<?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="0.280236" y="-0.315152"/>
        <Position id="pos2" x="0.318264" y="-0.243849"/>
        <Position id="pos3" x="0.280236" y="-0.315152"/>
        <Position id="pos4" x="0.318264" y="-0.243849"/>
        <Position id="pos5" x="0.318264" y="-0.243849"/>
        <Position id="pos6" x="0.154696" y="-0.0878827"/>
        <Position id="pos7" x="0.154696" y="-0.0878827"/>
        <Position id="pos8" x="0.115777" y="0.142504"/>
        <Position id="pos9" x="0.154696" y="-0.0878827"/>
        <Position id="pos10" x="0.115777" y="0.142504"/>
        <Position id="pos11" x="0.154696" y="-0.0878827"/>
        <Position id="pos12" x="-0.0496349" y="0.0340362"/>
        <Position id="pos13" x="0.115777" y="0.142504"/>
        <Position id="pos14" x="-0.0496349" y="0.0340362"/>
        <Position id="pos15" x="-0.0496349" y="0.0340362"/>
        <Position id="pos16" x="-0.244833" y="0.0460824"/>
        <Position id="pos17" x="-0.244833" y="0.0460824"/>
        <Position id="pos18" x="-0.244833" y="0.0460824"/>
        <Position id="pos19" x="-0.397887" y="0.170711"/>
        <Position id="pos20" x="-0.0496349" y="0.0340362"/>
        <Position id="pos21" x="-0.0060845" y="-0.190665"/>
        <Position id="pos22" x="-0.0060845" y="-0.190665"/>
        <Position id="pos23" x="0.154696" y="-0.0878827"/>
        <Position id="pos24" x="-0.0496349" y="0.0340362"/>
        <Position id="pos25" x="-0.0060845" y="-0.190665"/>
      </Positions>
      <Scalars>
        <Scalar id="scalar1" value="-0.315152"/>
        <Scalar id="scalar2" value="0"/>
        <Scalar id="scalar3" value="-0.243849"/>
        <Scalar id="scalar4" value="0"/>
        <Scalar id="scalar5" value="1.08084"/>
        <Scalar id="scalar6" value="0.395573"/>
        <Scalar id="scalar7" value="0.0808101"/>
        <Scalar id="scalar8" value="2.37998"/>
        <Scalar id="scalar9" value="0.0431506"/>
        <Scalar id="scalar10" value="0.226009"/>
        <Scalar id="scalar11" value="0"/>
        <Scalar id="scalar12" value="-0.00218031"/>
        <Scalar id="scalar13" value="0.142504"/>
        <Scalar id="scalar14" value="0"/>
        <Scalar id="scalar15" value="1.73814"/>
        <Scalar id="scalar16" value="0.137896"/>
        <Scalar id="scalar17" value="0.233651"/>
        <Scalar id="scalar18" value="-0.0878827"/>
        <Scalar id="scalar19" value="0"/>
        <Scalar id="scalar20" value="0.580401"/>
        <Scalar id="scalar21" value="-0.0556803"/>
        <Scalar id="scalar22" value="0.197804"/>
        <Scalar id="scalar23" value="0"/>
        <Scalar id="scalar24" value="0.0126965"/>
        <Scalar id="scalar25" value="3.07996"/>
        <Scalar id="scalar26" value="0.0309143"/>
        <Scalar id="scalar27" value="0.19557"/>
        <Scalar id="scalar28" value="0"/>
        <Scalar id="scalar29" value="0.0126965"/>
        <Scalar id="scalar30" value="2.4582"/>
        <Scalar id="scalar31" value="-0.118859"/>
        <Scalar id="scalar32" value="0.197377"/>
        <Scalar id="scalar33" value="0.0340362"/>
        <Scalar id="scalar34" value="0"/>
        <Scalar id="scalar35" value="-0.190665"/>
        <Scalar id="scalar36" value="0"/>
        <Scalar id="scalar37" value="0.568794"/>
        <Scalar id="scalar38" value="0.157367"/>
        <Scalar id="scalar39" value="0.190826"/>
        <Scalar id="scalar40" value="-1.37935"/>
        <Scalar id="scalar41" value="0.0422519"/>
        <Scalar id="scalar42" value="0.228882"/>
      </Scalars>
      <Elements>
        <Bar fixed="false" id="sBar144">
          <Point fixed="false" id="sBar144.pt1" posRef="pos3"/>
          <Point fixed="false" id="sBar144.pt2" posRef="pos4"/>
          <Line fixed="false" id="sBar144.axis">
            <Param fixed="false" id="sBar144.axis.dir" scalarRef="scalar5"/>
            <Param fixed="false" id="sBar144.axis.offs" scalarRef="scalar6"/>
          </Line>
          <Param fixed="true" id="sBar144.length" scalarRef="scalar7"/>
        </Bar>
        <Bar fixed="false" id="sBar145">
          <Point fixed="false" id="sBar145.pt1" posRef="pos5"/>
          <Point fixed="false" id="sBar145.pt2" posRef="pos6"/>
          <Line fixed="false" id="sBar145.axis">
            <Param fixed="false" id="sBar145.axis.dir" scalarRef="scalar8"/>
            <Param fixed="false" id="sBar145.axis.offs" scalarRef="scalar9"/>
          </Line>
          <Param fixed="true" id="sBar145.length" scalarRef="scalar10"/>
        </Bar>
        <Bar fixed="false" id="sBar146">
          <Point fixed="false" id="sBar146.pt1" posRef="pos9"/>
          <Point fixed="false" id="sBar146.pt2" posRef="pos10"/>
          <Line fixed="false" id="sBar146.axis">
            <Param fixed="false" id="sBar146.axis.dir" scalarRef="scalar15"/>
            <Param fixed="false" id="sBar146.axis.offs" scalarRef="scalar16"/>
          </Line>
          <Param fixed="true" id="sBar146.length" scalarRef="scalar17"/>
        </Bar>
        <Bar fixed="false" id="sBar150">
          <Point fixed="false" id="sBar150.pt1" posRef="pos12"/>
          <Point fixed="false" id="sBar150.pt2" posRef="pos13"/>
          <Line fixed="false" id="sBar150.axis">
            <Param fixed="false" id="sBar150.axis.dir" scalarRef="scalar20"/>
            <Param fixed="false" id="sBar150.axis.offs" scalarRef="scalar21"/>
          </Line>
          <Param fixed="true" id="sBar150.length" scalarRef="scalar22"/>
        </Bar>
        <Bar fixed="false" id="sBar152">
          <Point fixed="false" id="sBar152.pt1" posRef="pos15"/>
          <Point fixed="false" id="sBar152.pt2" posRef="pos16"/>
          <Line fixed="false" id="sBar152.axis">
            <Param fixed="false" id="sBar152.axis.dir" scalarRef="scalar25"/>
            <Param fixed="false" id="sBar152.axis.offs" scalarRef="scalar26"/>
          </Line>
          <Param fixed="true" id="sBar152.length" scalarRef="scalar27"/>
        </Bar>
        <Bar fixed="false" id="sBar153">
          <Point fixed="false" id="sBar153.pt1" posRef="pos18"/>
          <Point fixed="false" id="sBar153.pt2" posRef="pos19"/>
          <Line fixed="false" id="sBar153.axis">
            <Param fixed="false" id="sBar153.axis.dir" scalarRef="scalar30"/>
            <Param fixed="false" id="sBar153.axis.offs" scalarRef="scalar31"/>
          </Line>
          <Param fixed="true" id="sBar153.length" scalarRef="scalar32"/>
        </Bar>
        <Bar fixed="false" id="sBar154">
          <Point fixed="false" id="sBar154.pt1" posRef="pos22"/>
          <Point fixed="false" id="sBar154.pt2" posRef="pos23"/>
          <Line fixed="false" id="sBar154.axis">
            <Param fixed="false" id="sBar154.axis.dir" scalarRef="scalar37"/>
            <Param fixed="false" id="sBar154.axis.offs" scalarRef="scalar38"/>
          </Line>
          <Param fixed="true" id="sBar154.length" scalarRef="scalar39"/>
        </Bar>
        <Bar fixed="false" id="sBar156">
          <Point fixed="false" id="sBar156.pt1" posRef="pos24"/>
          <Point fixed="false" id="sBar156.pt2" posRef="pos25"/>
          <Line fixed="false" id="sBar156.axis">
            <Param fixed="false" id="sBar156.axis.dir" scalarRef="scalar40"/>
            <Param fixed="false" id="sBar156.axis.offs" scalarRef="scalar41"/>
          </Line>
          <Param fixed="true" id="sBar156.length" scalarRef="scalar42"/>
        </Bar>
      </Elements>
      <Couplings>
        <SwivelJoint fixed="true" id="swj151">
          <Point fixed="true" id="swj151.pt" posRef="pos1"/>
          <Line fixed="false" id="swj151.line">
            <Param fixed="false" id="swj151.line.dir" scalarRef="scalar2"/>
            <Param fixed="false" id="swj151.line.offs" scalarRef="scalar1"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj152">
          <Point fixed="false" id="swj152.pt" posRef="pos2"/>
          <Line fixed="false" id="swj152.line">
            <Param fixed="false" id="swj152.line.dir" scalarRef="scalar4"/>
            <Param fixed="false" id="swj152.line.offs" scalarRef="scalar3"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj153">
          <Point fixed="false" id="swj153.pt" posRef="pos8"/>
          <Line fixed="false" id="swj153.line">
            <Param fixed="false" id="swj153.line.dir" scalarRef="scalar14"/>
            <Param fixed="false" id="swj153.line.offs" scalarRef="scalar13"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj154">
          <Point fixed="false" id="swj154.pt" posRef="pos11"/>
          <Line fixed="false" id="swj154.line">
            <Param fixed="false" id="swj154.line.dir" scalarRef="scalar19"/>
            <Param fixed="false" id="swj154.line.offs" scalarRef="scalar18"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj157">
          <Point fixed="false" id="swj157.pt" posRef="pos20"/>
          <Line fixed="false" id="swj157.line">
            <Param fixed="false" id="swj157.line.dir" scalarRef="scalar34"/>
            <Param fixed="false" id="swj157.line.offs" scalarRef="scalar33"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj158">
          <Point fixed="true" id="swj158.pt" posRef="pos21"/>
          <Line fixed="false" id="swj158.line">
            <Param fixed="false" id="swj158.line.dir" scalarRef="scalar36"/>
            <Param fixed="false" id="swj158.line.offs" scalarRef="scalar35"/>
          </Line>
        </SwivelJoint>
        <RigidJoint fixed="false" id="rgj25">
          <Point fixed="false" id="rgj25.pt" posRef="pos7"/>
          <Line fixed="false" id="rgj25.axis">
            <Param fixed="false" id="rgj25.axis.dir" scalarRef="scalar12"/>
            <Param fixed="false" id="rgj25.axis.offs" scalarRef="scalar11"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj26">
          <Point fixed="false" id="rgj26.pt" posRef="pos14"/>
          <Line fixed="false" id="rgj26.axis">
            <Param fixed="false" id="rgj26.axis.dir" scalarRef="scalar24"/>
            <Param fixed="false" id="rgj26.axis.offs" scalarRef="scalar23"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj27">
          <Point fixed="false" id="rgj27.pt" posRef="pos17"/>
          <Line fixed="false" id="rgj27.axis">
            <Param fixed="false" id="rgj27.axis.dir" scalarRef="scalar29"/>
            <Param fixed="false" id="rgj27.axis.offs" scalarRef="scalar28"/>
          </Line>
        </RigidJoint>
      </Couplings>
      <Connections>
        <PointConnection couplingPointRef="rgj25.pt" elementPointRef="sBar146.pt1" id="pointcon1"/>
        <PointConnection couplingPointRef="rgj25.pt" elementPointRef="sBar145.pt2" id="pointcon2"/>
        <PointConnection couplingPointRef="rgj26.pt" elementPointRef="sBar152.pt1" id="pointcon3"/>
        <PointConnection couplingPointRef="rgj26.pt" elementPointRef="sBar150.pt1" id="pointcon4"/>
        <PointConnection couplingPointRef="rgj27.pt" elementPointRef="sBar153.pt1" id="pointcon5"/>
        <PointConnection couplingPointRef="rgj27.pt" elementPointRef="sBar152.pt2" id="pointcon6"/>
        <PointConnection couplingPointRef="swj151.pt" elementPointRef="sBar144.pt1" id="pointcon7"/>
        <PointConnection couplingPointRef="swj152.pt" elementPointRef="sBar145.pt1" id="pointcon8"/>
        <PointConnection couplingPointRef="swj152.pt" elementPointRef="sBar144.pt2" id="pointcon9"/>
        <PointConnection couplingPointRef="swj153.pt" elementPointRef="sBar150.pt2" id="pointcon10"/>
        <PointConnection couplingPointRef="swj153.pt" elementPointRef="sBar146.pt2" id="pointcon11"/>
        <PointConnection couplingPointRef="swj154.pt" elementPointRef="sBar154.pt2" id="pointcon12"/>
        <PointConnection couplingPointRef="swj157.pt" elementPointRef="sBar156.pt1" id="pointcon13"/>
        <PointConnection couplingPointRef="swj158.pt" elementPointRef="sBar156.pt2" id="pointcon14"/>
        <PointConnection couplingPointRef="swj158.pt" elementPointRef="sBar154.pt1" id="pointcon15"/>
        <CouplingConnection coupling1Ref="swj154" coupling2Ref="rgj25" id="couplingcon16" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj157" coupling2Ref="rgj26" id="couplingcon17" role="SwivelingRigidJoint"/>
      </Connections>
    </ComponentSpace>
  </ComponentSpaces>

</Mechanism>
