id	sid	tid	token	lemma	pos
x920ft86t1b	1	1	this	this	DET
x920ft86t1b	1	2	work	work	NOUN
x920ft86t1b	1	3	presents	present	VERB
x920ft86t1b	1	4	a	a	DET
x920ft86t1b	1	5	systematic	systematic	ADJ
x920ft86t1b	1	6	framework	framework	NOUN
x920ft86t1b	1	7	to	to	PART
x920ft86t1b	1	8	synthesize	synthesize	VERB
x920ft86t1b	1	9	planar	planar	ADJ
x920ft86t1b	1	10	mechanisms	mechanism	NOUN
x920ft86t1b	1	11	capable	capable	ADJ
x920ft86t1b	1	12	of	of	ADP
x920ft86t1b	1	13	approximating	approximate	VERB
x920ft86t1b	1	14	a	a	DET
x920ft86t1b	1	15	shape	shape	NOUN
x920ft86t1b	1	16	change	change	NOUN
x920ft86t1b	1	17	defined	define	VERB
x920ft86t1b	1	18	by	by	ADP
x920ft86t1b	1	19	a	a	DET
x920ft86t1b	1	20	set	set	NOUN
x920ft86t1b	1	21	of	of	ADP
x920ft86t1b	1	22	morphing	morph	VERB
x920ft86t1b	1	23	curves	curve	NOUN
x920ft86t1b	1	24	in	in	ADP
x920ft86t1b	1	25	different	different	ADJ
x920ft86t1b	1	26	positions	position	NOUN
x920ft86t1b	1	27	.	.	PUNCT
x920ft86t1b	2	1	the	the	DET
x920ft86t1b	2	2	framework	framework	NOUN
x920ft86t1b	2	3	starts	start	VERB
x920ft86t1b	2	4	with	with	ADP
x920ft86t1b	2	5	a	a	DET
x920ft86t1b	2	6	procedure	procedure	NOUN
x920ft86t1b	2	7	to	to	PART
x920ft86t1b	2	8	design	design	VERB
x920ft86t1b	2	9	rigid	rigid	ADJ
x920ft86t1b	2	10	-	-	PUNCT
x920ft86t1b	2	11	body	body	NOUN
x920ft86t1b	2	12	shape	shape	NOUN
x920ft86t1b	2	13	-	-	PUNCT
x920ft86t1b	2	14	changing	change	VERB
x920ft86t1b	2	15	mechanisms	mechanism	NOUN
x920ft86t1b	2	16	,	,	PUNCT
x920ft86t1b	2	17	which	which	PRON
x920ft86t1b	2	18	is	be	AUX
x920ft86t1b	2	19	an	an	DET
x920ft86t1b	2	20	extension	extension	NOUN
x920ft86t1b	2	21	of	of	ADP
x920ft86t1b	2	22	the	the	DET
x920ft86t1b	2	23	existing	exist	VERB
x920ft86t1b	2	24	synthesis	synthesis	NOUN
x920ft86t1b	2	25	approach	approach	NOUN
x920ft86t1b	2	26	that	that	PRON
x920ft86t1b	2	27	includes	include	VERB
x920ft86t1b	2	28	the	the	DET
x920ft86t1b	2	29	segmentation	segmentation	NOUN
x920ft86t1b	2	30	and	and	CCONJ
x920ft86t1b	2	31	mechanization	mechanization	NOUN
x920ft86t1b	2	32	processes	process	NOUN
x920ft86t1b	2	33	.	.	PUNCT
x920ft86t1b	3	1	the	the	DET
x920ft86t1b	3	2	mechanization	mechanization	NOUN
x920ft86t1b	3	3	process	process	NOUN
x920ft86t1b	3	4	is	be	AUX
x920ft86t1b	3	5	reformulated	reformulate	VERB
x920ft86t1b	3	6	so	so	SCONJ
x920ft86t1b	3	7	that	that	SCONJ
x920ft86t1b	3	8	a	a	DET
x920ft86t1b	3	9	group	group	NOUN
x920ft86t1b	3	10	of	of	ADP
x920ft86t1b	3	11	single	single	ADJ
x920ft86t1b	3	12	degree	degree	NOUN
x920ft86t1b	3	13	-	-	PUNCT
x920ft86t1b	3	14	of	of	ADP
x920ft86t1b	3	15	-	-	PUNCT
x920ft86t1b	3	16	freedom	freedom	NOUN
x920ft86t1b	3	17	solution	solution	NOUN
x920ft86t1b	3	18	mechanisms	mechanism	NOUN
x920ft86t1b	3	19	that	that	PRON
x920ft86t1b	3	20	trade	trade	VERB
x920ft86t1b	3	21	off	off	ADP
x920ft86t1b	3	22	minimizing	minimize	VERB
x920ft86t1b	3	23	matching	matching	NOUN
x920ft86t1b	3	24	error	error	NOUN
x920ft86t1b	3	25	with	with	ADP
x920ft86t1b	3	26	maximizing	maximize	VERB
x920ft86t1b	3	27	mechanical	mechanical	ADJ
x920ft86t1b	3	28	advantage	advantage	NOUN
x920ft86t1b	3	29	can	can	AUX
x920ft86t1b	3	30	be	be	AUX
x920ft86t1b	3	31	found	find	VERB
x920ft86t1b	3	32	efficiently	efficiently	ADV
x920ft86t1b	3	33	from	from	ADP
x920ft86t1b	3	34	a	a	DET
x920ft86t1b	3	35	genetic	genetic	ADJ
x920ft86t1b	3	36	algorithm	algorithm	NOUN
x920ft86t1b	3	37	(	(	PUNCT
x920ft86t1b	3	38	ga	ga	PROPN
x920ft86t1b	3	39	)	)	PUNCT
x920ft86t1b	3	40	optimization	optimization	NOUN
x920ft86t1b	3	41	.	.	PUNCT
x920ft86t1b	4	1	this	this	DET
x920ft86t1b	4	2	rigid	rigid	ADJ
x920ft86t1b	4	3	-	-	PUNCT
x920ft86t1b	4	4	body	body	NOUN
x920ft86t1b	4	5	synthesis	synthesis	NOUN
x920ft86t1b	4	6	procedure	procedure	NOUN
x920ft86t1b	4	7	can	can	AUX
x920ft86t1b	4	8	be	be	AUX
x920ft86t1b	4	9	extended	extend	VERB
x920ft86t1b	4	10	to	to	PART
x920ft86t1b	4	11	generate	generate	VERB
x920ft86t1b	4	12	partially	partially	ADV
x920ft86t1b	4	13	compliant	compliant	ADJ
x920ft86t1b	4	14	shape	shape	NOUN
x920ft86t1b	4	15	-	-	PUNCT
x920ft86t1b	4	16	changing	change	VERB
x920ft86t1b	4	17	mechanisms	mechanism	NOUN
x920ft86t1b	4	18	by	by	ADP
x920ft86t1b	4	19	including	include	VERB
x920ft86t1b	4	20	two	two	NUM
x920ft86t1b	4	21	pseudo	pseudo	ADJ
x920ft86t1b	4	22	-	-	ADJ
x920ft86t1b	4	23	rigid	rigid	ADJ
x920ft86t1b	4	24	-	-	PUNCT
x920ft86t1b	4	25	body	body	NOUN
x920ft86t1b	4	26	(	(	PUNCT
x920ft86t1b	4	27	prb	prb	NOUN
x920ft86t1b	4	28	)	)	PUNCT
x920ft86t1b	4	29	models	model	NOUN
x920ft86t1b	4	30	:	:	PUNCT
x920ft86t1b	4	31	flexural	flexural	ADJ
x920ft86t1b	4	32	pivots	pivot	NOUN
x920ft86t1b	4	33	and	and	CCONJ
x920ft86t1b	4	34	flexible	flexible	ADJ
x920ft86t1b	4	35	beams	beam	NOUN
x920ft86t1b	4	36	.	.	PUNCT
x920ft86t1b	5	1	since	since	SCONJ
x920ft86t1b	5	2	the	the	DET
x920ft86t1b	5	3	simplified	simplified	ADJ
x920ft86t1b	5	4	prb	prb	NOUN
x920ft86t1b	5	5	beam	beam	NOUN
x920ft86t1b	5	6	model	model	NOUN
x920ft86t1b	5	7	is	be	AUX
x920ft86t1b	5	8	not	not	PART
x920ft86t1b	5	9	accurate	accurate	ADJ
x920ft86t1b	5	10	,	,	PUNCT
x920ft86t1b	5	11	an	an	DET
x920ft86t1b	5	12	independent	independent	ADJ
x920ft86t1b	5	13	optimization	optimization	NOUN
x920ft86t1b	5	14	loop	loop	NOUN
x920ft86t1b	5	15	is	be	AUX
x920ft86t1b	5	16	established	establish	VERB
x920ft86t1b	5	17	to	to	PART
x920ft86t1b	5	18	redefine	redefine	VERB
x920ft86t1b	5	19	flexible	flexible	ADJ
x920ft86t1b	5	20	beams	beam	NOUN
x920ft86t1b	5	21	of	of	ADP
x920ft86t1b	5	22	the	the	DET
x920ft86t1b	5	23	partially	partially	ADV
x920ft86t1b	5	24	compliant	compliant	ADJ
x920ft86t1b	5	25	solution	solution	NOUN
x920ft86t1b	5	26	mechanism	mechanism	NOUN
x920ft86t1b	5	27	using	use	VERB
x920ft86t1b	5	28	a	a	DET
x920ft86t1b	5	29	finite	finite	ADJ
x920ft86t1b	5	30	link	link	NOUN
x920ft86t1b	5	31	beam	beam	NOUN
x920ft86t1b	5	32	model	model	NOUN
x920ft86t1b	5	33	.	.	PUNCT
x920ft86t1b	6	1	partially	partially	ADV
x920ft86t1b	6	2	compliant	compliant	ADJ
x920ft86t1b	6	3	mechanisms	mechanism	NOUN
x920ft86t1b	6	4	can	can	AUX
x920ft86t1b	6	5	only	only	ADV
x920ft86t1b	6	6	generate	generate	VERB
x920ft86t1b	6	7	relatively	relatively	ADV
x920ft86t1b	6	8	small	small	ADJ
x920ft86t1b	6	9	-	-	PUNCT
x920ft86t1b	6	10	scale	scale	NOUN
x920ft86t1b	6	11	shape	shape	NOUN
x920ft86t1b	6	12	change	change	NOUN
x920ft86t1b	6	13	due	due	ADP
x920ft86t1b	6	14	to	to	ADP
x920ft86t1b	6	15	stress	stress	NOUN
x920ft86t1b	6	16	concentrations	concentration	NOUN
x920ft86t1b	6	17	.	.	PUNCT
x920ft86t1b	7	1	to	to	PART
x920ft86t1b	7	2	achieve	achieve	VERB
x920ft86t1b	7	3	larger	large	ADJ
x920ft86t1b	7	4	ranges	range	NOUN
x920ft86t1b	7	5	of	of	ADP
x920ft86t1b	7	6	motion	motion	NOUN
x920ft86t1b	7	7	,	,	PUNCT
x920ft86t1b	7	8	fully	fully	ADV
x920ft86t1b	7	9	distributed	distribute	VERB
x920ft86t1b	7	10	compliant	compliant	ADJ
x920ft86t1b	7	11	mechanisms	mechanism	NOUN
x920ft86t1b	7	12	are	be	AUX
x920ft86t1b	7	13	synthesized	synthesize	VERB
x920ft86t1b	7	14	using	use	VERB
x920ft86t1b	7	15	the	the	DET
x920ft86t1b	7	16	structural	structural	ADJ
x920ft86t1b	7	17	optimization	optimization	NOUN
x920ft86t1b	7	18	approach	approach	NOUN
x920ft86t1b	7	19	.	.	PUNCT
x920ft86t1b	8	1	for	for	ADP
x920ft86t1b	8	2	a	a	DET
x920ft86t1b	8	3	shape	shape	NOUN
x920ft86t1b	8	4	-	-	PUNCT
x920ft86t1b	8	5	change	change	NOUN
x920ft86t1b	8	6	problem	problem	NOUN
x920ft86t1b	8	7	,	,	PUNCT
x920ft86t1b	8	8	the	the	DET
x920ft86t1b	8	9	rigid	rigid	ADJ
x920ft86t1b	8	10	-	-	PUNCT
x920ft86t1b	8	11	body	body	NOUN
x920ft86t1b	8	12	solution	solution	NOUN
x920ft86t1b	8	13	's	's	PART
x920ft86t1b	8	14	base	base	NOUN
x920ft86t1b	8	15	topology	topology	NOUN
x920ft86t1b	8	16	is	be	AUX
x920ft86t1b	8	17	utilized	utilize	VERB
x920ft86t1b	8	18	to	to	PART
x920ft86t1b	8	19	provide	provide	VERB
x920ft86t1b	8	20	new	new	ADJ
x920ft86t1b	8	21	insight	insight	NOUN
x920ft86t1b	8	22	into	into	ADP
x920ft86t1b	8	23	the	the	DET
x920ft86t1b	8	24	topological	topological	ADJ
x920ft86t1b	8	25	complexity	complexity	NOUN
x920ft86t1b	8	26	required	require	VERB
x920ft86t1b	8	27	for	for	ADP
x920ft86t1b	8	28	the	the	DET
x920ft86t1b	8	29	structural	structural	ADJ
x920ft86t1b	8	30	optimization	optimization	NOUN
x920ft86t1b	8	31	.	.	PUNCT
x920ft86t1b	9	1	the	the	DET
x920ft86t1b	9	2	base	base	NOUN
x920ft86t1b	9	3	topology	topology	NOUN
x920ft86t1b	9	4	is	be	AUX
x920ft86t1b	9	5	either	either	CCONJ
x920ft86t1b	9	6	directly	directly	ADV
x920ft86t1b	9	7	evaluated	evaluate	VERB
x920ft86t1b	9	8	via	via	ADP
x920ft86t1b	9	9	dimensional	dimensional	ADJ
x920ft86t1b	9	10	synthesis	synthesis	NOUN
x920ft86t1b	9	11	or	or	CCONJ
x920ft86t1b	9	12	else	else	ADV
x920ft86t1b	9	13	used	use	VERB
x920ft86t1b	9	14	to	to	PART
x920ft86t1b	9	15	define	define	VERB
x920ft86t1b	9	16	an	an	DET
x920ft86t1b	9	17	initial	initial	ADJ
x920ft86t1b	9	18	mesh	mesh	NOUN
x920ft86t1b	9	19	network	network	NOUN
x920ft86t1b	9	20	for	for	ADP
x920ft86t1b	9	21	an	an	DET
x920ft86t1b	9	22	optimization	optimization	NOUN
x920ft86t1b	9	23	to	to	PART
x920ft86t1b	9	24	find	find	VERB
x920ft86t1b	9	25	topologies	topology	NOUN
x920ft86t1b	9	26	and	and	CCONJ
x920ft86t1b	9	27	dimensions	dimension	NOUN
x920ft86t1b	9	28	simultaneously	simultaneously	ADV
x920ft86t1b	9	29	.	.	PUNCT
x920ft86t1b	10	1	simple	simple	ADJ
x920ft86t1b	10	2	but	but	CCONJ
x920ft86t1b	10	3	viable	viable	ADJ
x920ft86t1b	10	4	distributed	distribute	VERB
x920ft86t1b	10	5	compliant	compliant	ADJ
x920ft86t1b	10	6	shape	shape	NOUN
x920ft86t1b	10	7	-	-	PUNCT
x920ft86t1b	10	8	changing	change	VERB
x920ft86t1b	10	9	designs	design	NOUN
x920ft86t1b	10	10	can	can	AUX
x920ft86t1b	10	11	be	be	AUX
x920ft86t1b	10	12	obtained	obtain	VERB
x920ft86t1b	10	13	,	,	PUNCT
x920ft86t1b	10	14	which	which	PRON
x920ft86t1b	10	15	shows	show	VERB
x920ft86t1b	10	16	that	that	SCONJ
x920ft86t1b	10	17	a	a	DET
x920ft86t1b	10	18	thorough	thorough	ADJ
x920ft86t1b	10	19	search	search	NOUN
x920ft86t1b	10	20	within	within	ADP
x920ft86t1b	10	21	the	the	DET
x920ft86t1b	10	22	preselected	preselecte	VERB
x920ft86t1b	10	23	design	design	NOUN
x920ft86t1b	10	24	space	space	NOUN
x920ft86t1b	10	25	defined	define	VERB
x920ft86t1b	10	26	by	by	ADP
x920ft86t1b	10	27	the	the	DET
x920ft86t1b	10	28	base	base	NOUN
x920ft86t1b	10	29	topology	topology	NOUN
x920ft86t1b	10	30	typically	typically	ADV
x920ft86t1b	10	31	leads	lead	VERB
x920ft86t1b	10	32	to	to	ADP
x920ft86t1b	10	33	a	a	DET
x920ft86t1b	10	34	superior	superior	ADJ
x920ft86t1b	10	35	local	local	ADJ
x920ft86t1b	10	36	minimum	minimum	NOUN
x920ft86t1b	10	37	.	.	PUNCT
x920ft86t1b	11	1	this	this	DET
x920ft86t1b	11	2	same	same	ADJ
x920ft86t1b	11	3	idea	idea	NOUN
x920ft86t1b	11	4	is	be	AUX
x920ft86t1b	11	5	also	also	ADV
x920ft86t1b	11	6	applied	apply	VERB
x920ft86t1b	11	7	to	to	ADP
x920ft86t1b	11	8	the	the	DET
x920ft86t1b	11	9	design	design	NOUN
x920ft86t1b	11	10	of	of	ADP
x920ft86t1b	11	11	path	path	NOUN
x920ft86t1b	11	12	generating	generate	VERB
x920ft86t1b	11	13	compliant	compliant	ADJ
x920ft86t1b	11	14	mechanisms	mechanism	NOUN
x920ft86t1b	11	15	whose	whose	DET
x920ft86t1b	11	16	complete	complete	ADJ
x920ft86t1b	11	17	output	output	NOUN
x920ft86t1b	11	18	paths	path	NOUN
x920ft86t1b	11	19	are	be	AUX
x920ft86t1b	11	20	examined	examine	VERB
x920ft86t1b	11	21	within	within	ADP
x920ft86t1b	11	22	a	a	DET
x920ft86t1b	11	23	two	two	NUM
x920ft86t1b	11	24	-	-	PUNCT
x920ft86t1b	11	25	objective	objective	NOUN
x920ft86t1b	11	26	ga	ga	NOUN
x920ft86t1b	11	27	.	.	PUNCT