<?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="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="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="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="SwivelJoint.2D.normal" scale="0.02">
      <Circle cx="0" cy="0" filled="false" id="SwivelJoint.2D.normal..circle" radius="1"/>
    </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="-0.264322" y="-0.0942588"/>
        <Position id="pos2" x="-0.393559" y="-0.224691"/>
        <Position id="pos3" x="-0.345839" y="-0.17653"/>
        <Position id="pos4" x="-0.345839" y="-0.17653"/>
        <Position id="pos5" x="-0.393559" y="-0.224691"/>
        <Position id="pos6" x="-0.393559" y="-0.224691"/>
        <Position id="pos7" x="-0.55354" y="-0.0587949"/>
        <Position id="pos8" x="-0.264322" y="-0.0942588"/>
        <Position id="pos9" x="-0.290998" y="0.321255"/>
        <Position id="pos10" x="-0.290998" y="0.321255"/>
        <Position id="pos11" x="-0.264322" y="-0.0942588"/>
        <Position id="pos12" x="-0.290998" y="0.321255"/>
        <Position id="pos13" x="-0.168646" y="0.284084"/>
        <Position id="pos14" x="-0.168646" y="0.284084"/>
        <Position id="pos15" x="-0.168646" y="0.284084"/>
        <Position id="pos16" x="-0.109913" y="0.338674"/>
        <Position id="pos17" x="-0.109913" y="0.338674"/>
        <Position id="pos18" x="-0.109913" y="0.338674"/>
        <Position id="pos19" x="-0.105052" y="0.377062"/>
        <Position id="pos20" x="-0.105052" y="0.377062"/>
        <Position id="pos21" x="-0.105052" y="0.377062"/>
        <Position id="pos22" x="-0.256228" y="0.330301"/>
        <Position id="pos23" x="-0.109913" y="0.338674"/>
        <Position id="pos24" x="-0.109913" y="0.338674"/>
        <Position id="pos25" x="0.149772" y="0.355822"/>
        <Position id="pos26" x="0.149772" y="0.355822"/>
        <Position id="pos27" x="0.149772" y="0.355822"/>
        <Position id="pos28" x="0.110191" y="0.285827"/>
        <Position id="pos29" x="0.110191" y="0.285827"/>
        <Position id="pos30" x="0.110191" y="0.285827"/>
        <Position id="pos31" x="0.17374" y="0.173003"/>
        <Position id="pos32" x="0.17374" y="0.173003"/>
        <Position id="pos33" x="0.17374" y="0.173003"/>
        <Position id="pos34" x="0.162208" y="0.322799"/>
        <Position id="pos35" x="0.110191" y="0.285827"/>
        <Position id="pos36" x="0.17374" y="0.173003"/>
        <Position id="pos37" x="0.197076" y="-0.240084"/>
        <Position id="pos38" x="0.17374" y="0.173003"/>
        <Position id="pos39" x="0.197076" y="-0.240084"/>
        <Position id="pos40" x="0.197076" y="-0.240084"/>
        <Position id="pos41" x="0.349083" y="-0.143101"/>
        <Position id="pos42" x="0.294883" y="-0.177681"/>
        <Position id="pos43" x="0.294883" y="-0.177681"/>
        <Position id="pos44" x="0.349083" y="-0.143101"/>
        <Position id="pos45" x="0.349083" y="-0.143101"/>
        <Position id="pos46" x="0.219128" y="0.0438938"/>
        <Position id="pos47" x="-0.168646" y="0.284084"/>
      </Positions>
      <Scalars>
        <Scalar id="scalar1" value="-2.35159"/>
        <Scalar id="scalar2" value="0.121419"/>
        <Scalar id="scalar3" value="0.183616"/>
        <Scalar id="scalar4" value="-0.17653"/>
        <Scalar id="scalar5" value="0"/>
        <Scalar id="scalar6" value="0"/>
        <Scalar id="scalar7" value="-0.00210653"/>
        <Scalar id="scalar8" value="2.33805"/>
        <Scalar id="scalar9" value="-0.439264"/>
        <Scalar id="scalar10" value="0.230468"/>
        <Scalar id="scalar11" value="-0.0942588"/>
        <Scalar id="scalar12" value="0"/>
        <Scalar id="scalar13" value="0.321255"/>
        <Scalar id="scalar14" value="0"/>
        <Scalar id="scalar15" value="-1.50668"/>
        <Scalar id="scalar16" value="0.269818"/>
        <Scalar id="scalar17" value="0.416369"/>
        <Scalar id="scalar18" value="-0.294937"/>
        <Scalar id="scalar19" value="-0.222796"/>
        <Scalar id="scalar20" value="0.127874"/>
        <Scalar id="scalar21" value="0"/>
        <Scalar id="scalar22" value="0.00957382"/>
        <Scalar id="scalar23" value="0.748851"/>
        <Scalar id="scalar24" value="-0.322897"/>
        <Scalar id="scalar25" value="0.0801843"/>
        <Scalar id="scalar26" value="0"/>
        <Scalar id="scalar27" value="0.00957382"/>
        <Scalar id="scalar28" value="1.44484"/>
        <Scalar id="scalar29" value="-0.151587"/>
        <Scalar id="scalar30" value="0.0386948"/>
        <Scalar id="scalar31" value="0"/>
        <Scalar id="scalar32" value="0.00957382"/>
        <Scalar id="scalar33" value="-2.84162"/>
        <Scalar id="scalar34" value="0.391266"/>
        <Scalar id="scalar35" value="0.158243"/>
        <Scalar id="scalar36" value="0.338674"/>
        <Scalar id="scalar37" value="0"/>
        <Scalar id="scalar38" value="0.0659396"/>
        <Scalar id="scalar39" value="-0.34518"/>
        <Scalar id="scalar40" value="0.26025"/>
        <Scalar id="scalar41" value="0.355822"/>
        <Scalar id="scalar42" value="0"/>
        <Scalar id="scalar43" value="-2.08545"/>
        <Scalar id="scalar44" value="0.0447777"/>
        <Scalar id="scalar45" value="0.0804113"/>
        <Scalar id="scalar46" value="0"/>
        <Scalar id="scalar47" value="0.00717745"/>
        <Scalar id="scalar48" value="-1.05783"/>
        <Scalar id="scalar49" value="-0.236282"/>
        <Scalar id="scalar50" value="0.12949"/>
        <Scalar id="scalar51" value="0"/>
        <Scalar id="scalar52" value="0.00717745"/>
        <Scalar id="scalar53" value="1.64763"/>
        <Scalar id="scalar54" value="0.186507"/>
        <Scalar id="scalar55" value="0.150239"/>
        <Scalar id="scalar56" value="0.285827"/>
        <Scalar id="scalar57" value="0"/>
        <Scalar id="scalar58" value="0.173003"/>
        <Scalar id="scalar59" value="0"/>
        <Scalar id="scalar60" value="-0.240084"/>
        <Scalar id="scalar61" value="0"/>
        <Scalar id="scalar62" value="-1.51437"/>
        <Scalar id="scalar63" value="-0.183221"/>
        <Scalar id="scalar64" value="0.413746"/>
        <Scalar id="scalar65" value="0.567907"/>
        <Scalar id="scalar66" value="0.308399"/>
        <Scalar id="scalar67" value="0.180311"/>
        <Scalar id="scalar68" value="-0.177681"/>
        <Scalar id="scalar69" value="0"/>
        <Scalar id="scalar70" value="0"/>
        <Scalar id="scalar71" value="-0.00401119"/>
        <Scalar id="scalar72" value="2.17814"/>
        <Scalar id="scalar73" value="0.20499"/>
        <Scalar id="scalar74" value="0.227718"/>
        <Scalar id="scalar75" value="0.284084"/>
        <Scalar id="scalar76" value="0"/>
      </Scalars>
      <Elements>
        <Bar fixed="false" id="sBar14">
          <Point fixed="false" id="sBar14.pt1" posRef="pos1"/>
          <Point fixed="false" id="sBar14.pt2" posRef="pos2"/>
          <Point fixed="false" id="sBar14.pt3" posRef="pos3"/>
          <Line fixed="false" id="sBar14.axis">
            <Param fixed="false" id="sBar14.axis.dir" scalarRef="scalar1"/>
            <Param fixed="false" id="sBar14.axis.offs" scalarRef="scalar2"/>
          </Line>
          <Param fixed="true" id="sBar14.length" scalarRef="scalar3"/>
        </Bar>
        <Bar fixed="false" id="sBar16">
          <Point fixed="false" id="sBar16.pt1" posRef="pos6"/>
          <Point fixed="false" id="sBar16.pt2" posRef="pos7"/>
          <Line fixed="false" id="sBar16.axis">
            <Param fixed="false" id="sBar16.axis.dir" scalarRef="scalar8"/>
            <Param fixed="false" id="sBar16.axis.offs" scalarRef="scalar9"/>
          </Line>
          <Param fixed="true" id="sBar16.length" scalarRef="scalar10"/>
        </Bar>
        <Bar fixed="false" id="sBar17">
          <Point fixed="false" id="sBar17.pt1" posRef="pos10"/>
          <Point fixed="false" id="sBar17.pt2" posRef="pos11"/>
          <Line fixed="false" id="sBar17.axis">
            <Param fixed="false" id="sBar17.axis.dir" scalarRef="scalar15"/>
            <Param fixed="false" id="sBar17.axis.offs" scalarRef="scalar16"/>
          </Line>
          <Param fixed="true" id="sBar17.length" scalarRef="scalar17"/>
        </Bar>
        <Bar fixed="false" id="sBar18">
          <Point fixed="false" id="sBar18.pt1" posRef="pos12"/>
          <Point fixed="false" id="sBar18.pt2" posRef="pos13"/>
          <Line fixed="false" id="sBar18.axis">
            <Param fixed="false" id="sBar18.axis.dir" scalarRef="scalar18"/>
            <Param fixed="false" id="sBar18.axis.offs" scalarRef="scalar19"/>
          </Line>
          <Param fixed="true" id="sBar18.length" scalarRef="scalar20"/>
        </Bar>
        <Bar fixed="false" id="sBar19">
          <Point fixed="false" id="sBar19.pt1" posRef="pos15"/>
          <Point fixed="false" id="sBar19.pt2" posRef="pos16"/>
          <Line fixed="false" id="sBar19.axis">
            <Param fixed="false" id="sBar19.axis.dir" scalarRef="scalar23"/>
            <Param fixed="false" id="sBar19.axis.offs" scalarRef="scalar24"/>
          </Line>
          <Param fixed="true" id="sBar19.length" scalarRef="scalar25"/>
        </Bar>
        <Bar fixed="false" id="sBar20">
          <Point fixed="false" id="sBar20.pt1" posRef="pos18"/>
          <Point fixed="false" id="sBar20.pt2" posRef="pos19"/>
          <Line fixed="false" id="sBar20.axis">
            <Param fixed="false" id="sBar20.axis.dir" scalarRef="scalar28"/>
            <Param fixed="false" id="sBar20.axis.offs" scalarRef="scalar29"/>
          </Line>
          <Param fixed="true" id="sBar20.length" scalarRef="scalar30"/>
        </Bar>
        <Bar fixed="false" id="sBar21">
          <Point fixed="false" id="sBar21.pt1" posRef="pos21"/>
          <Point fixed="false" id="sBar21.pt2" posRef="pos22"/>
          <Line fixed="false" id="sBar21.axis">
            <Param fixed="false" id="sBar21.axis.dir" scalarRef="scalar33"/>
            <Param fixed="false" id="sBar21.axis.offs" scalarRef="scalar34"/>
          </Line>
          <Param fixed="true" id="sBar21.length" scalarRef="scalar35"/>
        </Bar>
        <Bar fixed="false" id="sBar22">
          <Point fixed="false" id="sBar22.pt1" posRef="pos24"/>
          <Point fixed="false" id="sBar22.pt2" posRef="pos25"/>
          <Line fixed="false" id="sBar22.axis">
            <Param fixed="false" id="sBar22.axis.dir" scalarRef="scalar38"/>
            <Param fixed="false" id="sBar22.axis.offs" scalarRef="scalar39"/>
          </Line>
          <Param fixed="true" id="sBar22.length" scalarRef="scalar40"/>
        </Bar>
        <Bar fixed="false" id="sBar23">
          <Point fixed="false" id="sBar23.pt1" posRef="pos27"/>
          <Point fixed="false" id="sBar23.pt2" posRef="pos28"/>
          <Line fixed="false" id="sBar23.axis">
            <Param fixed="false" id="sBar23.axis.dir" scalarRef="scalar43"/>
            <Param fixed="false" id="sBar23.axis.offs" scalarRef="scalar44"/>
          </Line>
          <Param fixed="true" id="sBar23.length" scalarRef="scalar45"/>
        </Bar>
        <Bar fixed="false" id="sBar24">
          <Point fixed="false" id="sBar24.pt1" posRef="pos30"/>
          <Point fixed="false" id="sBar24.pt2" posRef="pos31"/>
          <Line fixed="false" id="sBar24.axis">
            <Param fixed="false" id="sBar24.axis.dir" scalarRef="scalar48"/>
            <Param fixed="false" id="sBar24.axis.offs" scalarRef="scalar49"/>
          </Line>
          <Param fixed="true" id="sBar24.length" scalarRef="scalar50"/>
        </Bar>
        <Bar fixed="false" id="sBar25">
          <Point fixed="false" id="sBar25.pt1" posRef="pos33"/>
          <Point fixed="false" id="sBar25.pt2" posRef="pos34"/>
          <Line fixed="false" id="sBar25.axis">
            <Param fixed="false" id="sBar25.axis.dir" scalarRef="scalar53"/>
            <Param fixed="false" id="sBar25.axis.offs" scalarRef="scalar54"/>
          </Line>
          <Param fixed="true" id="sBar25.length" scalarRef="scalar55"/>
        </Bar>
        <Bar fixed="false" id="sBar26">
          <Point fixed="false" id="sBar26.pt1" posRef="pos38"/>
          <Point fixed="false" id="sBar26.pt2" posRef="pos39"/>
          <Line fixed="false" id="sBar26.axis">
            <Param fixed="false" id="sBar26.axis.dir" scalarRef="scalar62"/>
            <Param fixed="false" id="sBar26.axis.offs" scalarRef="scalar63"/>
          </Line>
          <Param fixed="true" id="sBar26.length" scalarRef="scalar64"/>
        </Bar>
        <Bar fixed="false" id="sBar27">
          <Point fixed="false" id="sBar27.pt1" posRef="pos40"/>
          <Point fixed="false" id="sBar27.pt2" posRef="pos41"/>
          <Point fixed="false" id="sBar27.pt3" posRef="pos42"/>
          <Line fixed="false" id="sBar27.axis">
            <Param fixed="false" id="sBar27.axis.dir" scalarRef="scalar65"/>
            <Param fixed="false" id="sBar27.axis.offs" scalarRef="scalar66"/>
          </Line>
          <Param fixed="true" id="sBar27.length" scalarRef="scalar67"/>
        </Bar>
        <Bar fixed="false" id="sBar28">
          <Point fixed="false" id="sBar28.pt1" posRef="pos45"/>
          <Point fixed="false" id="sBar28.pt2" posRef="pos46"/>
          <Line fixed="false" id="sBar28.axis">
            <Param fixed="false" id="sBar28.axis.dir" scalarRef="scalar72"/>
            <Param fixed="false" id="sBar28.axis.offs" scalarRef="scalar73"/>
          </Line>
          <Param fixed="true" id="sBar28.length" scalarRef="scalar74"/>
        </Bar>
      </Elements>
      <Couplings>
        <SwivelJoint fixed="true" id="swj8">
          <Point fixed="true" id="swj8.pt" posRef="pos4"/>
          <Line fixed="false" id="swj8.line">
            <Param fixed="false" id="swj8.line.dir" scalarRef="scalar5"/>
            <Param fixed="false" id="swj8.line.offs" scalarRef="scalar4"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj9">
          <Point fixed="false" id="swj9.pt" posRef="pos8"/>
          <Line fixed="false" id="swj9.line">
            <Param fixed="false" id="swj9.line.dir" scalarRef="scalar12"/>
            <Param fixed="false" id="swj9.line.offs" scalarRef="scalar11"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj10">
          <Point fixed="false" id="swj10.pt" posRef="pos9"/>
          <Line fixed="false" id="swj10.line">
            <Param fixed="false" id="swj10.line.dir" scalarRef="scalar14"/>
            <Param fixed="false" id="swj10.line.offs" scalarRef="scalar13"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj11">
          <Point fixed="false" id="swj11.pt" posRef="pos23"/>
          <Line fixed="false" id="swj11.line">
            <Param fixed="false" id="swj11.line.dir" scalarRef="scalar37"/>
            <Param fixed="false" id="swj11.line.offs" scalarRef="scalar36"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj12">
          <Point fixed="false" id="swj12.pt" posRef="pos26"/>
          <Line fixed="false" id="swj12.line">
            <Param fixed="false" id="swj12.line.dir" scalarRef="scalar42"/>
            <Param fixed="false" id="swj12.line.offs" scalarRef="scalar41"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj13">
          <Point fixed="true" id="swj13.pt" posRef="pos35"/>
          <Line fixed="false" id="swj13.line">
            <Param fixed="false" id="swj13.line.dir" scalarRef="scalar57"/>
            <Param fixed="false" id="swj13.line.offs" scalarRef="scalar56"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj14">
          <Point fixed="false" id="swj14.pt" posRef="pos36"/>
          <Line fixed="false" id="swj14.line">
            <Param fixed="false" id="swj14.line.dir" scalarRef="scalar59"/>
            <Param fixed="false" id="swj14.line.offs" scalarRef="scalar58"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj15">
          <Point fixed="false" id="swj15.pt" posRef="pos37"/>
          <Line fixed="false" id="swj15.line">
            <Param fixed="false" id="swj15.line.dir" scalarRef="scalar61"/>
            <Param fixed="false" id="swj15.line.offs" scalarRef="scalar60"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj16">
          <Point fixed="true" id="swj16.pt" posRef="pos43"/>
          <Line fixed="false" id="swj16.line">
            <Param fixed="false" id="swj16.line.dir" scalarRef="scalar69"/>
            <Param fixed="false" id="swj16.line.offs" scalarRef="scalar68"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj17">
          <Point fixed="true" id="swj17.pt" posRef="pos47"/>
          <Line fixed="false" id="swj17.line">
            <Param fixed="false" id="swj17.line.dir" scalarRef="scalar76"/>
            <Param fixed="false" id="swj17.line.offs" scalarRef="scalar75"/>
          </Line>
        </SwivelJoint>
        <RigidJoint fixed="false" id="rgj6">
          <Point fixed="false" id="rgj6.pt" posRef="pos5"/>
          <Line fixed="false" id="rgj6.axis">
            <Param fixed="false" id="rgj6.axis.dir" scalarRef="scalar7"/>
            <Param fixed="false" id="rgj6.axis.offs" scalarRef="scalar6"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj7">
          <Point fixed="false" id="rgj7.pt" posRef="pos14"/>
          <Line fixed="false" id="rgj7.axis">
            <Param fixed="false" id="rgj7.axis.dir" scalarRef="scalar22"/>
            <Param fixed="false" id="rgj7.axis.offs" scalarRef="scalar21"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj8">
          <Point fixed="false" id="rgj8.pt" posRef="pos17"/>
          <Line fixed="false" id="rgj8.axis">
            <Param fixed="false" id="rgj8.axis.dir" scalarRef="scalar27"/>
            <Param fixed="false" id="rgj8.axis.offs" scalarRef="scalar26"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj9">
          <Point fixed="false" id="rgj9.pt" posRef="pos20"/>
          <Line fixed="false" id="rgj9.axis">
            <Param fixed="false" id="rgj9.axis.dir" scalarRef="scalar32"/>
            <Param fixed="false" id="rgj9.axis.offs" scalarRef="scalar31"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj10">
          <Point fixed="false" id="rgj10.pt" posRef="pos29"/>
          <Line fixed="false" id="rgj10.axis">
            <Param fixed="false" id="rgj10.axis.dir" scalarRef="scalar47"/>
            <Param fixed="false" id="rgj10.axis.offs" scalarRef="scalar46"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj11">
          <Point fixed="false" id="rgj11.pt" posRef="pos32"/>
          <Line fixed="false" id="rgj11.axis">
            <Param fixed="false" id="rgj11.axis.dir" scalarRef="scalar52"/>
            <Param fixed="false" id="rgj11.axis.offs" scalarRef="scalar51"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj12">
          <Point fixed="false" id="rgj12.pt" posRef="pos44"/>
          <Line fixed="false" id="rgj12.axis">
            <Param fixed="false" id="rgj12.axis.dir" scalarRef="scalar71"/>
            <Param fixed="false" id="rgj12.axis.offs" scalarRef="scalar70"/>
          </Line>
        </RigidJoint>
      </Couplings>
      <Connections>
        <PointConnection couplingPointRef="rgj10.pt" elementPointRef="sBar24.pt1" id="pointcon1"/>
        <PointConnection couplingPointRef="rgj10.pt" elementPointRef="sBar23.pt2" id="pointcon2"/>
        <PointConnection couplingPointRef="rgj11.pt" elementPointRef="sBar25.pt1" id="pointcon3"/>
        <PointConnection couplingPointRef="rgj11.pt" elementPointRef="sBar24.pt2" id="pointcon4"/>
        <PointConnection couplingPointRef="rgj12.pt" elementPointRef="sBar28.pt1" id="pointcon5"/>
        <PointConnection couplingPointRef="rgj12.pt" elementPointRef="sBar27.pt2" id="pointcon6"/>
        <PointConnection couplingPointRef="rgj6.pt" elementPointRef="sBar16.pt1" id="pointcon7"/>
        <PointConnection couplingPointRef="rgj6.pt" elementPointRef="sBar14.pt2" id="pointcon8"/>
        <PointConnection couplingPointRef="rgj7.pt" elementPointRef="sBar19.pt1" id="pointcon9"/>
        <PointConnection couplingPointRef="rgj7.pt" elementPointRef="sBar18.pt2" id="pointcon10"/>
        <PointConnection couplingPointRef="rgj8.pt" elementPointRef="sBar20.pt1" id="pointcon11"/>
        <PointConnection couplingPointRef="rgj8.pt" elementPointRef="sBar19.pt2" id="pointcon12"/>
        <PointConnection couplingPointRef="rgj9.pt" elementPointRef="sBar21.pt1" id="pointcon13"/>
        <PointConnection couplingPointRef="rgj9.pt" elementPointRef="sBar20.pt2" id="pointcon14"/>
        <PointConnection couplingPointRef="swj10.pt" elementPointRef="sBar18.pt1" id="pointcon15"/>
        <PointConnection couplingPointRef="swj10.pt" elementPointRef="sBar17.pt1" id="pointcon16"/>
        <PointConnection couplingPointRef="swj11.pt" elementPointRef="sBar22.pt1" id="pointcon17"/>
        <PointConnection couplingPointRef="swj12.pt" elementPointRef="sBar23.pt1" id="pointcon18"/>
        <PointConnection couplingPointRef="swj12.pt" elementPointRef="sBar22.pt2" id="pointcon19"/>
        <PointConnection couplingPointRef="swj14.pt" elementPointRef="sBar26.pt1" id="pointcon20"/>
        <PointConnection couplingPointRef="swj15.pt" elementPointRef="sBar27.pt1" id="pointcon21"/>
        <PointConnection couplingPointRef="swj15.pt" elementPointRef="sBar26.pt2" id="pointcon22"/>
        <PointConnection couplingPointRef="swj16.pt" elementPointRef="sBar27.pt3" id="pointcon23"/>
        <PointConnection couplingPointRef="swj8.pt" elementPointRef="sBar14.pt3" id="pointcon24"/>
        <PointConnection couplingPointRef="swj9.pt" elementPointRef="sBar17.pt2" id="pointcon25"/>
        <PointConnection couplingPointRef="swj9.pt" elementPointRef="sBar14.pt1" id="pointcon26"/>
        <CouplingConnection coupling1Ref="swj11" coupling2Ref="rgj8" id="couplingcon27" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj13" coupling2Ref="rgj10" id="couplingcon28" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj14" coupling2Ref="rgj11" id="couplingcon29" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj17" coupling2Ref="rgj7" id="couplingcon30" role="SwivelingRigidJoint"/>
      </Connections>
    </ComponentSpace>
  </ComponentSpaces>

</Mechanism>
