<?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="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="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="-0.895046" y="0.0221598"/>
        <Position id="pos2" x="0.046037" y="0.0221598"/>
        <Position id="pos3" x="-0.439473" y="0.0221598"/>
        <Position id="pos4" x="-0.439473" y="0.0221598"/>
        <Position id="pos5" x="-0.315715" y="0.274945"/>
        <Position id="pos6" x="-0.318246" y="-0.222411"/>
        <Position id="pos7" x="-0.439473" y="0.0221598"/>
        <Position id="pos8" x="-0.315715" y="0.274945"/>
        <Position id="pos9" x="-0.439473" y="0.0221598"/>
        <Position id="pos10" x="-0.318246" y="-0.222411"/>
        <Position id="pos11" x="-0.315715" y="0.274945"/>
        <Position id="pos12" x="0.56289" y="0.382466"/>
        <Position id="pos13" x="0.181801" y="0.335564"/>
        <Position id="pos14" x="0.56289" y="0.382466"/>
        <Position id="pos15" x="0.56289" y="0.382466"/>
        <Position id="pos16" x="0.561107" y="0.295051"/>
        <Position id="pos17" x="-0.318246" y="-0.222411"/>
        <Position id="pos18" x="0.562974" y="-0.340946"/>
        <Position id="pos19" x="0.182112" y="-0.289448"/>
        <Position id="pos20" x="0.562974" y="-0.340946"/>
        <Position id="pos21" x="0.562974" y="-0.340946"/>
        <Position id="pos22" x="0.563403" y="-0.251183"/>
        <Position id="pos23" x="0.181801" y="0.335564"/>
        <Position id="pos24" x="0.179462" y="0.086248"/>
        <Position id="pos25" x="0.179462" y="-0.0472028"/>
        <Position id="pos26" x="0.181801" y="0.335564"/>
        <Position id="pos27" x="0.179462" y="0.086248"/>
        <Position id="pos28" x="0.182112" y="-0.289448"/>
        <Position id="pos29" x="0.179462" y="-0.0472028"/>
        <Position id="pos30" x="0.182112" y="-0.289448"/>
      </Positions>
      <Scalars>
        <Scalar id="scalar1" value="0"/>
        <Scalar id="scalar2" value="-0.0221598"/>
        <Scalar id="scalar3" value="0.941083"/>
        <Scalar id="scalar4" value="-0.0221598"/>
        <Scalar id="scalar5" value="0"/>
        <Scalar id="scalar6" value="0.0221598"/>
        <Scalar id="scalar7" value="0"/>
        <Scalar id="scalar8" value="0.274945"/>
        <Scalar id="scalar9" value="0"/>
        <Scalar id="scalar10" value="-0.222411"/>
        <Scalar id="scalar11" value="0"/>
        <Scalar id="scalar12" value="1.11552"/>
        <Scalar id="scalar13" value="-0.404452"/>
        <Scalar id="scalar14" value="0.281454"/>
        <Scalar id="scalar15" value="-1.11062"/>
        <Scalar id="scalar16" value="0.383914"/>
        <Scalar id="scalar17" value="0.272967"/>
        <Scalar id="scalar18" value="0.121245"/>
        <Scalar id="scalar19" value="-0.311259"/>
        <Scalar id="scalar20" value="0.88516"/>
        <Scalar id="scalar21" value="0"/>
        <Scalar id="scalar22" value="-0.020397"/>
        <Scalar id="scalar23" value="-1.59119"/>
        <Scalar id="scalar24" value="-0.554972"/>
        <Scalar id="scalar25" value="0.0874333"/>
        <Scalar id="scalar26" value="-0.133185"/>
        <Scalar id="scalar27" value="0.262852"/>
        <Scalar id="scalar28" value="0.889156"/>
        <Scalar id="scalar29" value="0"/>
        <Scalar id="scalar30" value="0.0208545"/>
        <Scalar id="scalar31" value="1.56602"/>
        <Scalar id="scalar32" value="0.564598"/>
        <Scalar id="scalar33" value="0.0897636"/>
        <Scalar id="scalar34" value="0"/>
        <Scalar id="scalar35" value="-0.020397"/>
        <Scalar id="scalar36" value="0.086248"/>
        <Scalar id="scalar37" value="0"/>
        <Scalar id="scalar38" value="-0.0472028"/>
        <Scalar id="scalar39" value="0"/>
        <Scalar id="scalar40" value="-1.58017"/>
        <Scalar id="scalar41" value="-0.178646"/>
        <Scalar id="scalar42" value="0.249327"/>
        <Scalar id="scalar43" value="0"/>
        <Scalar id="scalar44" value="0.0208545"/>
        <Scalar id="scalar45" value="-1.55986"/>
        <Scalar id="scalar46" value="-0.178936"/>
        <Scalar id="scalar47" value="0.24226"/>
      </Scalars>
      <Elements>
        <Bar fixed="true" id="sBar1">
          <Point fixed="true" id="sBar1.pt1" posRef="pos1"/>
          <Point fixed="true" id="sBar1.pt2" posRef="pos2"/>
          <Line fixed="true" id="sBar1.axis">
            <Param fixed="false" id="sBar1.axis.dir" scalarRef="scalar1"/>
            <Param fixed="false" id="sBar1.axis.offs" scalarRef="scalar2"/>
          </Line>
          <Param fixed="true" id="sBar1.length" scalarRef="scalar3"/>
        </Bar>
        <Bar fixed="false" id="sBar2">
          <Point fixed="false" id="sBar2.pt1" posRef="pos7"/>
          <Point fixed="false" id="sBar2.pt2" posRef="pos8"/>
          <Line fixed="false" id="sBar2.axis">
            <Param fixed="false" id="sBar2.axis.dir" scalarRef="scalar12"/>
            <Param fixed="false" id="sBar2.axis.offs" scalarRef="scalar13"/>
          </Line>
          <Param fixed="true" id="sBar2.length" scalarRef="scalar14"/>
        </Bar>
        <Bar fixed="false" id="sBar3">
          <Point fixed="false" id="sBar3.pt1" posRef="pos9"/>
          <Point fixed="false" id="sBar3.pt2" posRef="pos10"/>
          <Line fixed="false" id="sBar3.axis">
            <Param fixed="false" id="sBar3.axis.dir" scalarRef="scalar15"/>
            <Param fixed="false" id="sBar3.axis.offs" scalarRef="scalar16"/>
          </Line>
          <Param fixed="true" id="sBar3.length" scalarRef="scalar17"/>
        </Bar>
        <Bar fixed="false" id="sBar6">
          <Point fixed="false" id="sBar6.pt1" posRef="pos11"/>
          <Point fixed="false" id="sBar6.pt2" posRef="pos12"/>
          <Point fixed="false" id="sBar6.pt3" posRef="pos13"/>
          <Line fixed="false" id="sBar6.axis">
            <Param fixed="false" id="sBar6.axis.dir" scalarRef="scalar18"/>
            <Param fixed="false" id="sBar6.axis.offs" scalarRef="scalar19"/>
          </Line>
          <Param fixed="true" id="sBar6.length" scalarRef="scalar20"/>
        </Bar>
        <Bar fixed="false" id="sBar7">
          <Point fixed="false" id="sBar7.pt1" posRef="pos15"/>
          <Point fixed="false" id="sBar7.pt2" posRef="pos16"/>
          <Line fixed="false" id="sBar7.axis">
            <Param fixed="false" id="sBar7.axis.dir" scalarRef="scalar23"/>
            <Param fixed="false" id="sBar7.axis.offs" scalarRef="scalar24"/>
          </Line>
          <Param fixed="true" id="sBar7.length" scalarRef="scalar25"/>
        </Bar>
        <Bar fixed="false" id="sBar8">
          <Point fixed="false" id="sBar8.pt1" posRef="pos17"/>
          <Point fixed="false" id="sBar8.pt2" posRef="pos18"/>
          <Point fixed="false" id="sBar8.pt3" posRef="pos19"/>
          <Line fixed="false" id="sBar8.axis">
            <Param fixed="false" id="sBar8.axis.dir" scalarRef="scalar26"/>
            <Param fixed="false" id="sBar8.axis.offs" scalarRef="scalar27"/>
          </Line>
          <Param fixed="true" id="sBar8.length" scalarRef="scalar28"/>
        </Bar>
        <Bar fixed="false" id="sBar9">
          <Point fixed="false" id="sBar9.pt1" posRef="pos21"/>
          <Point fixed="false" id="sBar9.pt2" posRef="pos22"/>
          <Line fixed="false" id="sBar9.axis">
            <Param fixed="false" id="sBar9.axis.dir" scalarRef="scalar31"/>
            <Param fixed="false" id="sBar9.axis.offs" scalarRef="scalar32"/>
          </Line>
          <Param fixed="true" id="sBar9.length" scalarRef="scalar33"/>
        </Bar>
        <Bar fixed="false" id="sBar10">
          <Point fixed="false" id="sBar10.pt1" posRef="pos26"/>
          <Point fixed="false" id="sBar10.pt2" posRef="pos27"/>
          <Line fixed="false" id="sBar10.axis">
            <Param fixed="false" id="sBar10.axis.dir" scalarRef="scalar40"/>
            <Param fixed="false" id="sBar10.axis.offs" scalarRef="scalar41"/>
          </Line>
          <Param fixed="true" id="sBar10.length" scalarRef="scalar42"/>
        </Bar>
        <Bar fixed="false" id="sBar11">
          <Point fixed="false" id="sBar11.pt1" posRef="pos29"/>
          <Point fixed="false" id="sBar11.pt2" posRef="pos30"/>
          <Line fixed="false" id="sBar11.axis">
            <Param fixed="false" id="sBar11.axis.dir" scalarRef="scalar45"/>
            <Param fixed="false" id="sBar11.axis.offs" scalarRef="scalar46"/>
          </Line>
          <Param fixed="true" id="sBar11.length" scalarRef="scalar47"/>
        </Bar>
      </Elements>
      <Couplings>
        <SwivelJoint fixed="false" id="swj1">
          <Point fixed="false" id="swj1.pt" posRef="pos4"/>
          <Line fixed="false" id="swj1.line">
            <Param fixed="false" id="swj1.line.dir" scalarRef="scalar7"/>
            <Param fixed="false" id="swj1.line.offs" scalarRef="scalar6"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj2">
          <Point fixed="false" id="swj2.pt" posRef="pos5"/>
          <Line fixed="false" id="swj2.line">
            <Param fixed="false" id="swj2.line.dir" scalarRef="scalar9"/>
            <Param fixed="false" id="swj2.line.offs" scalarRef="scalar8"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj3">
          <Point fixed="false" id="swj3.pt" posRef="pos6"/>
          <Line fixed="false" id="swj3.line">
            <Param fixed="false" id="swj3.line.dir" scalarRef="scalar11"/>
            <Param fixed="false" id="swj3.line.offs" scalarRef="scalar10"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj6">
          <Point fixed="true" id="swj6.pt" posRef="pos24"/>
          <Line fixed="false" id="swj6.line">
            <Param fixed="false" id="swj6.line.dir" scalarRef="scalar37"/>
            <Param fixed="false" id="swj6.line.offs" scalarRef="scalar36"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj7">
          <Point fixed="true" id="swj7.pt" posRef="pos25"/>
          <Line fixed="false" id="swj7.line">
            <Param fixed="false" id="swj7.line.dir" scalarRef="scalar39"/>
            <Param fixed="false" id="swj7.line.offs" scalarRef="scalar38"/>
          </Line>
        </SwivelJoint>
        <SlidingJoint fixed="false" id="slj1">
          <Point fixed="false" id="slj1.pt" posRef="pos3"/>
          <Line fixed="false" id="slj1.axis">
            <Param fixed="false" id="slj1.axis.dir" scalarRef="scalar5"/>
            <Param fixed="false" id="slj1.axis.offs" scalarRef="scalar4"/>
          </Line>
        </SlidingJoint>
        <RigidJoint fixed="false" id="rgj1">
          <Point fixed="false" id="rgj1.pt" posRef="pos14"/>
          <Line fixed="false" id="rgj1.axis">
            <Param fixed="false" id="rgj1.axis.dir" scalarRef="scalar22"/>
            <Param fixed="false" id="rgj1.axis.offs" scalarRef="scalar21"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj2">
          <Point fixed="false" id="rgj2.pt" posRef="pos20"/>
          <Line fixed="false" id="rgj2.axis">
            <Param fixed="false" id="rgj2.axis.dir" scalarRef="scalar30"/>
            <Param fixed="false" id="rgj2.axis.offs" scalarRef="scalar29"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj3">
          <Point fixed="false" id="rgj3.pt" posRef="pos23"/>
          <Line fixed="false" id="rgj3.axis">
            <Param fixed="false" id="rgj3.axis.dir" scalarRef="scalar35"/>
            <Param fixed="false" id="rgj3.axis.offs" scalarRef="scalar34"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj4">
          <Point fixed="false" id="rgj4.pt" posRef="pos28"/>
          <Line fixed="false" id="rgj4.axis">
            <Param fixed="false" id="rgj4.axis.dir" scalarRef="scalar44"/>
            <Param fixed="false" id="rgj4.axis.offs" scalarRef="scalar43"/>
          </Line>
        </RigidJoint>
      </Couplings>
      <Connections>
        <PointConnection couplingPointRef="rgj1.pt" elementPointRef="sBar7.pt1" id="pointcon1"/>
        <PointConnection couplingPointRef="rgj1.pt" elementPointRef="sBar6.pt2" id="pointcon2"/>
        <PointConnection couplingPointRef="rgj2.pt" elementPointRef="sBar9.pt1" id="pointcon3"/>
        <PointConnection couplingPointRef="rgj2.pt" elementPointRef="sBar8.pt2" id="pointcon4"/>
        <PointConnection couplingPointRef="rgj3.pt" elementPointRef="sBar10.pt1" id="pointcon5"/>
        <PointConnection couplingPointRef="rgj3.pt" elementPointRef="sBar6.pt3" id="pointcon6"/>
        <PointConnection couplingPointRef="rgj4.pt" elementPointRef="sBar11.pt2" id="pointcon7"/>
        <PointConnection couplingPointRef="rgj4.pt" elementPointRef="sBar8.pt3" id="pointcon8"/>
        <PointConnection couplingPointRef="swj1.pt" elementPointRef="sBar3.pt1" id="pointcon9"/>
        <PointConnection couplingPointRef="swj1.pt" elementPointRef="sBar2.pt1" id="pointcon10"/>
        <PointConnection couplingPointRef="swj2.pt" elementPointRef="sBar6.pt1" id="pointcon11"/>
        <PointConnection couplingPointRef="swj2.pt" elementPointRef="sBar2.pt2" id="pointcon12"/>
        <PointConnection couplingPointRef="swj3.pt" elementPointRef="sBar8.pt1" id="pointcon13"/>
        <PointConnection couplingPointRef="swj3.pt" elementPointRef="sBar3.pt2" id="pointcon14"/>
        <PointConnection couplingPointRef="swj6.pt" elementPointRef="sBar10.pt2" id="pointcon15"/>
        <PointConnection couplingPointRef="swj7.pt" elementPointRef="sBar11.pt1" id="pointcon16"/>
        <LineConnection couplingLineRef="slj1.axis" elementLineRef="sBar1.axis" id="linecon18"/>
        <CouplingConnection coupling1Ref="swj1" coupling2Ref="slj1" id="couplingcon17" role="SlidingSwivelJoint"/>
      </Connections>
    </ComponentSpace>
  </ComponentSpaces>

</Mechanism>
