<?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="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.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="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="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="-0.0159029" y="0.0144354"/>
        <Position id="pos2" x="-0.280315" y="0.174012"/>
        <Position id="pos3" x="-0.280315" y="0.174012"/>
        <Position id="pos4" x="-0.280315" y="0.174012"/>
        <Position id="pos5" x="-0.450521" y="0.699506"/>
        <Position id="pos6" x="-0.280315" y="0.174012"/>
        <Position id="pos7" x="-0.0292249" y="0.0224754"/>
        <Position id="pos8" x="-0.0292249" y="0.0224754"/>
        <Position id="pos9" x="-0.85652" y="-0.27661"/>
        <Position id="pos10" x="-0.0292249" y="0.0224754"/>
        <Position id="pos11" x="-0.275731" y="-0.274963"/>
        <Position id="pos12" x="-0.275731" y="-0.274963"/>
        <Position id="pos13" x="-0.275731" y="-0.274963"/>
        <Position id="pos14" x="-0.219527" y="-0.298197"/>
        <Position id="pos15" x="-0.219527" y="-0.298197"/>
        <Position id="pos16" x="-0.219527" y="-0.298197"/>
        <Position id="pos17" x="-0.0719706" y="-0.465028"/>
        <Position id="pos18" x="-0.181567" y="-0.341116"/>
        <Position id="pos19" x="-0.181567" y="-0.341116"/>
        <Position id="pos20" x="-0.85652" y="-0.27661"/>
        <Position id="pos21" x="0.066056" y="-0.484933"/>
        <Position id="pos22" x="0.066056" y="-0.484933"/>
        <Position id="pos23" x="0.066056" y="-0.484933"/>
        <Position id="pos24" x="0.850661" y="-0.481238"/>
        <Position id="pos25" x="0.066056" y="-0.484933"/>
        <Position id="pos26" x="-0.181567" y="-0.341116"/>
        <Position id="pos27" x="-0.275731" y="-0.274963"/>
      </Positions>
      <Scalars>
        <Scalar id="scalar1" value="2.59859"/>
        <Scalar id="scalar2" value="0.00414189"/>
        <Scalar id="scalar3" value="0.308834"/>
        <Scalar id="scalar4" value="0"/>
        <Scalar id="scalar5" value="1.93755"/>
        <Scalar id="scalar6" value="1.88403"/>
        <Scalar id="scalar7" value="-0.213056"/>
        <Scalar id="scalar8" value="0.552371"/>
        <Scalar id="scalar9" value="0.174012"/>
        <Scalar id="scalar10" value="0"/>
        <Scalar id="scalar11" value="0.00414189"/>
        <Scalar id="scalar12" value="2.59859"/>
        <Scalar id="scalar13" value="0.0224754"/>
        <Scalar id="scalar14" value="0"/>
        <Scalar id="scalar15" value="-0.27661"/>
        <Scalar id="scalar16" value="0"/>
        <Scalar id="scalar17" value="-2.26283"/>
        <Scalar id="scalar18" value="0.0368434"/>
        <Scalar id="scalar19" value="0.386309"/>
        <Scalar id="scalar20" value="0"/>
        <Scalar id="scalar21" value="-0.946299"/>
        <Scalar id="scalar22" value="-0.391992"/>
        <Scalar id="scalar23" value="0.359445"/>
        <Scalar id="scalar24" value="0.0608171"/>
        <Scalar id="scalar25" value="0"/>
        <Scalar id="scalar26" value="-0.946299"/>
        <Scalar id="scalar27" value="-0.846631"/>
        <Scalar id="scalar28" value="0.361996"/>
        <Scalar id="scalar29" value="0.222723"/>
        <Scalar id="scalar30" value="0.361996"/>
        <Scalar id="scalar31" value="-0.846631"/>
        <Scalar id="scalar32" value="-0.341116"/>
        <Scalar id="scalar33" value="0"/>
        <Scalar id="scalar34" value="-0.222082"/>
        <Scalar id="scalar35" value="0.458474"/>
        <Scalar id="scalar36" value="0.945804"/>
        <Scalar id="scalar37" value="0"/>
        <Scalar id="scalar38" value="-0.146508"/>
        <Scalar id="scalar39" value="0.0047096"/>
        <Scalar id="scalar40" value="0.485239"/>
        <Scalar id="scalar41" value="0.784614"/>
        <Scalar id="scalar42" value="2.61542"/>
        <Scalar id="scalar43" value="-0.386163"/>
        <Scalar id="scalar44" value="0.286357"/>
        <Scalar id="scalar45" value="-0.274963"/>
        <Scalar id="scalar46" value="0"/>
      </Scalars>
      <Elements>
        <Bar fixed="false" id="sBar96">
          <Point fixed="false" id="sBar96.pt1" posRef="pos1"/>
          <Point fixed="false" id="sBar96.pt2" posRef="pos2"/>
          <Line fixed="false" id="sBar96.axis">
            <Param fixed="false" id="sBar96.axis.dir" scalarRef="scalar1"/>
            <Param fixed="false" id="sBar96.axis.offs" scalarRef="scalar2"/>
          </Line>
          <Param fixed="true" id="sBar96.length" scalarRef="scalar3"/>
        </Bar>
        <Bar fixed="false" id="sBar97">
          <Point fixed="false" id="sBar97.pt1" posRef="pos4"/>
          <Point fixed="false" id="sBar97.pt2" posRef="pos5"/>
          <Line fixed="false" id="sBar97.axis">
            <Param fixed="false" id="sBar97.axis.dir" scalarRef="scalar6"/>
            <Param fixed="false" id="sBar97.axis.offs" scalarRef="scalar7"/>
          </Line>
          <Param fixed="true" id="sBar97.length" scalarRef="scalar8"/>
        </Bar>
        <Bar fixed="false" id="sBar98">
          <Point fixed="false" id="sBar98.pt1" posRef="pos10"/>
          <Point fixed="false" id="sBar98.pt2" posRef="pos11"/>
          <Line fixed="false" id="sBar98.axis">
            <Param fixed="false" id="sBar98.axis.dir" scalarRef="scalar17"/>
            <Param fixed="false" id="sBar98.axis.offs" scalarRef="scalar18"/>
          </Line>
          <Param fixed="true" id="sBar98.length" scalarRef="scalar19"/>
        </Bar>
        <Bar fixed="false" id="sBar99">
          <Point fixed="false" id="sBar99.pt1" posRef="pos13"/>
          <Point fixed="false" id="sBar99.pt2" posRef="pos14"/>
          <Line fixed="false" id="sBar99.axis">
            <Param fixed="false" id="sBar99.axis.dir" scalarRef="scalar22"/>
            <Param fixed="false" id="sBar99.axis.offs" scalarRef="scalar23"/>
          </Line>
          <Param fixed="true" id="sBar99.length" scalarRef="scalar24"/>
        </Bar>
        <Bar fixed="false" id="sBar100">
          <Point fixed="false" id="sBar100.pt1" posRef="pos16"/>
          <Point fixed="false" id="sBar100.pt2" posRef="pos17"/>
          <Line fixed="false" id="sBar100.axis">
            <Param fixed="false" id="sBar100.axis.dir" scalarRef="scalar27"/>
            <Param fixed="false" id="sBar100.axis.offs" scalarRef="scalar28"/>
          </Line>
          <Param fixed="true" id="sBar100.length" scalarRef="scalar29"/>
        </Bar>
        <Bar fixed="false" id="sBar101">
          <Point fixed="false" id="sBar101.pt1" posRef="pos20"/>
          <Point fixed="false" id="sBar101.pt2" posRef="pos21"/>
          <Line fixed="false" id="sBar101.axis">
            <Param fixed="false" id="sBar101.axis.dir" scalarRef="scalar34"/>
            <Param fixed="false" id="sBar101.axis.offs" scalarRef="scalar35"/>
          </Line>
          <Param fixed="true" id="sBar101.length" scalarRef="scalar36"/>
        </Bar>
        <Bar fixed="false" id="sBar102">
          <Point fixed="false" id="sBar102.pt1" posRef="pos23"/>
          <Point fixed="false" id="sBar102.pt2" posRef="pos24"/>
          <Line fixed="false" id="sBar102.axis">
            <Param fixed="false" id="sBar102.axis.dir" scalarRef="scalar39"/>
            <Param fixed="false" id="sBar102.axis.offs" scalarRef="scalar40"/>
          </Line>
          <Param fixed="true" id="sBar102.length" scalarRef="scalar41"/>
        </Bar>
        <Bar fixed="false" id="sBar103">
          <Point fixed="false" id="sBar103.pt1" posRef="pos25"/>
          <Point fixed="false" id="sBar103.pt2" posRef="pos26"/>
          <Line fixed="false" id="sBar103.axis">
            <Param fixed="false" id="sBar103.axis.dir" scalarRef="scalar42"/>
            <Param fixed="false" id="sBar103.axis.offs" scalarRef="scalar43"/>
          </Line>
          <Param fixed="true" id="sBar103.length" scalarRef="scalar44"/>
        </Bar>
      </Elements>
      <Couplings>
        <SwivelJoint fixed="true" id="swj74">
          <Point fixed="true" id="swj74.pt" posRef="pos6"/>
          <Line fixed="false" id="swj74.line">
            <Param fixed="false" id="swj74.line.dir" scalarRef="scalar10"/>
            <Param fixed="false" id="swj74.line.offs" scalarRef="scalar9"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj75">
          <Point fixed="false" id="swj75.pt" posRef="pos8"/>
          <Line fixed="false" id="swj75.line">
            <Param fixed="false" id="swj75.line.dir" scalarRef="scalar14"/>
            <Param fixed="false" id="swj75.line.offs" scalarRef="scalar13"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj76">
          <Point fixed="true" id="swj76.pt" posRef="pos9"/>
          <Line fixed="false" id="swj76.line">
            <Param fixed="false" id="swj76.line.dir" scalarRef="scalar16"/>
            <Param fixed="false" id="swj76.line.offs" scalarRef="scalar15"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj77">
          <Point fixed="false" id="swj77.pt" posRef="pos19"/>
          <Line fixed="false" id="swj77.line">
            <Param fixed="false" id="swj77.line.dir" scalarRef="scalar33"/>
            <Param fixed="false" id="swj77.line.offs" scalarRef="scalar32"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj78">
          <Point fixed="true" id="swj78.pt" posRef="pos27"/>
          <Line fixed="false" id="swj78.line">
            <Param fixed="false" id="swj78.line.dir" scalarRef="scalar46"/>
            <Param fixed="false" id="swj78.line.offs" scalarRef="scalar45"/>
          </Line>
        </SwivelJoint>
        <SlidingJoint fixed="false" id="slj19">
          <Point fixed="false" id="slj19.pt" posRef="pos7"/>
          <Line fixed="false" id="slj19.axis">
            <Param fixed="false" id="slj19.axis.dir" scalarRef="scalar12"/>
            <Param fixed="false" id="slj19.axis.offs" scalarRef="scalar11"/>
          </Line>
        </SlidingJoint>
        <SlidingJoint fixed="false" id="slj20">
          <Point fixed="false" id="slj20.pt" posRef="pos18"/>
          <Line fixed="false" id="slj20.axis">
            <Param fixed="false" id="slj20.axis.dir" scalarRef="scalar31"/>
            <Param fixed="false" id="slj20.axis.offs" scalarRef="scalar30"/>
          </Line>
        </SlidingJoint>
        <RigidJoint fixed="false" id="rgj24">
          <Point fixed="false" id="rgj24.pt" posRef="pos3"/>
          <Line fixed="false" id="rgj24.axis">
            <Param fixed="false" id="rgj24.axis.dir" scalarRef="scalar5"/>
            <Param fixed="false" id="rgj24.axis.offs" scalarRef="scalar4"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj25">
          <Point fixed="false" id="rgj25.pt" posRef="pos12"/>
          <Line fixed="false" id="rgj25.axis">
            <Param fixed="false" id="rgj25.axis.dir" scalarRef="scalar21"/>
            <Param fixed="false" id="rgj25.axis.offs" scalarRef="scalar20"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj26">
          <Point fixed="false" id="rgj26.pt" posRef="pos15"/>
          <Line fixed="false" id="rgj26.axis">
            <Param fixed="false" id="rgj26.axis.dir" scalarRef="scalar26"/>
            <Param fixed="false" id="rgj26.axis.offs" scalarRef="scalar25"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj27">
          <Point fixed="false" id="rgj27.pt" posRef="pos22"/>
          <Line fixed="false" id="rgj27.axis">
            <Param fixed="false" id="rgj27.axis.dir" scalarRef="scalar38"/>
            <Param fixed="false" id="rgj27.axis.offs" scalarRef="scalar37"/>
          </Line>
        </RigidJoint>
      </Couplings>
      <Connections>
        <PointConnection couplingPointRef="rgj24.pt" elementPointRef="sBar97.pt1" id="pointcon1"/>
        <PointConnection couplingPointRef="rgj24.pt" elementPointRef="sBar96.pt2" id="pointcon2"/>
        <PointConnection couplingPointRef="rgj25.pt" elementPointRef="sBar99.pt1" id="pointcon3"/>
        <PointConnection couplingPointRef="rgj25.pt" elementPointRef="sBar98.pt2" id="pointcon4"/>
        <PointConnection couplingPointRef="rgj26.pt" elementPointRef="sBar100.pt1" id="pointcon5"/>
        <PointConnection couplingPointRef="rgj26.pt" elementPointRef="sBar99.pt2" id="pointcon6"/>
        <PointConnection couplingPointRef="rgj27.pt" elementPointRef="sBar103.pt1" id="pointcon7"/>
        <PointConnection couplingPointRef="rgj27.pt" elementPointRef="sBar102.pt1" id="pointcon8"/>
        <PointConnection couplingPointRef="rgj27.pt" elementPointRef="sBar101.pt2" id="pointcon9"/>
        <PointConnection couplingPointRef="swj75.pt" elementPointRef="sBar98.pt1" id="pointcon10"/>
        <PointConnection couplingPointRef="swj76.pt" elementPointRef="sBar101.pt1" id="pointcon11"/>
        <PointConnection couplingPointRef="swj77.pt" elementPointRef="sBar103.pt2" id="pointcon12"/>
        <LineConnection couplingLineRef="slj19.axis" elementLineRef="sBar96.axis" id="linecon17"/>
        <LineConnection couplingLineRef="slj20.axis" elementLineRef="sBar100.axis" id="linecon18"/>
        <CouplingConnection coupling1Ref="swj74" coupling2Ref="rgj24" id="couplingcon13" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj75" coupling2Ref="slj19" id="couplingcon14" role="SlidingSwivelJoint"/>
        <CouplingConnection coupling1Ref="swj77" coupling2Ref="slj20" id="couplingcon15" role="SlidingSwivelJoint"/>
        <CouplingConnection coupling1Ref="swj78" coupling2Ref="rgj25" id="couplingcon16" role="SwivelingRigidJoint"/>
      </Connections>
    </ComponentSpace>
  </ComponentSpaces>

</Mechanism>
