94	248	37	of	of	ADP
fumecheng-94	248	38	topology	topology	NOUN
fumecheng-94	248	39	optimization	optimization	NOUN
fumecheng-94	248	40	techniques	technique	NOUN
fumecheng-94	248	41	.	.	PUNCT
fumecheng-94	249	1	we	we	PRON
fumecheng-94	249	2	hope	hope	VERB
fumecheng-94	249	3	that	that	SCONJ
fumecheng-94	249	4	this	this	DET
fumecheng-94	249	5	software	software	NOUN
fumecheng-94	249	6	will	will	AUX
fumecheng-94	249	7	lead	lead	VERB
fumecheng-94	249	8	to	to	ADP
fumecheng-94	249	9	the	the	DET
fumecheng-94	249	10	synthesis	synthesis	NOUN
fumecheng-94	249	11	of	of	ADP
fumecheng-94	249	12	compliant	compliant	ADJ
fumecheng-94	249	13	mechanisms	mechanism	NOUN
fumecheng-94	249	14	that	that	PRON
fumecheng-94	249	15	can	can	AUX
fumecheng-94	249	16	provide	provide	VERB
fumecheng-94	249	17	new	new	ADJ
fumecheng-94	249	18	and	and	CCONJ
fumecheng-94	249	19	better	well	ADJ
fumecheng-94	249	20	solutions	solution	NOUN
fumecheng-94	249	21	to	to	ADP
fumecheng-94	249	22	many	many	ADJ
fumecheng-94	249	23	engineering	engineering	NOUN
fumecheng-94	249	24	problems	problem	NOUN
fumecheng-94	249	25	.	.	PUNCT
fumecheng-94	250	1	references	reference	NOUN
fumecheng-94	250	2	1	1	NUM
fumecheng-94	250	3	.	.	PUNCT
fumecheng-94	251	1	howell	howell	PROPN
fumecheng-94	251	2	,	,	PUNCT
fumecheng-94	251	3	l.l	l.l	PROPN
fumecheng-94	251	4	,	,	PUNCT
fumecheng-94	251	5	maglebly	maglebly	ADV
fumecheng-94	251	6	,	,	PUNCT
fumecheng-94	251	7	s.p	s.p	PROPN
fumecheng-94	251	8	.	.	PROPN
fumecheng-94	251	9	,	,	PUNCT
fumecheng-94	251	10	olsen	olsen	PROPN
fumecheng-94	251	11	,	,	PUNCT
fumecheng-94	251	12	b.m	b.m	PROPN
fumecheng-94	251	13	.	.	PROPN
fumecheng-94	251	14	,	,	PUNCT
fumecheng-94	251	15	2013	2013	NUM
fumecheng-94	251	16	,	,	PUNCT
fumecheng-94	251	17	handbook	handbook	NOUN
fumecheng-94	251	18	of	of	ADP
fumecheng-94	251	19	compliant	compliant	ADJ
fumecheng-94	251	20	mechanisms	mechanism	NOUN
fumecheng-94	251	21	,	,	PUNCT
fumecheng-94	251	22	wiley	wiley	PROPN
fumecheng-94	251	23	,	,	PUNCT
fumecheng-94	251	24	somerset	somerset	PROPN
fumecheng-94	251	25	,	,	PUNCT
fumecheng-94	251	26	nj	nj	PROPN
fumecheng-94	251	27	,	,	PUNCT
fumecheng-94	251	28	usa	usa	PROPN
fumecheng-94	251	29	,	,	PUNCT
fumecheng-94	251	30	324	324	NUM
fumecheng-94	251	31	p.	p.	NOUN
fumecheng-94	251	32	2	2	NUM
fumecheng-94	251	33	.	.	X
fumecheng-94	251	34	trease	trease	PROPN
fumecheng-94	251	35	,	,	PUNCT
fumecheng-94	251	36	b.p	b.p	PROPN
fumecheng-94	251	37	.	.	PROPN
fumecheng-94	251	38	,	,	PUNCT
fumecheng-94	251	39	kota	kota	PROPN
fumecheng-94	251	40	,	,	PUNCT
fumecheng-94	251	41	s.	s.	PROPN
fumecheng-94	251	42	,	,	PUNCT
fumecheng-94	251	43	2006	2006	NUM
fumecheng-94	251	44	,	,	PUNCT
fumecheng-94	251	45	synthesis	synthesis	NOUN
fumecheng-94	251	46	of	of	ADP
fumecheng-94	251	47	adaptive	adaptive	ADJ
fumecheng-94	251	48	and	and	CCONJ
fumecheng-94	251	49	controllable	controllable	ADJ
fumecheng-94	251	50	compliant	compliant	ADJ
fumecheng-94	251	51	systems	system	NOUN
fumecheng-94	251	52	with	with	ADP
fumecheng-94	251	53	embedded	embed	VERB
fumecheng-94	251	54	actuators	actuator	NOUN
fumecheng-94	251	55	and	and	CCONJ
fumecheng-94	251	56	sensors	sensor	NOUN
fumecheng-94	251	57	,	,	PUNCT
fumecheng-94	251	58	proceedings	proceeding	NOUN
fumecheng-94	251	59	of	of	ADP
fumecheng-94	251	60	idetc	idetc	NOUN
fumecheng-94	251	61	/	/	SYM
fumecheng-94	251	62	cie	cie	PROPN
fumecheng-94	251	63	2006	2006	NUM
fumecheng-94	251	64	,	,	PUNCT
fumecheng-94	251	65	philadelphia	philadelphia	PROPN
fumecheng-94	251	66	,	,	PUNCT
fumecheng-94	251	67	pennsylvania	pennsylvania	PROPN
fumecheng-94	251	68	,	,	PUNCT
fumecheng-94	251	69	usa	usa	PROPN
fumecheng-94	251	70	,	,	PUNCT
fumecheng-94	251	71	detc200699266	detc200699266	PROPN
fumecheng-94	251	72	pp	pp	NUM
fumecheng-94	251	73	.	.	PUNCT
fumecheng-94	252	1	1	1	NUM
fumecheng-94	252	2	-	-	SYM
fumecheng-94	252	3	13	13	NUM
fumecheng-94	252	4	.	.	PUNCT
fumecheng-94	253	1	3	3	X
fumecheng-94	253	2	.	.	X
fumecheng-94	253	3	kota	kota	PROPN
fumecheng-94	253	4	,	,	PUNCT
fumecheng-94	253	5	s.	s.	PROPN
fumecheng-94	253	6	,	,	PUNCT
fumecheng-94	253	7	joo	joo	PROPN
fumecheng-94	253	8	,	,	PUNCT
fumecheng-94	253	9	j.	j.	PROPN
fumecheng-94	253	10	,	,	PUNCT
fumecheng-94	253	11	li	li	PROPN
fumecheng-94	253	12	,	,	PUNCT
fumecheng-94	253	13	z.	z.	PROPN
fumecheng-94	253	14	,	,	PUNCT
fumecheng-94	253	15	rodgers	rodger	VERB
fumecheng-94	253	16	,	,	PUNCT
fumecheng-94	253	17	s.m	s.m	PROPN
fumecheng-94	253	18	.	.	PROPN
fumecheng-94	253	19	,	,	PUNCT
fumecheng-94	253	20	sniegowski	sniegowski	PROPN
fumecheng-94	253	21	,	,	PUNCT
fumecheng-94	253	22	j.	j.	PROPN
fumecheng-94	253	23	,	,	PUNCT
fumecheng-94	253	24	2001	2001	NUM
fumecheng-94	253	25	,	,	PUNCT
fumecheng-94	253	26	design	design	NOUN
fumecheng-94	253	27	of	of	ADP
fumecheng-94	253	28	compliant	compliant	ADJ
fumecheng-94	253	29	mechanisms	mechanism	NOUN
fumecheng-94	253	30	:	:	PUNCT
fumecheng-94	253	31	applications	application	NOUN
fumecheng-94	253	32	to	to	ADP
fumecheng-94	253	33	mems	mem	NOUN
fumecheng-94	253	34	,	,	PUNCT
fumecheng-94	253	35	analog	analog	NOUN
fumecheng-94	253	36	integrated	integrate	VERB
fumecheng-94	253	37	circuits	circuit	NOUN
fumecheng-94	253	38	and	and	CCONJ
fumecheng-94	253	39	signal	signal	ADJ
fumecheng-94	253	40	processing	processing	NOUN
fumecheng-94	253	41	,	,	PUNCT
fumecheng-94	253	42	29	29	NUM
fumecheng-94	253	43	pp	pp	NOUN
fumecheng-94	253	44	.	.	PUNCT
fumecheng-94	254	1	7	7	NUM
fumecheng-94	254	2	-	-	SYM
fumecheng-94	254	3	15	15	NUM
fumecheng-94	254	4	.	.	NOUN
fumecheng-94	254	5	4	4	NUM
fumecheng-94	254	6	.	.	X
fumecheng-94	254	7	lu	lu	PROPN
fumecheng-94	254	8	,	,	PUNCT
fumecheng-94	254	9	k.	k.	PROPN
fumecheng-94	254	10	,	,	PUNCT
fumecheng-94	254	11	kota	kota	PROPN
fumecheng-94	254	12	,	,	PUNCT
fumecheng-94	254	13	s.	s.	PROPN
fumecheng-94	254	14	,	,	PUNCT
fumecheng-94	254	15	2003	2003	NUM
fumecheng-94	254	16	,	,	PUNCT
fumecheng-94	254	17	design	design	NOUN
fumecheng-94	254	18	of	of	ADP
fumecheng-94	254	19	compliant	compliant	ADJ
fumecheng-94	254	20	mechanisms	mechanism	NOUN
fumecheng-94	254	21	for	for	ADP
fumecheng-94	254	22	morphing	morph	VERB
fumecheng-94	254	23	structural	structural	ADJ
fumecheng-94	254	24	shapes	shape	NOUN
fumecheng-94	254	25	,	,	PUNCT
fumecheng-94	254	26	journal	journal	NOUN
fumecheng-94	254	27	of	of	ADP
fumecheng-94	254	28	intelligent	intelligent	ADJ
fumecheng-94	254	29	material	material	NOUN
fumecheng-94	254	30	systems	system	NOUN
fumecheng-94	254	31	and	and	CCONJ
fumecheng-94	254	32	structures	structure	NOUN
fumecheng-94	254	33	,	,	PUNCT
fumecheng-94	254	34	14	14	NUM
fumecheng-94	254	35	pp	pp	NOUN
fumecheng-94	254	36	.	.	PUNCT
fumecheng-94	255	1	379	379	NUM
fumecheng-94	255	2	-	-	SYM
fumecheng-94	255	3	390	390	NUM
fumecheng-94	255	4	.	.	NOUN
fumecheng-94	256	1	5	5	NUM
fumecheng-94	256	2	.	.	X
fumecheng-94	256	3	sigmund	sigmund	NOUN
fumecheng-94	256	4	,	,	PUNCT
fumecheng-94	256	5	o.	o.	NOUN
fumecheng-94	256	6	,	,	PUNCT
fumecheng-94	256	7	1997	1997	NUM
fumecheng-94	256	8	,	,	PUNCT
fumecheng-94	256	9	on	on	ADP
fumecheng-94	256	10	the	the	DET
fumecheng-94	256	11	design	design	NOUN
fumecheng-94	256	12	of	of	ADP
fumecheng-94	256	13	compliant	compliant	ADJ
fumecheng-94	256	14	mechanisms	mechanism	NOUN
fumecheng-94	256	15	using	use	VERB
fumecheng-94	256	16	topology	topology	NOUN
fumecheng-94	256	17	optimization	optimization	NOUN
fumecheng-94	256	18	,	,	PUNCT
fumecheng-94	256	19	mech	mech	NOUN
fumecheng-94	256	20	.	.	PUNCT
fumecheng-94	256	21	struct	struct	NOUN
fumecheng-94	256	22	.	.	PUNCT
fumecheng-94	256	23	&	&	CCONJ
fumecheng-94	256	24	mach	mach	PROPN
fumecheng-94	256	25	.	.	PUNCT
fumecheng-94	256	26	,	,	PUNCT
fumecheng-94	256	27	25(4	25(4	NOUN
fumecheng-94	256	28	)	)	PUNCT
fumecheng-94	256	29	pp	pp	ADJ
fumecheng-94	256	30	.	.	PUNCT
fumecheng-94	257	1	493	493	NUM
fumecheng-94	257	2	-	-	SYM
fumecheng-94	257	3	524	524	NUM
fumecheng-94	257	4	.	.	NOUN
fumecheng-94	258	1	6	6	NUM
fumecheng-94	258	2	.	.	X
fumecheng-94	258	3	yin	yin	PROPN
fumecheng-94	258	4	,	,	PUNCT
fumecheng-94	258	5	l.	l.	PROPN
fumecheng-94	258	6	,	,	PUNCT
fumecheng-94	258	7	ananthasuresh	ananthasuresh	NOUN
fumecheng-94	258	8	,	,	PUNCT
fumecheng-94	258	9	g.k	g.k	PROPN
fumecheng-94	258	10	.	.	PROPN
fumecheng-94	258	11	,	,	PUNCT
fumecheng-94	258	12	2003	2003	NUM
fumecheng-94	258	13	,	,	PUNCT
fumecheng-94	258	14	design	design	NOUN
fumecheng-94	258	15	of	of	ADP
fumecheng-94	258	16	distributed	distribute	VERB
fumecheng-94	258	17	compliant	compliant	ADJ
fumecheng-94	258	18	mechanisms	mechanism	NOUN
fumecheng-94	258	19	,	,	PUNCT
fumecheng-94	258	20	mechanics	mechanic	NOUN
fumecheng-94	258	21	of	of	ADP
fumecheng-94	258	22	structures	structure	NOUN
fumecheng-94	258	23	and	and	CCONJ
fumecheng-94	258	24	machines	machine	NOUN
fumecheng-94	258	25	,	,	PUNCT
fumecheng-94	258	26	31(2	31(2	NUM
fumecheng-94	258	27	)	)	PUNCT
fumecheng-94	259	1	pp	pp	ADJ
fumecheng-94	259	2	.	.	PUNCT
fumecheng-94	260	1	151	151	NUM
fumecheng-94	260	2	-	-	SYM
fumecheng-94	260	3	179	179	NUM
fumecheng-94	260	4	.	.	PUNCT
fumecheng-94	261	1	7	7	X
fumecheng-94	261	2	.	.	X
fumecheng-94	261	3	joo	joo	PROPN
fumecheng-94	261	4	,	,	PUNCT
fumecheng-94	261	5	j.	j.	PROPN
fumecheng-94	261	6	,	,	PUNCT
fumecheng-94	261	7	kota	kota	PROPN
fumecheng-94	261	8	,	,	PUNCT
fumecheng-94	261	9	s.	s.	PROPN
fumecheng-94	261	10	,	,	PUNCT
fumecheng-94	261	11	kikuchi	kikuchi	PROPN
fumecheng-94	261	12	,	,	PUNCT
fumecheng-94	261	13	n.	n.	NOUN
fumecheng-94	261	14	,	,	PUNCT
fumecheng-94	261	15	2000	2000	NUM
fumecheng-94	261	16	,	,	PUNCT
fumecheng-94	261	17	topological	topological	ADJ
fumecheng-94	261	18	synthesis	synthesis	NOUN
fumecheng-94	261	19	of	of	ADP
fumecheng-94	261	20	compliant	compliant	ADJ
fumecheng-94	261	21	mechanisms	mechanism	NOUN
fumecheng-94	261	22	using	use	VERB
fumecheng-94	261	23	linear	linear	ADJ
fumecheng-94	261	24	beam	beam	NOUN
fumecheng-94	261	25	elements	element	NOUN
fumecheng-94	261	26	,	,	PUNCT
fumecheng-94	261	27	mech	mech	NOUN
fumecheng-94	261	28	.	.	PUNCT
fumecheng-94	261	29	struct	struct	NOUN
fumecheng-94	261	30	.	.	PUNCT
fumecheng-94	261	31	&	&	CCONJ
fumecheng-94	261	32	mach	mach	PROPN
fumecheng-94	261	33	.	.	PUNCT
fumecheng-94	261	34	,	,	PUNCT
fumecheng-94	261	35	28(4	28(4	NUM
fumecheng-94	261	36	)	)	PUNCT
fumecheng-94	261	37	pp	pp	ADV
fumecheng-94	261	38	.	.	PUNCT
fumecheng-94	262	1	245	245	NUM
fumecheng-94	262	2	-	-	SYM
fumecheng-94	262	3	280	280	NUM
fumecheng-94	262	4	.	.	NOUN
fumecheng-94	262	5	8	8	NUM
fumecheng-94	262	6	.	.	PUNCT
fumecheng-94	262	7	parsons	parson	NOUN
fumecheng-94	262	8	,	,	PUNCT
fumecheng-94	262	9	r.	r.	PROPN
fumecheng-94	262	10	,	,	PUNCT
fumecheng-94	262	11	canfield	canfield	PROPN
fumecheng-94	262	12	,	,	PUNCT
fumecheng-94	262	13	s.l	s.l	PROPN
fumecheng-94	262	14	.	.	PROPN
fumecheng-94	262	15	,	,	PUNCT
fumecheng-94	262	16	2002	2002	NUM
fumecheng-94	262	17	,	,	PUNCT
fumecheng-94	262	18	developing	develop	VERB
fumecheng-94	262	19	genetic	genetic	ADJ
fumecheng-94	262	20	programming	programming	NOUN
fumecheng-94	262	21	techniques	technique	NOUN
fumecheng-94	262	22	for	for	ADP
fumecheng-94	262	23	the	the	DET
fumecheng-94	262	24	design	design	NOUN
fumecheng-94	262	25	of	of	ADP
fumecheng-94	262	26	compliant	compliant	ADJ
fumecheng-94	262	27	mechanisms	mechanism	NOUN
fumecheng-94	262	28	,	,	PUNCT
fumecheng-94	262	29	struct	struct	NOUN
fumecheng-94	262	30	.	.	PUNCT
fumecheng-94	263	1	multidisc	multidisc	PROPN
fumecheng-94	263	2	.	.	PUNCT
fumecheng-94	264	1	optim	optim	PROPN
fumecheng-94	264	2	.	.	PROPN
fumecheng-94	264	3	,	,	PUNCT
fumecheng-94	264	4	24	24	NUM
fumecheng-94	264	5	pp	pp	NOUN
fumecheng-94	264	6	.	.	PUNCT
fumecheng-94	265	1	78–86	78–86	NUM
fumecheng-94	265	2	.	.	NOUN
fumecheng-94	266	1	9	9	NUM
fumecheng-94	266	2	.	.	X
fumecheng-94	266	3	lin	lin	PROPN
fumecheng-94	266	4	,	,	PUNCT
fumecheng-94	266	5	j.	j.	PROPN
fumecheng-94	266	6	,	,	PUNCT
fumecheng-94	266	7	luo	luo	PROPN
fumecheng-94	266	8	,	,	PUNCT
fumecheng-94	266	9	z.	z.	PROPN
fumecheng-94	266	10	,	,	PUNCT
fumecheng-94	266	11	tong	tong	PROPN
fumecheng-94	266	12	,	,	PUNCT
fumecheng-94	266	13	l.	l.	PROPN
fumecheng-94	266	14	,	,	PUNCT
fumecheng-94	266	15	2010	2010	NUM
fumecheng-94	266	16	,	,	PUNCT
fumecheng-94	266	17	a	a	DET
fumecheng-94	266	18	new	new	ADJ
fumecheng-94	266	19	multi	multi	ADJ
fumecheng-94	266	20	-	-	ADJ
fumecheng-94	266	21	objective	objective	ADJ
fumecheng-94	266	22	programming	programming	NOUN
fumecheng-94	266	23	scheme	scheme	NOUN
fumecheng-94	266	24	for	for	ADP
fumecheng-94	266	25	topology	topology	NOUN
fumecheng-94	266	26	optimization	optimization	NOUN
fumecheng-94	266	27	of	of	ADP
fumecheng-94	266	28	compliant	compliant	ADJ
fumecheng-94	266	29	mechanisms	mechanism	NOUN
fumecheng-94	266	30	,	,	PUNCT
fumecheng-94	266	31	struct	struct	NOUN
fumecheng-94	266	32	.	.	PUNCT
fumecheng-94	267	1	multidisc	multidisc	PROPN
fumecheng-94	267	2	.	.	PUNCT
fumecheng-94	268	1	optim	optim	PROPN
fumecheng-94	268	2	.	.	PROPN
fumecheng-94	269	1	,	,	PUNCT
fumecheng-94	269	2	40	40	NUM
fumecheng-94	269	3	pp	pp	NOUN
fumecheng-94	269	4	.	.	PUNCT
fumecheng-94	270	1	241	241	NUM
fumecheng-94	270	2	-	-	SYM
fumecheng-94	270	3	255	255	NUM
fumecheng-94	270	4	.	.	PUNCT
fumecheng-94	271	1	10	10	NUM
fumecheng-94	271	2	.	.	PUNCT
fumecheng-94	271	3	ananthasuresh	ananthasuresh	PROPN
fumecheng-94	271	4	,	,	PUNCT
fumecheng-94	271	5	g.k	g.k	PROPN
fumecheng-94	271	6	.	.	PROPN
fumecheng-94	271	7	,	,	PUNCT
fumecheng-94	271	8	kota	kota	PROPN
fumecheng-94	271	9	,	,	PUNCT
fumecheng-94	271	10	s.	s.	PROPN
fumecheng-94	271	11	,	,	PUNCT
fumecheng-94	271	12	1995	1995	NUM
fumecheng-94	271	13	,	,	PUNCT
fumecheng-94	271	14	designing	design	VERB
fumecheng-94	271	15	compliant	compliant	ADJ
fumecheng-94	271	16	mechanisms	mechanism	NOUN
fumecheng-94	271	17	,	,	PUNCT
fumecheng-94	271	18	mech	mech	NOUN
fumecheng-94	271	19	.	.	PUNCT
fumecheng-94	272	1	eng	eng	PROPN
fumecheng-94	272	2	.	.	PROPN
fumecheng-94	272	3	,	,	PUNCT
fumecheng-94	272	4	117	117	NUM
fumecheng-94	272	5	pp	pp	NOUN
fumecheng-94	272	6	.	.	PUNCT
fumecheng-94	273	1	93–96	93–96	NUM
fumecheng-94	273	2	.	.	PUNCT
fumecheng-94	274	1	168	168	NUM
fumecheng-94	274	2	a.	a.	NOUN
fumecheng-94	274	3	milojević	milojević	NOUN
fumecheng-94	274	4	,	,	PUNCT
fumecheng-94	274	5	n.	n.	PROPN
fumecheng-94	274	6	d.	d.	PROPN
fumecheng-94	274	7	pavlović	pavlović	VERB
fumecheng-94	274	8	11	11	NUM
fumecheng-94	274	9	.	.	PUNCT
fumecheng-94	275	1	linß	linß	NOUN
fumecheng-94	275	2	,	,	PUNCT
fumecheng-94	275	3	s.	s.	PROPN
fumecheng-94	275	4	,	,	PUNCT
fumecheng-94	275	5	milojevic	milojevic	PROPN
fumecheng-94	275	6	,	,	PUNCT
fumecheng-94	275	7	a.	a.	NOUN
fumecheng-94	275	8	,	,	PUNCT
fumecheng-94	275	9	2012	2012	NUM
fumecheng-94	275	10	,	,	PUNCT
fumecheng-94	275	11	model	model	NOUN
fumecheng-94	275	12	-	-	PUNCT
fumecheng-94	275	13	based	base	VERB
fumecheng-94	275	14	design	design	NOUN
fumecheng-94	275	15	of	of	ADP
fumecheng-94	275	16	flexure	flexure	NOUN
fumecheng-94	275	17	hinges	hinge	NOUN
fumecheng-94	275	18	for	for	ADP
fumecheng-94	275	19	rectilinear	rectilinear	ADJ
fumecheng-94	275	20	guiding	guiding	NOUN
fumecheng-94	275	21	with	with	ADP
fumecheng-94	275	22	compliant	compliant	ADJ
fumecheng-94	275	23	mechanisms	mechanism	NOUN
fumecheng-94	275	24	in	in	ADP
fumecheng-94	275	25	precision	precision	NOUN
fumecheng-94	275	26	systems	system	NOUN
fumecheng-94	275	27	,	,	PUNCT
fumecheng-94	275	28	mechanismentechnik	mechanismentechnik	X
fumecheng-94	275	29	in	in	ADP
fumecheng-94	275	30	ilmenau	ilmenau	PROPN
fumecheng-94	275	31	,	,	PUNCT
fumecheng-94	275	32	budapest	budapest	PROPN
fumecheng-94	275	33	und	und	PROPN
fumecheng-94	275	34	niš	niš	PROPN
fumecheng-94	275	35	,	,	PUNCT
fumecheng-94	275	36	l.	l.	PROPN
fumecheng-94	275	37	zentner	zentner	PROPN
fumecheng-94	275	38	,	,	PUNCT
fumecheng-94	275	39	ed	ed	NOUN
fumecheng-94	275	40	,	,	PUNCT
fumecheng-94	275	41	ilmenau	ilmenau	PROPN
fumecheng-94	275	42	:	:	PUNCT
fumecheng-94	275	43	universitätsverlag	universitätsverlag	NOUN
fumecheng-94	275	44	ilmenau	ilmenau	PROPN
fumecheng-94	275	45	,	,	PUNCT
fumecheng-94	275	46	pp	pp	ADP
fumecheng-94	275	47	.	.	PUNCT
fumecheng-94	276	1	13	13	NUM
fumecheng-94	276	2	-	-	SYM
fumecheng-94	276	3	24	24	NUM
fumecheng-94	276	4	.	.	PUNCT
fumecheng-94	277	1	12	12	NUM
fumecheng-94	277	2	.	.	PUNCT
fumecheng-94	278	1	saxena	saxena	PROPN
fumecheng-94	278	2	,	,	PUNCT
fumecheng-94	278	3	a.	a.	PROPN
fumecheng-94	278	4	,	,	PUNCT
fumecheng-94	278	5	ananthasuresh	ananthasuresh	NOUN
fumecheng-94	278	6	,	,	PUNCT
fumecheng-94	278	7	g.k	g.k	PROPN
fumecheng-94	278	8	.	.	PROPN
fumecheng-94	278	9	,	,	PUNCT
fumecheng-94	278	10	2000	2000	NUM
fumecheng-94	278	11	,	,	PUNCT
fumecheng-94	278	12	on	on	ADP
fumecheng-94	278	13	an	an	DET
fumecheng-94	278	14	optimal	optimal	ADJ
fumecheng-94	278	15	property	property	NOUN
fumecheng-94	278	16	of	of	ADP
fumecheng-94	278	17	compliant	compliant	ADJ
fumecheng-94	278	18	topologies	topology	NOUN
fumecheng-94	278	19	,	,	PUNCT
fumecheng-94	278	20	struct	struct	NOUN
fumecheng-94	278	21	.	.	PUNCT
fumecheng-94	279	1	multidisc	multidisc	PROPN
fumecheng-94	279	2	.	.	PUNCT
fumecheng-94	280	1	optim	optim	PROPN
fumecheng-94	280	2	.	.	PUNCT
fumecheng-94	281	1	19	19	NUM
fumecheng-94	281	2	pp	pp	NOUN
fumecheng-94	281	3	.	.	PUNCT
fumecheng-94	282	1	36–49	36–49	NUM
fumecheng-94	282	2	.	.	PUNCT
fumecheng-94	283	1	13	13	NUM
fumecheng-94	283	2	.	.	X
fumecheng-94	284	1	pavlović	pavlović	NOUN
fumecheng-94	284	2	,	,	PUNCT
fumecheng-94	284	3	n.d	n.d	PROPN
fumecheng-94	284	4	.	.	PROPN
fumecheng-94	284	5	,	,	PUNCT
fumecheng-94	284	6	pavlović	pavlović	NOUN
fumecheng-94	284	7	,	,	PUNCT
fumecheng-94	284	8	n.t	n.t	PROPN
fumecheng-94	284	9	.	.	PROPN
fumecheng-94	284	10	,	,	PUNCT
fumecheng-94	284	11	2013	2013	NUM
fumecheng-94	284	12	,	,	PUNCT
fumecheng-94	284	13	gipki	gipki	VERB
fumecheng-94	284	14	mehanizmi	mehanizmi	NOUN
fumecheng-94	284	15	,	,	PUNCT
fumecheng-94	285	1	mašinski	mašinski	NOUN
fumecheng-94	285	2	fakultet	fakultet	NOUN
fumecheng-94	286	1	univerziteta	univerziteta	PROPN
fumecheng-94	286	2	u	u	PROPN
fumecheng-94	286	3	nišu	nišu	PROPN
fumecheng-94	286	4	,	,	PUNCT
fumecheng-94	286	5	niš	niš	ADP
fumecheng-94	286	6	,	,	PUNCT
fumecheng-94	286	7	217	217	NUM
fumecheng-94	286	8	p.	p.	NOUN
fumecheng-94	286	9	14	14	NUM
fumecheng-94	286	10	.	.	PUNCT
fumecheng-94	287	1	reeves	reeves	PROPN
fumecheng-94	287	2	,	,	PUNCT
fumecheng-94	287	3	c.r	c.r	PROPN
fumecheng-94	287	4	.	.	PROPN
fumecheng-94	287	5	,	,	PUNCT
fumecheng-94	287	6	rowe	rowe	PROPN
fumecheng-94	287	7	,	,	PUNCT
fumecheng-94	287	8	j.e	j.e	PROPN
fumecheng-94	287	9	.	.	PROPN
fumecheng-94	287	10	,	,	PUNCT
fumecheng-94	287	11	2003	2003	NUM
fumecheng-94	287	12	,	,	PUNCT
fumecheng-94	287	13	genetic	genetic	ADJ
fumecheng-94	287	14	algorithms	algorithm	NOUN
fumecheng-94	287	15	:	:	PUNCT
fumecheng-94	287	16	principles	principle	NOUN
fumecheng-94	287	17	and	and	CCONJ
fumecheng-94	287	18	perspectives	perspective	NOUN
fumecheng-94	287	19	a	a	DET
fumecheng-94	287	20	guide	guide	NOUN
fumecheng-94	287	21	to	to	ADP
fumecheng-94	287	22	ga	ga	PROPN
fumecheng-94	287	23	theory	theory	NOUN
fumecheng-94	287	24	,	,	PUNCT
fumecheng-94	287	25	kluwer	kluwer	PROPN
fumecheng-94	287	26	academic	academic	ADJ
fumecheng-94	287	27	publiskers	publisker	NOUN
fumecheng-94	287	28	,	,	PUNCT
fumecheng-94	287	29	new	new	PROPN
fumecheng-94	287	30	york	york	PROPN
fumecheng-94	287	31	,	,	PUNCT
fumecheng-94	287	32	boston	boston	PROPN
fumecheng-94	287	33	,	,	PUNCT
fumecheng-94	287	34	dordercht	dordercht	PROPN
fumecheng-94	287	35	,	,	PUNCT
fumecheng-94	287	36	london	london	PROPN
fumecheng-94	287	37	,	,	PUNCT
fumecheng-94	287	38	moscow	moscow	PROPN
fumecheng-94	287	39	,	,	PUNCT
fumecheng-94	287	40	319	319	NUM
fumecheng-94	288	1	p.	p.	NOUN
fumecheng-94	288	2	15	15	NUM
fumecheng-94	288	3	.	.	PUNCT
fumecheng-94	289	1	milojević	milojević	PROPN
fumecheng-94	289	2	,	,	PUNCT
fumecheng-94	289	3	a.	a.	NOUN
fumecheng-94	289	4	,	,	PUNCT
fumecheng-94	289	5	pavlović	pavlović	NOUN
fumecheng-94	289	6	,	,	PUNCT
fumecheng-94	289	7	n.d	n.d	PROPN
fumecheng-94	289	8	.	.	PROPN
fumecheng-94	289	9	,	,	PUNCT
fumecheng-94	289	10	milošević	milošević	NOUN
fumecheng-94	289	11	,	,	PUNCT
fumecheng-94	289	12	m.	m.	NOUN
fumecheng-94	289	13	,	,	PUNCT
fumecheng-94	289	14	tomić	tomić	NOUN
fumecheng-94	289	15	,	,	PUNCT
fumecheng-94	289	16	m.	m.	NOUN
fumecheng-94	289	17	,	,	PUNCT
fumecheng-94	289	18	2013	2013	NUM
fumecheng-94	289	19	,	,	PUNCT
fumecheng-94	289	20	new	new	ADJ
fumecheng-94	289	21	software	software	NOUN
fumecheng-94	289	22	for	for	ADP
fumecheng-94	289	23	synthesis	synthesis	NOUN
fumecheng-94	289	24	of	of	ADP
fumecheng-94	289	25	compliant	compliant	ADJ
fumecheng-94	289	26	mechanisms	mechanism	NOUN
fumecheng-94	289	27	,	,	PUNCT
fumecheng-94	289	28	mechanical	mechanical	ADJ
fumecheng-94	289	29	engineering	engineering	NOUN
fumecheng-94	289	30	in	in	ADP
fumecheng-94	289	31	xxi	xxi	ADJ
fumecheng-94	289	32	century	century	NOUN
fumecheng-94	289	33	masing	masing	NOUN
fumecheng-94	289	34	2013	2013	NUM
fumecheng-94	289	35	,	,	PUNCT
fumecheng-94	289	36	faculty	faculty	NOUN
fumecheng-94	289	37	of	of	ADP
fumecheng-94	289	38	mechanical	mechanical	ADJ
fumecheng-94	289	39	engineering	engineering	NOUN
fumecheng-94	289	40	niš	niš	NOUN
fumecheng-94	289	41	,	,	PUNCT
fumecheng-94	289	42	niš	niš	ADP
fumecheng-94	289	43	,	,	PUNCT
fumecheng-94	289	44	273	273	NUM
fumecheng-94	289	45	-	-	SYM
fumecheng-94	289	46	278	278	NUM
fumecheng-94	289	47	pp	pp	NOUN
fumecheng-94	289	48	.	.	PUNCT
fumecheng-94	290	1	softver	softver	PROPN
fumecheng-94	290	2	za	za	PROPN
fumecheng-94	290	3	sintezu	sintezu	VERB
fumecheng-94	290	4	gipkih	gipkih	PROPN
fumecheng-94	290	5	mehanizama	mehanizama	PROPN
fumecheng-94	290	6	bez	bez	PROPN
fumecheng-94	290	7	presečnih	presečnih	PROPN
fumecheng-94	290	8	elemenata	elemenata	PROPN
fumecheng-94	290	9	gipki	gipki	PROPN
fumecheng-94	290	10	mehanizam	mehanizam	PROPN
fumecheng-94	290	11	se	se	PROPN
fumecheng-94	290	12	definiše	definiše	PROPN
fumecheng-94	290	13	kao	kao	PROPN
fumecheng-94	290	14	pokretna	pokretna	PROPN
fumecheng-94	290	15	,	,	PUNCT
fumecheng-94	290	16	materijalno	materijalno	PROPN
fumecheng-94	290	17	koherentna	koherentna	PROPN
fumecheng-94	290	18	struktura	struktura	PROPN
fumecheng-94	290	19	koja	koja	PROPN
fumecheng-94	290	20	može	može	PROPN
fumecheng-94	290	21	da	da	PROPN
fumecheng-94	290	22	prenese	prenese	PROPN
fumecheng-94	290	23	sile	sile	NOUN
fumecheng-94	290	24	i	i	PRON
fumecheng-94	290	25	transformiše	transformiše	ADV
fumecheng-94	290	26	kretanje	kretanje	VERB
fumecheng-94	290	27	samo	samo	X
fumecheng-94	290	28	zahvaljujući	zahvaljujući	X
fumecheng-94	290	29	elastičnoj	elastičnoj	PROPN
fumecheng-94	290	30	deformaciji	deformaciji	NOUN
fumecheng-94	290	31	odgovarajučih	odgovarajučih	PROPN
fumecheng-94	290	32	segmenata	segmenata	PROPN
fumecheng-94	290	33	strukture	strukture	PROPN
fumecheng-94	290	34	.	.	PUNCT
fumecheng-94	291	1	sinteza	sinteza	PROPN
fumecheng-94	291	2	ove	ove	PROPN
fumecheng-94	291	3	vrste	vrste	PROPN
fumecheng-94	291	4	mehanizama	mehanizama	PROPN
fumecheng-94	291	5	predstavlja	predstavlja	NOUN
fumecheng-94	291	6	izazovan	izazovan	NOUN
fumecheng-94	291	7	zadatak	zadatak	PROPN
fumecheng-94	291	8	,	,	PUNCT
fumecheng-94	291	9	posebno	posebno	PROPN
fumecheng-94	291	10	zato	zato	PROPN
fumecheng-94	291	11	što	što	PROPN
fumecheng-94	291	12	su	su	PROPN
fumecheng-94	291	13	njihovi	njihovi	PROPN
fumecheng-94	291	14	elastični	elastični	PROPN
fumecheng-94	291	15	segmenti	segmenti	PROPN
fumecheng-94	291	16	često	često	PROPN
fumecheng-94	291	17	izloženi	izloženi	PROPN
fumecheng-94	291	18	velikim	velikim	PROPN
fumecheng-94	291	19	,	,	PUNCT
fumecheng-94	291	20	nelinearnim	nelinearnim	PROPN
fumecheng-94	291	21	deformacijama	deformacijama	PROPN
fumecheng-94	291	22	što	što	PROPN
fumecheng-94	291	23	zahteva	zahteva	PROPN
fumecheng-94	291	24	znatno	znatno	PROPN
fumecheng-94	291	25	težu	težu	PROPN
fumecheng-94	291	26	,	,	PUNCT
fumecheng-94	291	27	nelinearnu	nelinearnu	PROPN
fumecheng-94	291	28	analizu	analizu	PROPN
fumecheng-94	291	29	.	.	PUNCT
fumecheng-94	292	1	kada	kada	PROPN
fumecheng-94	292	2	projektant	projektant	PROPN
fumecheng-94	292	3	nema	nema	PROPN
fumecheng-94	292	4	unapred	unapred	PROPN
fumecheng-94	292	5	osmišljenu	osmišljenu	PROPN
fumecheng-94	292	6	formu	formu	PROPN
fumecheng-94	292	7	gipkog	gipkog	AUX
fumecheng-94	292	8	mehanizma	mehanizma	PROPN
fumecheng-94	292	9	za	za	PROPN
fumecheng-94	292	10	sintezu	sintezu	PROPN
fumecheng-94	292	11	se	se	PROPN
fumecheng-94	292	12	uobičajeno	uobičajeno	PROPN
fumecheng-94	292	13	koriste	koriste	PROPN
fumecheng-94	292	14	postupci	postupci	ADJ
fumecheng-94	292	15	optimizacije	optimizacije	NOUN
fumecheng-94	292	16	topologije	topologije	NOUN
fumecheng-94	292	17	.	.	PUNCT
fumecheng-94	293	1	preseci	preseci	ADJ
fumecheng-94	293	2	elemenata	elemenata	NOUN
fumecheng-94	293	3	,	,	PUNCT
fumecheng-94	293	4	koji	koji	PROPN
fumecheng-94	293	5	postoje	postoje	PROPN
fumecheng-94	293	6	u	u	PROPN
fumecheng-94	293	7	gipkim	gipkim	PROPN
fumecheng-94	293	8	mehanizmima	mehanizmima	PROPN
fumecheng-94	293	9	dobijenim	dobijenim	PROPN
fumecheng-94	293	10	primenom	primenom	PROPN
fumecheng-94	293	11	postojećeg	postojećeg	NOUN
fumecheng-94	293	12	postupka	postupka	PROPN
fumecheng-94	293	13	optimizacije	optimizacije	NOUN
fumecheng-94	293	14	topologije	topologije	NOUN
fumecheng-94	293	15	,	,	PUNCT
fumecheng-94	293	16	često	često	ADJ
fumecheng-94	293	17	povećavaju	povećavaju	PROPN
fumecheng-94	293	18	krutost	krutost	PROPN
fumecheng-94	293	19	strukture	strukture	PROPN
fumecheng-94	293	20	koja	koja	PROPN
fumecheng-94	293	21	mora	mora	PROPN
fumecheng-94	293	22	biti	biti	PROPN
fumecheng-94	293	23	dovoljno	dovoljno	PROPN
fumecheng-94	293	24	elastična	elastična	PROPN
fumecheng-94	293	25	.	.	PUNCT
fumecheng-94	294	1	u	u	PROPN
fumecheng-94	294	2	ovom	ovom	PROPN
fumecheng-94	294	3	radu	radu	PROPN
fumecheng-94	294	4	je	je	PROPN
fumecheng-94	294	5	predstavljen	predstavljen	PROPN
fumecheng-94	294	6	novi	novi	PROPN
fumecheng-94	294	7	softver	softver	PROPN
fumecheng-94	294	8	za	za	PROPN
fumecheng-94	294	9	sintezu	sintezu	VERB
fumecheng-94	294	10	gipkih	gipkih	PROPN
fumecheng-94	294	11	mehanizama	mehanizama	PROPN
fumecheng-94	294	12	koji	koji	PROPN
fumecheng-94	294	13	unapređuje	unapređuje	PROPN
fumecheng-94	294	14	aktuelne	aktuelne	PROPN
fumecheng-94	294	15	postupke	postupke	NOUN
fumecheng-94	294	16	optimizacije	optimizacije	NOUN
fumecheng-94	294	17	topologije	topologije	NOUN
fumecheng-94	294	18	time	time	PROPN
fumecheng-94	294	19	što	što	PROPN
fumecheng-94	294	20	eliminiše	eliminiše	PROPN
fumecheng-94	294	21	presečne	presečne	VERB
fumecheng-94	294	22	elemente	elemente	PROPN
fumecheng-94	294	23	odgovarajućih	odgovarajućih	PROPN
fumecheng-94	294	24	segmenata	segmenata	PROPN
fumecheng-94	294	25	gipkog	gipkog	NOUN
fumecheng-94	294	26	mehanizma	mehanizma	PROPN
fumecheng-94	294	27	.	.	PUNCT
fumecheng-94	295	1	metodologija	metodologija	PROPN
fumecheng-94	295	2	koju	koju	PROPN
fumecheng-94	295	3	softver	softver	PROPN
fumecheng-94	295	4	koristi	koristi	PROPN
fumecheng-94	295	5	i	i	PRON
fumecheng-94	295	6	njegove	njegove	VERB
fumecheng-94	295	7	mogućnosti	mogućnosti	NOUN
fumecheng-94	295	8	predstavljeni	predstavljeni	PROPN
fumecheng-94	295	9	su	su	PROPN
fumecheng-94	295	10	na	na	AUX
fumecheng-94	295	11	primeru	primeru	PROPN
fumecheng-94	295	12	sinteze	sinteze	NOUN
fumecheng-94	295	13	gipkog	gipkog	PROPN
fumecheng-94	295	14	hvatača	hvatača	PROPN
fumecheng-94	296	1	i	i	PRON
fumecheng-94	296	2	gipkog	gipkog	VERB
fumecheng-94	296	3	invertora	invertora	PROPN
fumecheng-94	296	4	pomeranja	pomeranja	NOUN
fumecheng-94	296	5	.	.	PUNCT
fumecheng-94	297	1	ključne	ključne	PROPN
fumecheng-94	297	2	reči	reči	NOUN
fumecheng-94	297	3	:	:	PUNCT
fumecheng-94	297	4	gipki	gipki	PROPN
fumecheng-94	297	5	mehanizam	mehanizam	PROPN
fumecheng-94	297	6	,	,	PUNCT
fumecheng-94	297	7	sinteza	sinteza	PROPN
fumecheng-94	297	8	,	,	PUNCT
fumecheng-94	297	9	optimizacija	optimizacija	ADJ
fumecheng-94	297	10	topologije	topologije	NOUN
fumecheng-94	297	11	,	,	PUNCT
fumecheng-94	297	12	gipki	gipki	NOUN
fumecheng-94	297	13	hvatač	hvatač	VERB
fumecheng-94	297	14	,	,	PUNCT
fumecheng-94	297	15	gipki	gipki	NOUN
fumecheng-94	297	16	invertor	invertor	NOUN
fumecheng-94	297	17	pomeranja	pomeranja	NOUN