id	sid	tid	token	lemma	pos
1j92g73466z	1	1	a	a	DET
1j92g73466z	1	2	methodology	methodology	NOUN
1j92g73466z	1	3	was	be	AUX
1j92g73466z	1	4	developed	develop	VERB
1j92g73466z	1	5	herein	herein	ADV
1j92g73466z	1	6	to	to	PART
1j92g73466z	1	7	characterize	characterize	VERB
1j92g73466z	1	8	the	the	DET
1j92g73466z	1	9	performance	performance	NOUN
1j92g73466z	1	10	limitations	limitation	NOUN
1j92g73466z	1	11	imposed	impose	VERB
1j92g73466z	1	12	by	by	ADP
1j92g73466z	1	13	the	the	DET
1j92g73466z	1	14	yielding	yielding	NOUN
1j92g73466z	1	15	of	of	ADP
1j92g73466z	1	16	the	the	DET
1j92g73466z	1	17	cables	cable	NOUN
1j92g73466z	1	18	in	in	ADP
1j92g73466z	1	19	a	a	DET
1j92g73466z	1	20	planar	planar	ADJ
1j92g73466z	1	21	robotic	robotic	ADJ
1j92g73466z	1	22	mechanism	mechanism	NOUN
1j92g73466z	1	23	with	with	ADP
1j92g73466z	1	24	a	a	DET
1j92g73466z	1	25	cable	cable	NOUN
1j92g73466z	1	26	-	-	PUNCT
1j92g73466z	1	27	driven	drive	VERB
1j92g73466z	1	28	transmission	transmission	NOUN
1j92g73466z	1	29	.	.	PUNCT
1j92g73466z	2	1	the	the	DET
1j92g73466z	2	2	planar	planar	ADJ
1j92g73466z	2	3	robotic	robotic	ADJ
1j92g73466z	2	4	mechanism	mechanism	NOUN
1j92g73466z	2	5	was	be	AUX
1j92g73466z	2	6	first	first	ADV
1j92g73466z	2	7	presented	present	VERB
1j92g73466z	2	8	and	and	CCONJ
1j92g73466z	2	9	the	the	DET
1j92g73466z	2	10	kinematic	kinematic	ADJ
1j92g73466z	2	11	coupling	coupling	NOUN
1j92g73466z	2	12	between	between	ADP
1j92g73466z	2	13	links	link	NOUN
1j92g73466z	2	14	due	due	ADP
1j92g73466z	2	15	to	to	ADP
1j92g73466z	2	16	the	the	DET
1j92g73466z	2	17	cable	cable	NOUN
1j92g73466z	2	18	-	-	PUNCT
1j92g73466z	2	19	drives	drive	NOUN
1j92g73466z	2	20	was	be	AUX
1j92g73466z	2	21	investigated	investigate	VERB
1j92g73466z	2	22	.	.	PUNCT
1j92g73466z	3	1	this	this	DET
1j92g73466z	3	2	method	method	NOUN
1j92g73466z	3	3	involved	involve	VERB
1j92g73466z	3	4	a	a	DET
1j92g73466z	3	5	model	model	NOUN
1j92g73466z	3	6	of	of	ADP
1j92g73466z	3	7	the	the	DET
1j92g73466z	3	8	cable	cable	NOUN
1j92g73466z	3	9	tensions	tension	NOUN
1j92g73466z	3	10	based	base	VERB
1j92g73466z	3	11	on	on	ADP
1j92g73466z	3	12	a	a	DET
1j92g73466z	3	13	rigid	rigid	ADJ
1j92g73466z	3	14	-	-	PUNCT
1j92g73466z	3	15	body	body	NOUN
1j92g73466z	3	16	model	model	NOUN
1j92g73466z	3	17	of	of	ADP
1j92g73466z	3	18	the	the	DET
1j92g73466z	3	19	system	system	NOUN
1j92g73466z	3	20	,	,	PUNCT
1j92g73466z	3	21	where	where	SCONJ
1j92g73466z	3	22	the	the	DET
1j92g73466z	3	23	tensions	tension	NOUN
1j92g73466z	3	24	are	be	AUX
1j92g73466z	3	25	considered	consider	VERB
1j92g73466z	3	26	as	as	ADP
1j92g73466z	3	27	reaction	reaction	NOUN
1j92g73466z	3	28	forces	force	NOUN
1j92g73466z	3	29	.	.	PUNCT
1j92g73466z	4	1	the	the	DET
1j92g73466z	4	2	model	model	NOUN
1j92g73466z	4	3	allowed	allow	VERB
1j92g73466z	4	4	for	for	ADP
1j92g73466z	4	5	analysis	analysis	NOUN
1j92g73466z	4	6	of	of	ADP
1j92g73466z	4	7	the	the	DET
1j92g73466z	4	8	tensions	tension	NOUN
1j92g73466z	4	9	in	in	ADP
1j92g73466z	4	10	a	a	DET
1j92g73466z	4	11	manner	manner	NOUN
1j92g73466z	4	12	similar	similar	ADJ
1j92g73466z	4	13	to	to	ADP
1j92g73466z	4	14	that	that	PRON
1j92g73466z	4	15	of	of	ADP
1j92g73466z	4	16	a	a	DET
1j92g73466z	4	17	recently	recently	ADV
1j92g73466z	4	18	developed	develop	VERB
1j92g73466z	4	19	characterization	characterization	NOUN
1j92g73466z	4	20	called	call	VERB
1j92g73466z	4	21	the	the	DET
1j92g73466z	4	22	dynamic	dynamic	ADJ
1j92g73466z	4	23	capability	capability	NOUN
1j92g73466z	4	24	hypersurface	hypersurface	NOUN
1j92g73466z	4	25	.	.	PUNCT
1j92g73466z	5	1	in	in	ADP
1j92g73466z	5	2	effect	effect	NOUN
1j92g73466z	5	3	the	the	DET
1j92g73466z	5	4	limitations	limitation	NOUN
1j92g73466z	5	5	on	on	ADP
1j92g73466z	5	6	dynamic	dynamic	ADJ
1j92g73466z	5	7	performance	performance	NOUN
1j92g73466z	5	8	caused	cause	VERB
1j92g73466z	5	9	by	by	ADP
1j92g73466z	5	10	cable	cable	NOUN
1j92g73466z	5	11	yielding	yielding	NOUN
1j92g73466z	5	12	were	be	AUX
1j92g73466z	5	13	added	add	VERB
1j92g73466z	5	14	to	to	ADP
1j92g73466z	5	15	the	the	DET
1j92g73466z	5	16	limitations	limitation	NOUN
1j92g73466z	5	17	caused	cause	VERB
1j92g73466z	5	18	by	by	ADP
1j92g73466z	5	19	the	the	DET
1j92g73466z	5	20	bounds	bound	NOUN
1j92g73466z	5	21	on	on	ADP
1j92g73466z	5	22	actuator	actuator	NOUN
1j92g73466z	5	23	torque	torque	NOUN
1j92g73466z	5	24	capacity	capacity	NOUN
1j92g73466z	5	25	,	,	PUNCT
1j92g73466z	5	26	in	in	ADP
1j92g73466z	5	27	order	order	NOUN
1j92g73466z	5	28	to	to	PART
1j92g73466z	5	29	give	give	VERB
1j92g73466z	5	30	a	a	DET
1j92g73466z	5	31	more	more	ADV
1j92g73466z	5	32	comprehensive	comprehensive	ADJ
1j92g73466z	5	33	description	description	NOUN
1j92g73466z	5	34	of	of	ADP
1j92g73466z	5	35	the	the	DET
1j92g73466z	5	36	capabilities	capability	NOUN
1j92g73466z	5	37	of	of	ADP
1j92g73466z	5	38	the	the	DET
1j92g73466z	5	39	cable	cable	NOUN
1j92g73466z	5	40	-	-	PUNCT
1j92g73466z	5	41	driven	drive	VERB
1j92g73466z	5	42	system	system	NOUN
1j92g73466z	5	43	.	.	PUNCT
1j92g73466z	6	1	a	a	DET
1j92g73466z	6	2	two	two	NUM
1j92g73466z	6	3	degree	degree	NOUN
1j92g73466z	6	4	-	-	PUNCT
1j92g73466z	6	5	of	of	ADP
1j92g73466z	6	6	-	-	PUNCT
1j92g73466z	6	7	freedom	freedom	NOUN
1j92g73466z	6	8	mechanism	mechanism	NOUN
1j92g73466z	6	9	was	be	AUX
1j92g73466z	6	10	analyzed	analyze	VERB
1j92g73466z	6	11	in	in	ADP
1j92g73466z	6	12	order	order	NOUN
1j92g73466z	6	13	to	to	PART
1j92g73466z	6	14	illustrate	illustrate	VERB
1j92g73466z	6	15	the	the	DET
1j92g73466z	6	16	methodology	methodology	NOUN
1j92g73466z	6	17	.	.	PUNCT
1j92g73466z	7	1	the	the	DET
1j92g73466z	7	2	effect	effect	NOUN
1j92g73466z	7	3	of	of	ADP
1j92g73466z	7	4	pulley	pulley	ADJ
1j92g73466z	7	5	radius	radius	NOUN
1j92g73466z	7	6	was	be	AUX
1j92g73466z	7	7	also	also	ADV
1j92g73466z	7	8	studied	study	VERB
1j92g73466z	7	9	.	.	PUNCT