<?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="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="SlidingJoint.2D.normal" scale="0.02">
      <Line id="SlidingJoint.2D.normal..line1" x1="-2.5" x2="2.5" y1="-1.25" y2="-1.25"/>
      <Line id="SlidingJoint.2D.normal..line2" x1="-2.5" x2="2.5" y1="1.25" y2="1.25"/>
      <Line id="SlidingJoint.2D.normal..line3" x1="-2.5" x2="-2.5" y1="1.25" y2="-1.25"/>
      <Line id="SlidingJoint.2D.normal..line4" x1="2.5" x2="2.5" y1="1.25" y2="-1.25"/>
      <Line id="SlidingJoint.2D.normal..line5" x1="-2.5" x2="2.5" y1="-1.25" y2="1.25"/>
      <Line id="SlidingJoint.2D.normal..line6" x1="-2.5" x2="2.5" y1="1.25" y2="-1.25"/>
    </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="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="-0.485353" y="-0.255215"/>
        <Position id="pos2" x="-0.326643" y="-0.404365"/>
        <Position id="pos3" x="0.423223" y="-0.404365"/>
        <Position id="pos4" x="0.0359129" y="-0.404365"/>
        <Position id="pos5" x="0.0359129" y="-0.404365"/>
        <Position id="pos6" x="0.0359129" y="-0.404365"/>
        <Position id="pos7" x="-0.34266" y="-0.0746649"/>
        <Position id="pos8" x="-0.34266" y="-0.0746649"/>
        <Position id="pos9" x="-0.34266" y="-0.0746649"/>
        <Position id="pos10" x="0.584843" y="0.255858"/>
        <Position id="pos11" x="0.584843" y="0.255858"/>
        <Position id="pos12" x="0.584843" y="0.255858"/>
        <Position id="pos13" x="0.0577536" y="-0.371699"/>
        <Position id="pos14" x="-0.34266" y="-0.0746649"/>
        <Position id="pos15" x="-0.485353" y="-0.255215"/>
        <Position id="pos16" x="-0.34266" y="-0.0746649"/>
      </Positions>
      <Scalars>
        <Scalar id="scalar1" value="-0.255215"/>
        <Scalar id="scalar2" value="0"/>
        <Scalar id="scalar3" value="0"/>
        <Scalar id="scalar4" value="0.404365"/>
        <Scalar id="scalar5" value="0.749867"/>
        <Scalar id="scalar6" value="0.404365"/>
        <Scalar id="scalar7" value="0"/>
        <Scalar id="scalar8" value="-0.404365"/>
        <Scalar id="scalar9" value="0"/>
        <Scalar id="scalar10" value="2.42509"/>
        <Scalar id="scalar11" value="-0.281348"/>
        <Scalar id="scalar12" value="0.502015"/>
        <Scalar id="scalar13" value="0"/>
        <Scalar id="scalar14" value="0"/>
        <Scalar id="scalar15" value="0.342328"/>
        <Scalar id="scalar16" value="-0.0446917"/>
        <Scalar id="scalar17" value="0.984636"/>
        <Scalar id="scalar18" value="0"/>
        <Scalar id="scalar19" value="0"/>
        <Scalar id="scalar20" value="-2.2694"/>
        <Scalar id="scalar21" value="-0.283283"/>
        <Scalar id="scalar22" value="0.819543"/>
        <Scalar id="scalar23" value="-0.0746649"/>
        <Scalar id="scalar24" value="0"/>
        <Scalar id="scalar25" value="0.901984"/>
        <Scalar id="scalar26" value="-0.22254"/>
        <Scalar id="scalar27" value="0.230129"/>
      </Scalars>
      <Elements>
        <Bar fixed="true" id="sBar81">
          <Point fixed="true" id="sBar81.pt1" posRef="pos2"/>
          <Point fixed="true" id="sBar81.pt2" posRef="pos3"/>
          <Line fixed="true" id="sBar81.axis">
            <Param fixed="false" id="sBar81.axis.dir" scalarRef="scalar3"/>
            <Param fixed="false" id="sBar81.axis.offs" scalarRef="scalar4"/>
          </Line>
          <Param fixed="true" id="sBar81.length" scalarRef="scalar5"/>
        </Bar>
        <Bar fixed="false" id="sBar82">
          <Point fixed="false" id="sBar82.pt1" posRef="pos6"/>
          <Point fixed="false" id="sBar82.pt2" posRef="pos7"/>
          <Line fixed="false" id="sBar82.axis">
            <Param fixed="false" id="sBar82.axis.dir" scalarRef="scalar10"/>
            <Param fixed="false" id="sBar82.axis.offs" scalarRef="scalar11"/>
          </Line>
          <Param fixed="true" id="sBar82.length" scalarRef="scalar12"/>
        </Bar>
        <Bar fixed="false" id="sBar83">
          <Point fixed="false" id="sBar83.pt1" posRef="pos9"/>
          <Point fixed="false" id="sBar83.pt2" posRef="pos10"/>
          <Line fixed="false" id="sBar83.axis">
            <Param fixed="false" id="sBar83.axis.dir" scalarRef="scalar15"/>
            <Param fixed="false" id="sBar83.axis.offs" scalarRef="scalar16"/>
          </Line>
          <Param fixed="true" id="sBar83.length" scalarRef="scalar17"/>
        </Bar>
        <Bar fixed="false" id="sBar84">
          <Point fixed="false" id="sBar84.pt1" posRef="pos12"/>
          <Point fixed="false" id="sBar84.pt2" posRef="pos13"/>
          <Line fixed="false" id="sBar84.axis">
            <Param fixed="false" id="sBar84.axis.dir" scalarRef="scalar20"/>
            <Param fixed="false" id="sBar84.axis.offs" scalarRef="scalar21"/>
          </Line>
          <Param fixed="true" id="sBar84.length" scalarRef="scalar22"/>
        </Bar>
        <Bar fixed="false" id="sBar85">
          <Point fixed="false" id="sBar85.pt1" posRef="pos15"/>
          <Point fixed="false" id="sBar85.pt2" posRef="pos16"/>
          <Line fixed="false" id="sBar85.axis">
            <Param fixed="false" id="sBar85.axis.dir" scalarRef="scalar25"/>
            <Param fixed="false" id="sBar85.axis.offs" scalarRef="scalar26"/>
          </Line>
          <Param fixed="true" id="sBar85.length" scalarRef="scalar27"/>
        </Bar>
      </Elements>
      <Couplings>
        <SwivelJoint fixed="true" id="swj61">
          <Point fixed="true" id="swj61.pt" posRef="pos1"/>
          <Line fixed="false" id="swj61.line">
            <Param fixed="false" id="swj61.line.dir" scalarRef="scalar2"/>
            <Param fixed="false" id="swj61.line.offs" scalarRef="scalar1"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj63">
          <Point fixed="false" id="swj63.pt" posRef="pos5"/>
          <Line fixed="false" id="swj63.line">
            <Param fixed="false" id="swj63.line.dir" scalarRef="scalar9"/>
            <Param fixed="false" id="swj63.line.offs" scalarRef="scalar8"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj64">
          <Point fixed="false" id="swj64.pt" posRef="pos14"/>
          <Line fixed="false" id="swj64.line">
            <Param fixed="false" id="swj64.line.dir" scalarRef="scalar24"/>
            <Param fixed="false" id="swj64.line.offs" scalarRef="scalar23"/>
          </Line>
        </SwivelJoint>
        <SlidingJoint fixed="false" id="slj15">
          <Point fixed="false" id="slj15.pt" posRef="pos4"/>
          <Line fixed="false" id="slj15.axis">
            <Param fixed="false" id="slj15.axis.dir" scalarRef="scalar7"/>
            <Param fixed="false" id="slj15.axis.offs" scalarRef="scalar6"/>
          </Line>
        </SlidingJoint>
        <RigidJoint fixed="false" id="rgj19">
          <Point fixed="false" id="rgj19.pt" posRef="pos8"/>
          <Line fixed="false" id="rgj19.axis">
            <Param fixed="false" id="rgj19.axis.dir" scalarRef="scalar14"/>
            <Param fixed="false" id="rgj19.axis.offs" scalarRef="scalar13"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj20">
          <Point fixed="false" id="rgj20.pt" posRef="pos11"/>
          <Line fixed="false" id="rgj20.axis">
            <Param fixed="false" id="rgj20.axis.dir" scalarRef="scalar19"/>
            <Param fixed="false" id="rgj20.axis.offs" scalarRef="scalar18"/>
          </Line>
        </RigidJoint>
      </Couplings>
      <Connections>
        <PointConnection couplingPointRef="rgj19.pt" elementPointRef="sBar83.pt1" id="pointcon1"/>
        <PointConnection couplingPointRef="rgj19.pt" elementPointRef="sBar82.pt2" id="pointcon2"/>
        <PointConnection couplingPointRef="rgj20.pt" elementPointRef="sBar84.pt1" id="pointcon3"/>
        <PointConnection couplingPointRef="rgj20.pt" elementPointRef="sBar83.pt2" id="pointcon4"/>
        <PointConnection couplingPointRef="swj61.pt" elementPointRef="sBar85.pt1" id="pointcon5"/>
        <PointConnection couplingPointRef="swj63.pt" elementPointRef="sBar82.pt1" id="pointcon6"/>
        <PointConnection couplingPointRef="swj64.pt" elementPointRef="sBar85.pt2" id="pointcon7"/>
        <LineConnection couplingLineRef="slj15.axis" elementLineRef="sBar81.axis" id="linecon10"/>
        <CouplingConnection coupling1Ref="swj63" coupling2Ref="slj15" id="couplingcon8" role="SlidingSwivelJoint"/>
        <CouplingConnection coupling1Ref="swj64" coupling2Ref="rgj19" id="couplingcon9" role="SwivelingRigidJoint"/>
      </Connections>
    </ComponentSpace>
  </ComponentSpaces>

</Mechanism>
