<?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="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="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.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="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="0.00134291" y="0.151894"/>
        <Position id="pos2" x="0.00134291" y="-0.363166"/>
        <Position id="pos3" x="0.00134291" y="0.147852"/>
        <Position id="pos4" x="0.00134291" y="0.147852"/>
        <Position id="pos5" x="-0.00280197" y="0.269835"/>
        <Position id="pos6" x="-0.305204" y="-0.458087"/>
        <Position id="pos7" x="-0.0904655" y="0.142558"/>
        <Position id="pos8" x="0.309446" y="-0.453419"/>
        <Position id="pos9" x="0.0947074" y="0.147226"/>
        <Position id="pos10" x="-0.00280197" y="0.269835"/>
        <Position id="pos11" x="-0.792567" y="0.236661"/>
        <Position id="pos12" x="-0.00280197" y="0.269835"/>
        <Position id="pos13" x="0.781078" y="0.243722"/>
        <Position id="pos14" x="-0.792567" y="0.236661"/>
        <Position id="pos15" x="-0.792567" y="0.236661"/>
        <Position id="pos16" x="-0.151321" y="0.300492"/>
        <Position id="pos17" x="-0.151321" y="0.300492"/>
        <Position id="pos18" x="-0.151321" y="0.300492"/>
        <Position id="pos19" x="-0.03693" y="0.280884"/>
        <Position id="pos20" x="0.781078" y="0.243722"/>
        <Position id="pos21" x="0.781078" y="0.243722"/>
        <Position id="pos22" x="0.148659" y="0.305868"/>
        <Position id="pos23" x="0.148659" y="0.305868"/>
        <Position id="pos24" x="0.148659" y="0.305868"/>
        <Position id="pos25" x="0.0275949" y="0.282312"/>
        <Position id="pos26" x="0.148659" y="0.305868"/>
        <Position id="pos27" x="-0.151321" y="0.300492"/>
        <Position id="pos28" x="-0.151321" y="0.300492"/>
        <Position id="pos29" x="0.00134291" y="0.147852"/>
        <Position id="pos30" x="0.00134291" y="0.147852"/>
        <Position id="pos31" x="0.148659" y="0.305868"/>
      </Positions>
      <Scalars>
        <Scalar id="scalar1" value="-1.5708"/>
        <Scalar id="scalar2" value="-0.00134291"/>
        <Scalar id="scalar3" value="0.515061"/>
        <Scalar id="scalar4" value="-0.00134291"/>
        <Scalar id="scalar5" value="-1.5708"/>
        <Scalar id="scalar6" value="0.147852"/>
        <Scalar id="scalar7" value="0"/>
        <Scalar id="scalar8" value="0.269835"/>
        <Scalar id="scalar9" value="0"/>
        <Scalar id="scalar10" value="0"/>
        <Scalar id="scalar11" value="0"/>
        <Scalar id="scalar12" value="0"/>
        <Scalar id="scalar13" value="0"/>
        <Scalar id="scalar14" value="0"/>
        <Scalar id="scalar15" value="0"/>
        <Scalar id="scalar16" value="0"/>
        <Scalar id="scalar17" value="-5.55112e-017"/>
        <Scalar id="scalar18" value="-3.09961"/>
        <Scalar id="scalar19" value="0.269715"/>
        <Scalar id="scalar20" value="0.790461"/>
        <Scalar id="scalar21" value="-0.0333008"/>
        <Scalar id="scalar22" value="-0.269592"/>
        <Scalar id="scalar23" value="0.784314"/>
        <Scalar id="scalar24" value="0"/>
        <Scalar id="scalar25" value="-1.12983"/>
        <Scalar id="scalar26" value="0.0992145"/>
        <Scalar id="scalar27" value="-0.314003"/>
        <Scalar id="scalar28" value="0.644415"/>
        <Scalar id="scalar29" value="0"/>
        <Scalar id="scalar30" value="-1.12983"/>
        <Scalar id="scalar31" value="-0.169764"/>
        <Scalar id="scalar32" value="-0.270607"/>
        <Scalar id="scalar33" value="0.116059"/>
        <Scalar id="scalar34" value="0"/>
        <Scalar id="scalar35" value="1.12608"/>
        <Scalar id="scalar36" value="3.04364"/>
        <Scalar id="scalar37" value="0.31894"/>
        <Scalar id="scalar38" value="0.635465"/>
        <Scalar id="scalar39" value="0"/>
        <Scalar id="scalar40" value="1.12608"/>
        <Scalar id="scalar41" value="-2.94942"/>
        <Scalar id="scalar42" value="0.271844"/>
        <Scalar id="scalar43" value="0.123334"/>
        <Scalar id="scalar44" value="0.305868"/>
        <Scalar id="scalar45" value="0"/>
        <Scalar id="scalar46" value="0.300492"/>
        <Scalar id="scalar47" value="0"/>
        <Scalar id="scalar48" value="-0.785321"/>
        <Scalar id="scalar49" value="-0.105505"/>
        <Scalar id="scalar50" value="0.215882"/>
        <Scalar id="scalar51" value="0.820429"/>
        <Scalar id="scalar52" value="-0.0998391"/>
        <Scalar id="scalar53" value="0.216035"/>
      </Scalars>
      <Elements>
        <Bar fixed="true" id="sBar107">
          <Point fixed="true" id="sBar107.pt1" posRef="pos1"/>
          <Point fixed="true" id="sBar107.pt2" posRef="pos2"/>
          <Line fixed="true" id="sBar107.axis">
            <Param fixed="false" id="sBar107.axis.dir" scalarRef="scalar1"/>
            <Param fixed="false" id="sBar107.axis.offs" scalarRef="scalar2"/>
          </Line>
          <Param fixed="true" id="sBar107.length" scalarRef="scalar3"/>
        </Bar>
        <Bar fixed="false" id="sBar116">
          <Point fixed="false" id="sBar116.pt1" posRef="pos10"/>
          <Point fixed="false" id="sBar116.pt2" posRef="pos11"/>
          <Line fixed="false" id="sBar116.axis">
            <Param fixed="false" id="sBar116.axis.dir" scalarRef="scalar18"/>
            <Param fixed="false" id="sBar116.axis.offs" scalarRef="scalar19"/>
          </Line>
          <Param fixed="true" id="sBar116.length" scalarRef="scalar20"/>
        </Bar>
        <Bar fixed="false" id="sBar117">
          <Point fixed="false" id="sBar117.pt1" posRef="pos12"/>
          <Point fixed="false" id="sBar117.pt2" posRef="pos13"/>
          <Line fixed="false" id="sBar117.axis">
            <Param fixed="false" id="sBar117.axis.dir" scalarRef="scalar21"/>
            <Param fixed="false" id="sBar117.axis.offs" scalarRef="scalar22"/>
          </Line>
          <Param fixed="true" id="sBar117.length" scalarRef="scalar23"/>
        </Bar>
        <Bar fixed="false" id="sBar118">
          <Point fixed="false" id="sBar118.pt1" posRef="pos15"/>
          <Point fixed="false" id="sBar118.pt2" posRef="pos16"/>
          <Line fixed="false" id="sBar118.axis">
            <Param fixed="false" id="sBar118.axis.dir" scalarRef="scalar26"/>
            <Param fixed="false" id="sBar118.axis.offs" scalarRef="scalar27"/>
          </Line>
          <Param fixed="true" id="sBar118.length" scalarRef="scalar28"/>
        </Bar>
        <Bar fixed="false" id="sBar119">
          <Point fixed="false" id="sBar119.pt1" posRef="pos18"/>
          <Point fixed="false" id="sBar119.pt2" posRef="pos19"/>
          <Line fixed="false" id="sBar119.axis">
            <Param fixed="false" id="sBar119.axis.dir" scalarRef="scalar31"/>
            <Param fixed="false" id="sBar119.axis.offs" scalarRef="scalar32"/>
          </Line>
          <Param fixed="true" id="sBar119.length" scalarRef="scalar33"/>
        </Bar>
        <Bar fixed="false" id="sBar120">
          <Point fixed="false" id="sBar120.pt1" posRef="pos21"/>
          <Point fixed="false" id="sBar120.pt2" posRef="pos22"/>
          <Line fixed="false" id="sBar120.axis">
            <Param fixed="false" id="sBar120.axis.dir" scalarRef="scalar36"/>
            <Param fixed="false" id="sBar120.axis.offs" scalarRef="scalar37"/>
          </Line>
          <Param fixed="true" id="sBar120.length" scalarRef="scalar38"/>
        </Bar>
        <Bar fixed="false" id="sBar121">
          <Point fixed="false" id="sBar121.pt1" posRef="pos24"/>
          <Point fixed="false" id="sBar121.pt2" posRef="pos25"/>
          <Line fixed="false" id="sBar121.axis">
            <Param fixed="false" id="sBar121.axis.dir" scalarRef="scalar41"/>
            <Param fixed="false" id="sBar121.axis.offs" scalarRef="scalar42"/>
          </Line>
          <Param fixed="true" id="sBar121.length" scalarRef="scalar43"/>
        </Bar>
        <Bar fixed="false" id="sBar122">
          <Point fixed="false" id="sBar122.pt1" posRef="pos28"/>
          <Point fixed="false" id="sBar122.pt2" posRef="pos29"/>
          <Line fixed="false" id="sBar122.axis">
            <Param fixed="false" id="sBar122.axis.dir" scalarRef="scalar48"/>
            <Param fixed="false" id="sBar122.axis.offs" scalarRef="scalar49"/>
          </Line>
          <Param fixed="true" id="sBar122.length" scalarRef="scalar50"/>
        </Bar>
        <Bar fixed="false" id="sBar123">
          <Point fixed="false" id="sBar123.pt1" posRef="pos30"/>
          <Point fixed="false" id="sBar123.pt2" posRef="pos31"/>
          <Line fixed="false" id="sBar123.axis">
            <Param fixed="false" id="sBar123.axis.dir" scalarRef="scalar51"/>
            <Param fixed="false" id="sBar123.axis.offs" scalarRef="scalar52"/>
          </Line>
          <Param fixed="true" id="sBar123.length" scalarRef="scalar53"/>
        </Bar>
      </Elements>
      <Couplings>
        <SwivelJoint fixed="false" id="swj82">
          <Point fixed="false" id="swj82.pt" posRef="pos4"/>
          <Line fixed="false" id="swj82.line">
            <Param fixed="false" id="swj82.line.dir" scalarRef="scalar7"/>
            <Param fixed="false" id="swj82.line.offs" scalarRef="scalar6"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj83">
          <Point fixed="true" id="swj83.pt" posRef="pos5"/>
          <Line fixed="false" id="swj83.line">
            <Param fixed="false" id="swj83.line.dir" scalarRef="scalar9"/>
            <Param fixed="false" id="swj83.line.offs" scalarRef="scalar8"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj84">
          <Point fixed="false" id="swj84.pt" posRef="pos26"/>
          <Line fixed="false" id="swj84.line">
            <Param fixed="false" id="swj84.line.dir" scalarRef="scalar45"/>
            <Param fixed="false" id="swj84.line.offs" scalarRef="scalar44"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj85">
          <Point fixed="false" id="swj85.pt" posRef="pos27"/>
          <Line fixed="false" id="swj85.line">
            <Param fixed="false" id="swj85.line.dir" scalarRef="scalar47"/>
            <Param fixed="false" id="swj85.line.offs" scalarRef="scalar46"/>
          </Line>
        </SwivelJoint>
        <SlidingJoint fixed="false" id="slj22">
          <Point fixed="false" id="slj22.pt" posRef="pos3"/>
          <Line fixed="false" id="slj22.axis">
            <Param fixed="false" id="slj22.axis.dir" scalarRef="scalar5"/>
            <Param fixed="false" id="slj22.axis.offs" scalarRef="scalar4"/>
          </Line>
        </SlidingJoint>
        <RigidJoint fixed="false" id="rgj28">
          <Point fixed="false" id="rgj28.pt" posRef="pos6"/>
          <Line fixed="false" id="rgj28.axis">
            <Param fixed="false" id="rgj28.axis.dir" scalarRef="scalar11"/>
            <Param fixed="false" id="rgj28.axis.offs" scalarRef="scalar10"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj29">
          <Point fixed="false" id="rgj29.pt" posRef="pos7"/>
          <Line fixed="false" id="rgj29.axis">
            <Param fixed="false" id="rgj29.axis.dir" scalarRef="scalar13"/>
            <Param fixed="false" id="rgj29.axis.offs" scalarRef="scalar12"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj30">
          <Point fixed="false" id="rgj30.pt" posRef="pos8"/>
          <Line fixed="false" id="rgj30.axis">
            <Param fixed="false" id="rgj30.axis.dir" scalarRef="scalar15"/>
            <Param fixed="false" id="rgj30.axis.offs" scalarRef="scalar14"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj31">
          <Point fixed="false" id="rgj31.pt" posRef="pos9"/>
          <Line fixed="false" id="rgj31.axis">
            <Param fixed="false" id="rgj31.axis.dir" scalarRef="scalar17"/>
            <Param fixed="false" id="rgj31.axis.offs" scalarRef="scalar16"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj32">
          <Point fixed="false" id="rgj32.pt" posRef="pos14"/>
          <Line fixed="false" id="rgj32.axis">
            <Param fixed="false" id="rgj32.axis.dir" scalarRef="scalar25"/>
            <Param fixed="false" id="rgj32.axis.offs" scalarRef="scalar24"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj33">
          <Point fixed="false" id="rgj33.pt" posRef="pos17"/>
          <Line fixed="false" id="rgj33.axis">
            <Param fixed="false" id="rgj33.axis.dir" scalarRef="scalar30"/>
            <Param fixed="false" id="rgj33.axis.offs" scalarRef="scalar29"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj34">
          <Point fixed="false" id="rgj34.pt" posRef="pos20"/>
          <Line fixed="false" id="rgj34.axis">
            <Param fixed="false" id="rgj34.axis.dir" scalarRef="scalar35"/>
            <Param fixed="false" id="rgj34.axis.offs" scalarRef="scalar34"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj35">
          <Point fixed="false" id="rgj35.pt" posRef="pos23"/>
          <Line fixed="false" id="rgj35.axis">
            <Param fixed="false" id="rgj35.axis.dir" scalarRef="scalar40"/>
            <Param fixed="false" id="rgj35.axis.offs" scalarRef="scalar39"/>
          </Line>
        </RigidJoint>
      </Couplings>
      <Connections>
        <PointConnection couplingPointRef="rgj32.pt" elementPointRef="sBar118.pt1" id="pointcon1"/>
        <PointConnection couplingPointRef="rgj32.pt" elementPointRef="sBar116.pt2" id="pointcon2"/>
        <PointConnection couplingPointRef="rgj33.pt" elementPointRef="sBar119.pt1" id="pointcon3"/>
        <PointConnection couplingPointRef="rgj33.pt" elementPointRef="sBar118.pt2" id="pointcon4"/>
        <PointConnection couplingPointRef="rgj34.pt" elementPointRef="sBar120.pt1" id="pointcon5"/>
        <PointConnection couplingPointRef="rgj34.pt" elementPointRef="sBar117.pt2" id="pointcon6"/>
        <PointConnection couplingPointRef="rgj35.pt" elementPointRef="sBar121.pt1" id="pointcon7"/>
        <PointConnection couplingPointRef="rgj35.pt" elementPointRef="sBar120.pt2" id="pointcon8"/>
        <PointConnection couplingPointRef="swj82.pt" elementPointRef="sBar123.pt1" id="pointcon9"/>
        <PointConnection couplingPointRef="swj82.pt" elementPointRef="sBar122.pt2" id="pointcon10"/>
        <PointConnection couplingPointRef="swj83.pt" elementPointRef="sBar117.pt1" id="pointcon11"/>
        <PointConnection couplingPointRef="swj83.pt" elementPointRef="sBar116.pt1" id="pointcon12"/>
        <PointConnection couplingPointRef="swj84.pt" elementPointRef="sBar123.pt2" id="pointcon13"/>
        <PointConnection couplingPointRef="swj84.pt" elementPointRef="sBar120.pt2" id="pointcon14"/>
        <PointConnection couplingPointRef="swj85.pt" elementPointRef="sBar122.pt1" id="pointcon15"/>
        <LineConnection couplingLineRef="slj22.axis" elementLineRef="sBar107.axis" id="linecon18"/>
        <CouplingConnection coupling1Ref="swj82" coupling2Ref="slj22" id="couplingcon16" role="SlidingSwivelJoint"/>
        <CouplingConnection coupling1Ref="swj85" coupling2Ref="rgj33" id="couplingcon17" role="SwivelingRigidJoint"/>
      </Connections>
    </ComponentSpace>
  </ComponentSpaces>

</Mechanism>
