<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
<Mechanism xmlns="http://www.dmg-lib.org/mechanism" dmglib_MecID="0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.dmg-lib.org/mechanism http://dmg-lib.org/dmglib/schemas/mechanism.xsd">

  <Shapes xmlns="http://www.dmg-lib.org/shapes">
    <Shape id="SwivelJoint.2D.fixed" scale="0.02">
      <Line id="SwivelJoint.2D.fixed..line1" x1="-0.75" x2="-1.75" y1="-0.75" y2="-3"/>
      <Line id="SwivelJoint.2D.fixed..line2" x1="0.75" x2="1.75" y1="-0.75" y2="-3"/>
      <Line id="SwivelJoint.2D.fixed..line3" x1="-2.5" x2="2.5" y1="-3" y2="-3"/>
      <Line id="SwivelJoint.2D.fixed..line4" x1="-2.25" x2="-0.75" y1="-3" y2="-4.25"/>
      <Line id="SwivelJoint.2D.fixed..line5" x1="-1.125" x2="0.375" y1="-3" y2="-4.25"/>
      <Line id="SwivelJoint.2D.fixed..line6" x1="0" x2="1.5" y1="-3" y2="-4.25"/>
      <Line id="SwivelJoint.2D.fixed..line7" x1="1.125" x2="2.625" y1="-3" y2="-4.25"/>
      <Line id="SwivelJoint.2D.fixed..line8" x1="2.25" x2="3.75" y1="-3" y2="-4.25"/>
      <Circle cx="0" cy="0" filled="false" id="SwivelJoint.2D.fixed..circle" radius="1"/>
    </Shape>
    <Shape id="SwivelJoint.3D">
      <Cylinder height="0.1" id="SwivelJoint.3D..cyl" location="xy" origin="0,0,-0.05" radius="0.0125"/>
    </Shape>
    <Shape id="SwivelJoint.2D.normal" scale="0.02">
      <Circle cx="0" cy="0" filled="false" id="SwivelJoint.2D.normal..circle" radius="1"/>
    </Shape>
    <Shape id="Bar.2D.normal">
      <Line id="Bar.2D.normal..line" x1="0" x2="1" y1="0" y2="0"/>
      
      <![CDATA[
      function transform(sx,sy)
      {
          line.x1 = line.x1 * sx;
          line.y1 = line.y1 * sy;
          line.x2 = line.x2 * sx;
          line.y2 = line.y2 * sy;
      }
]]>
    </Shape>
    <Shape id="Bar.3D">
      <Cylinder height="0.05" id="Bar.3D..cyl1" location="xy" origin="0,0,-0.025" radius="0.025"/>
      <Cylinder height="0.05" id="Bar.3D..cyl2" location="xy" origin="1,0,-0.025" radius="0.025"/>
      <Cylinder height="0.05" id="Bar.3D..cyl3" location="xy" origin="0,0,-0.025" radius="0.0125"/>
      <Cylinder height="0.05" id="Bar.3D..cyl4" location="xy" origin="1,0,-0.025" radius="0.0125"/>
      <Box height="0.05" id="Bar.3D..box" length="1" location="yz" origin="0,0,0" width="0.05"/>
      <Union geometry1="Bar.3D..box" geometry2="Bar.3D..cyl1" id="Bar.3D..union1"/>
      <Union geometry1="Bar.3D..union1" geometry2="Bar.3D..cyl2" id="Bar.3D..union2"/>
      <Difference geometry1="Bar.3D..union2" geometry2="Bar.3D..cyl3" id="Bar.3D..diff1"/>
      <Difference geometry1="Bar.3D..diff1" geometry2="Bar.3D..cyl4" id="Bar.3D..diff2"/>
      
      <![CDATA[
      function transform(sx,sy)
      {
          box.length = box.length * sx;
          cyl1.originx = cyl1.originx * sx;
          cyl2.originx = cyl2.originx * sx;
          cyl3.originx = cyl3.originx * sx;
          cyl4.originx = cyl4.originx * sx;
      }
]]>
    </Shape>
    <Shape id="RigidJoint.2D.normal" scale="0.02">
      <Rectangle cx="0" cy="0" filled="true" height="2" id="RigidJoint.2D.normal..rect" width="2"/>
    </Shape>
    <Shape id="Point.2D.normal" scale="0.019">
      <Circle cx="0" cy="0" filled="true" id="Point.2D.normal..circle" radius="1"/>
    </Shape>
  </Shapes>

  <ComponentSpaces xmlns="http://www.dmg-lib.org/componentspaces">
    <ComponentSpace id="cspace1" type="planar">
      <Positions>
        <Position id="pos1" x="-0.442225" y="0.00674558"/>
        <Position id="pos2" x="-0.180517" y="0.109321"/>
        <Position id="pos3" x="0.176935" y="0.187409"/>
        <Position id="pos4" x="0.423864" y="0.375283"/>
        <Position id="pos5" x="0.176935" y="0.187409"/>
        <Position id="pos6" x="0.0974613" y="0.223942"/>
        <Position id="pos7" x="0.0974613" y="0.223942"/>
        <Position id="pos8" x="0.423864" y="0.375283"/>
        <Position id="pos9" x="0.0974613" y="0.223942"/>
        <Position id="pos10" x="0.0974613" y="0.223942"/>
        <Position id="pos11" x="-0.180517" y="0.109321"/>
        <Position id="pos12" x="-0.116605" y="0.0661496"/>
        <Position id="pos13" x="-0.116605" y="0.0661496"/>
        <Position id="pos14" x="0.176935" y="0.187409"/>
        <Position id="pos15" x="-0.116605" y="0.0661496"/>
        <Position id="pos16" x="-0.116605" y="0.0661496"/>
        <Position id="pos17" x="-0.116605" y="0.0661496"/>
        <Position id="pos18" x="-0.0644488" y="-0.000659039"/>
        <Position id="pos19" x="-0.0644488" y="-0.000659039"/>
        <Position id="pos20" x="-0.442225" y="0.00674558"/>
        <Position id="pos21" x="-0.0644488" y="-0.000659039"/>
        <Position id="pos22" x="-0.0644488" y="-0.000659039"/>
        <Position id="pos23" x="-0.0644488" y="-0.000659039"/>
        <Position id="pos24" x="0.0974613" y="0.223942"/>
        <Position id="pos25" x="-0.403809" y="-0.0569845"/>
        <Position id="pos26" x="-0.403809" y="-0.0569845"/>
        <Position id="pos27" x="-0.180517" y="0.109321"/>
      </Positions>
      <Scalars>
        <Scalar id="scalar1" value="0.00674558"/>
        <Scalar id="scalar2" value="0"/>
        <Scalar id="scalar3" value="0.109321"/>
        <Scalar id="scalar4" value="0"/>
        <Scalar id="scalar5" value="0.187409"/>
        <Scalar id="scalar6" value="0"/>
        <Scalar id="scalar7" value="0.375283"/>
        <Scalar id="scalar8" value="0"/>
        <Scalar id="scalar9" value="2.71072"/>
        <Scalar id="scalar10" value="0.24418"/>
        <Scalar id="scalar11" value="0.0874677"/>
        <Scalar id="scalar12" value="0"/>
        <Scalar id="scalar13" value="0.0229679"/>
        <Scalar id="scalar14" value="-2.70743"/>
        <Scalar id="scalar15" value="0.162169"/>
        <Scalar id="scalar16" value="0.359781"/>
        <Scalar id="scalar17" value="0.223942"/>
        <Scalar id="scalar18" value="0"/>
        <Scalar id="scalar19" value="-0.594088"/>
        <Scalar id="scalar20" value="0.0104548"/>
        <Scalar id="scalar21" value="0.0771261"/>
        <Scalar id="scalar22" value="0"/>
        <Scalar id="scalar23" value="0.0146008"/>
        <Scalar id="scalar24" value="-2.74985"/>
        <Scalar id="scalar25" value="0.105658"/>
        <Scalar id="scalar26" value="0.3176"/>
        <Scalar id="scalar27" value="0.0661496"/>
        <Scalar id="scalar28" value="0"/>
        <Scalar id="scalar29" value="-0.907944"/>
        <Scalar id="scalar30" value="0.0512067"/>
        <Scalar id="scalar31" value="0.0847567"/>
        <Scalar id="scalar32" value="0"/>
        <Scalar id="scalar33" value="0.00577723"/>
        <Scalar id="scalar34" value="-0.019598"/>
        <Scalar id="scalar35" value="0.0019219"/>
        <Scalar id="scalar36" value="0.377849"/>
        <Scalar id="scalar37" value="-0.000659039"/>
        <Scalar id="scalar38" value="0"/>
        <Scalar id="scalar39" value="0.946194"/>
        <Scalar id="scalar40" value="-0.0518952"/>
        <Scalar id="scalar41" value="0.276876"/>
        <Scalar id="scalar42" value="-0.0569845"/>
        <Scalar id="scalar43" value="0"/>
        <Scalar id="scalar44" value="0.640158"/>
        <Scalar id="scalar45" value="-0.195502"/>
        <Scalar id="scalar46" value="0.278419"/>
      </Scalars>
      <Elements>
        <Bar fixed="false" id="sBar15">
          <Point fixed="false" id="sBar15.pt1" posRef="pos5"/>
          <Point fixed="false" id="sBar15.pt2" posRef="pos6"/>
          <Line fixed="false" id="sBar15.axis">
            <Param fixed="false" id="sBar15.axis.dir" scalarRef="scalar9"/>
            <Param fixed="false" id="sBar15.axis.offs" scalarRef="scalar10"/>
          </Line>
          <Param fixed="true" id="sBar15.length" scalarRef="scalar11"/>
        </Bar>
        <Bar fixed="false" id="sBar16">
          <Point fixed="false" id="sBar16.pt1" posRef="pos8"/>
          <Point fixed="false" id="sBar16.pt2" posRef="pos9"/>
          <Line fixed="false" id="sBar16.axis">
            <Param fixed="false" id="sBar16.axis.dir" scalarRef="scalar14"/>
            <Param fixed="false" id="sBar16.axis.offs" scalarRef="scalar15"/>
          </Line>
          <Param fixed="true" id="sBar16.length" scalarRef="scalar16"/>
        </Bar>
        <Bar fixed="false" id="sBar18">
          <Point fixed="false" id="sBar18.pt1" posRef="pos11"/>
          <Point fixed="false" id="sBar18.pt2" posRef="pos12"/>
          <Line fixed="false" id="sBar18.axis">
            <Param fixed="false" id="sBar18.axis.dir" scalarRef="scalar19"/>
            <Param fixed="false" id="sBar18.axis.offs" scalarRef="scalar20"/>
          </Line>
          <Param fixed="true" id="sBar18.length" scalarRef="scalar21"/>
        </Bar>
        <Bar fixed="false" id="sBar19">
          <Point fixed="false" id="sBar19.pt1" posRef="pos14"/>
          <Point fixed="false" id="sBar19.pt2" posRef="pos15"/>
          <Line fixed="false" id="sBar19.axis">
            <Param fixed="false" id="sBar19.axis.dir" scalarRef="scalar24"/>
            <Param fixed="false" id="sBar19.axis.offs" scalarRef="scalar25"/>
          </Line>
          <Param fixed="true" id="sBar19.length" scalarRef="scalar26"/>
        </Bar>
        <Bar fixed="false" id="sBar20">
          <Point fixed="false" id="sBar20.pt1" posRef="pos17"/>
          <Point fixed="false" id="sBar20.pt2" posRef="pos18"/>
          <Line fixed="false" id="sBar20.axis">
            <Param fixed="false" id="sBar20.axis.dir" scalarRef="scalar29"/>
            <Param fixed="false" id="sBar20.axis.offs" scalarRef="scalar30"/>
          </Line>
          <Param fixed="true" id="sBar20.length" scalarRef="scalar31"/>
        </Bar>
        <Bar fixed="false" id="sBar21">
          <Point fixed="false" id="sBar21.pt1" posRef="pos20"/>
          <Point fixed="false" id="sBar21.pt2" posRef="pos21"/>
          <Line fixed="false" id="sBar21.axis">
            <Param fixed="false" id="sBar21.axis.dir" scalarRef="scalar34"/>
            <Param fixed="false" id="sBar21.axis.offs" scalarRef="scalar35"/>
          </Line>
          <Param fixed="true" id="sBar21.length" scalarRef="scalar36"/>
        </Bar>
        <Bar fixed="false" id="sBar22">
          <Point fixed="false" id="sBar22.pt1" posRef="pos23"/>
          <Point fixed="false" id="sBar22.pt2" posRef="pos24"/>
          <Line fixed="false" id="sBar22.axis">
            <Param fixed="false" id="sBar22.axis.dir" scalarRef="scalar39"/>
            <Param fixed="false" id="sBar22.axis.offs" scalarRef="scalar40"/>
          </Line>
          <Param fixed="true" id="sBar22.length" scalarRef="scalar41"/>
        </Bar>
        <Bar fixed="false" id="sBar23">
          <Point fixed="false" id="sBar23.pt1" posRef="pos26"/>
          <Point fixed="false" id="sBar23.pt2" posRef="pos27"/>
          <Line fixed="false" id="sBar23.axis">
            <Param fixed="false" id="sBar23.axis.dir" scalarRef="scalar44"/>
            <Param fixed="false" id="sBar23.axis.offs" scalarRef="scalar45"/>
          </Line>
          <Param fixed="true" id="sBar23.length" scalarRef="scalar46"/>
        </Bar>
      </Elements>
      <Couplings>
        <SwivelJoint fixed="true" id="swj12">
          <Point fixed="true" id="swj12.pt" posRef="pos1"/>
          <Line fixed="false" id="swj12.line">
            <Param fixed="false" id="swj12.line.dir" scalarRef="scalar2"/>
            <Param fixed="false" id="swj12.line.offs" scalarRef="scalar1"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj13">
          <Point fixed="false" id="swj13.pt" posRef="pos2"/>
          <Line fixed="false" id="swj13.line">
            <Param fixed="false" id="swj13.line.dir" scalarRef="scalar4"/>
            <Param fixed="false" id="swj13.line.offs" scalarRef="scalar3"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj14">
          <Point fixed="false" id="swj14.pt" posRef="pos3"/>
          <Line fixed="false" id="swj14.line">
            <Param fixed="false" id="swj14.line.dir" scalarRef="scalar6"/>
            <Param fixed="false" id="swj14.line.offs" scalarRef="scalar5"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj15">
          <Point fixed="false" id="swj15.pt" posRef="pos4"/>
          <Line fixed="false" id="swj15.line">
            <Param fixed="false" id="swj15.line.dir" scalarRef="scalar8"/>
            <Param fixed="false" id="swj15.line.offs" scalarRef="scalar7"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj16">
          <Point fixed="false" id="swj16.pt" posRef="pos10"/>
          <Line fixed="false" id="swj16.line">
            <Param fixed="false" id="swj16.line.dir" scalarRef="scalar18"/>
            <Param fixed="false" id="swj16.line.offs" scalarRef="scalar17"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj18">
          <Point fixed="false" id="swj18.pt" posRef="pos16"/>
          <Line fixed="false" id="swj18.line">
            <Param fixed="false" id="swj18.line.dir" scalarRef="scalar28"/>
            <Param fixed="false" id="swj18.line.offs" scalarRef="scalar27"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj19">
          <Point fixed="false" id="swj19.pt" posRef="pos22"/>
          <Line fixed="false" id="swj19.line">
            <Param fixed="false" id="swj19.line.dir" scalarRef="scalar38"/>
            <Param fixed="false" id="swj19.line.offs" scalarRef="scalar37"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj20">
          <Point fixed="true" id="swj20.pt" posRef="pos25"/>
          <Line fixed="false" id="swj20.line">
            <Param fixed="false" id="swj20.line.dir" scalarRef="scalar43"/>
            <Param fixed="false" id="swj20.line.offs" scalarRef="scalar42"/>
          </Line>
        </SwivelJoint>
        <RigidJoint fixed="false" id="rgj3">
          <Point fixed="false" id="rgj3.pt" posRef="pos7"/>
          <Line fixed="false" id="rgj3.axis">
            <Param fixed="false" id="rgj3.axis.dir" scalarRef="scalar13"/>
            <Param fixed="false" id="rgj3.axis.offs" scalarRef="scalar12"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj4">
          <Point fixed="false" id="rgj4.pt" posRef="pos13"/>
          <Line fixed="false" id="rgj4.axis">
            <Param fixed="false" id="rgj4.axis.dir" scalarRef="scalar23"/>
            <Param fixed="false" id="rgj4.axis.offs" scalarRef="scalar22"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj5">
          <Point fixed="false" id="rgj5.pt" posRef="pos19"/>
          <Line fixed="false" id="rgj5.axis">
            <Param fixed="false" id="rgj5.axis.dir" scalarRef="scalar33"/>
            <Param fixed="false" id="rgj5.axis.offs" scalarRef="scalar32"/>
          </Line>
        </RigidJoint>
      </Couplings>
      <Connections>
        <PointConnection couplingPointRef="rgj3.pt" elementPointRef="sBar16.pt2" id="pointcon1"/>
        <PointConnection couplingPointRef="rgj3.pt" elementPointRef="sBar15.pt2" id="pointcon2"/>
        <PointConnection couplingPointRef="rgj4.pt" elementPointRef="sBar19.pt2" id="pointcon3"/>
        <PointConnection couplingPointRef="rgj4.pt" elementPointRef="sBar18.pt2" id="pointcon4"/>
        <PointConnection couplingPointRef="rgj5.pt" elementPointRef="sBar21.pt2" id="pointcon5"/>
        <PointConnection couplingPointRef="rgj5.pt" elementPointRef="sBar20.pt2" id="pointcon6"/>
        <PointConnection couplingPointRef="swj12.pt" elementPointRef="sBar21.pt1" id="pointcon7"/>
        <PointConnection couplingPointRef="swj13.pt" elementPointRef="sBar23.pt2" id="pointcon8"/>
        <PointConnection couplingPointRef="swj13.pt" elementPointRef="sBar18.pt1" id="pointcon9"/>
        <PointConnection couplingPointRef="swj14.pt" elementPointRef="sBar19.pt1" id="pointcon10"/>
        <PointConnection couplingPointRef="swj14.pt" elementPointRef="sBar15.pt1" id="pointcon11"/>
        <PointConnection couplingPointRef="swj15.pt" elementPointRef="sBar16.pt1" id="pointcon12"/>
        <PointConnection couplingPointRef="swj16.pt" elementPointRef="sBar22.pt2" id="pointcon13"/>
        <PointConnection couplingPointRef="swj18.pt" elementPointRef="sBar20.pt1" id="pointcon14"/>
        <PointConnection couplingPointRef="swj19.pt" elementPointRef="sBar22.pt1" id="pointcon15"/>
        <PointConnection couplingPointRef="swj20.pt" elementPointRef="sBar23.pt1" id="pointcon16"/>
        <CouplingConnection coupling1Ref="swj16" coupling2Ref="rgj3" id="couplingcon17" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj18" coupling2Ref="rgj4" id="couplingcon18" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj19" coupling2Ref="rgj5" id="couplingcon19" role="SwivelingRigidJoint"/>
      </Connections>
    </ComponentSpace>
  </ComponentSpaces>

</Mechanism>
