<?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="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="-0.429463" y="0.0655673"/>
        <Position id="pos2" x="0.0998295" y="0.0589512"/>
        <Position id="pos3" x="-0.500992" y="0.261493"/>
        <Position id="pos4" x="-0.0752226" y="0.437611"/>
        <Position id="pos5" x="0.576193" y="-0.338019"/>
        <Position id="pos6" x="-0.500992" y="0.261493"/>
        <Position id="pos7" x="-0.500992" y="0.261493"/>
        <Position id="pos8" x="0.0776924" y="-0.0643288"/>
        <Position id="pos9" x="0.0776924" y="-0.0643288"/>
        <Position id="pos10" x="0.0776924" y="-0.0643288"/>
        <Position id="pos11" x="-0.0734643" y="0.396931"/>
        <Position id="pos12" x="-0.0752226" y="0.437611"/>
        <Position id="pos13" x="-0.500992" y="0.261493"/>
        <Position id="pos14" x="-0.429463" y="0.0655673"/>
        <Position id="pos15" x="-0.500992" y="0.261493"/>
        <Position id="pos16" x="-0.0752226" y="0.437611"/>
        <Position id="pos17" x="0.0998295" y="0.0589512"/>
        <Position id="pos18" x="0.0776924" y="-0.0643288"/>
        <Position id="pos19" x="0.384637" y="-0.363514"/>
        <Position id="pos20" x="0.0776924" y="-0.0643288"/>
        <Position id="pos21" x="0.492509" y="-0.164335"/>
        <Position id="pos22" x="0.492509" y="-0.164335"/>
        <Position id="pos23" x="0.492509" y="-0.164335"/>
        <Position id="pos24" x="0.276206" y="-0.454763"/>
        <Position id="pos25" x="0.276206" y="-0.454763"/>
        <Position id="pos26" x="0.276206" y="-0.454763"/>
        <Position id="pos27" x="0.0928491" y="-0.0965616"/>
        <Position id="pos28" x="0.276206" y="-0.454763"/>
        <Position id="pos29" x="0.276206" y="-0.454763"/>
        <Position id="pos30" x="0.576193" y="-0.338019"/>
      </Positions>
      <Scalars>
        <Scalar id="scalar1" value="0.0655673"/>
        <Scalar id="scalar2" value="0"/>
        <Scalar id="scalar3" value="0.0589512"/>
        <Scalar id="scalar4" value="0"/>
        <Scalar id="scalar5" value="0.392215"/>
        <Scalar id="scalar6" value="-0.433134"/>
        <Scalar id="scalar7" value="0.460757"/>
        <Scalar id="scalar8" value="-0.338019"/>
        <Scalar id="scalar9" value="0"/>
        <Scalar id="scalar10" value="0"/>
        <Scalar id="scalar11" value="-0.00220131"/>
        <Scalar id="scalar12" value="-0.512799"/>
        <Scalar id="scalar13" value="0.0179372"/>
        <Scalar id="scalar14" value="0.664105"/>
        <Scalar id="scalar15" value="0"/>
        <Scalar id="scalar16" value="-0.00220131"/>
        <Scalar id="scalar17" value="1.88747"/>
        <Scalar id="scalar18" value="0.0537967"/>
        <Scalar id="scalar19" value="0.485396"/>
        <Scalar id="scalar20" value="0.437611"/>
        <Scalar id="scalar21" value="0"/>
        <Scalar id="scalar22" value="0.261493"/>
        <Scalar id="scalar23" value="0"/>
        <Scalar id="scalar24" value="1.92084"/>
        <Scalar id="scalar25" value="-0.380934"/>
        <Scalar id="scalar26" value="0.208574"/>
        <Scalar id="scalar27" value="-1.13777"/>
        <Scalar id="scalar28" value="-0.115352"/>
        <Scalar id="scalar29" value="0.417165"/>
        <Scalar id="scalar30" value="-0.0643288"/>
        <Scalar id="scalar31" value="0"/>
        <Scalar id="scalar32" value="0"/>
        <Scalar id="scalar33" value="-0.539783"/>
        <Scalar id="scalar34" value="-0.23657"/>
        <Scalar id="scalar35" value="0.0443283"/>
        <Scalar id="scalar36" value="0.426701"/>
        <Scalar id="scalar37" value="0"/>
        <Scalar id="scalar38" value="0.00700834"/>
        <Scalar id="scalar39" value="-2.21094"/>
        <Scalar id="scalar40" value="-0.493155"/>
        <Scalar id="scalar41" value="0.362127"/>
        <Scalar id="scalar42" value="0"/>
        <Scalar id="scalar43" value="0.00700839"/>
        <Scalar id="scalar44" value="2.0439"/>
        <Scalar id="scalar45" value="0.0386516"/>
        <Scalar id="scalar46" value="0.402403"/>
        <Scalar id="scalar47" value="-0.454763"/>
        <Scalar id="scalar48" value="0"/>
        <Scalar id="scalar49" value="0.371132"/>
        <Scalar id="scalar50" value="0.523974"/>
        <Scalar id="scalar51" value="0.321903"/>
      </Scalars>
      <Elements>
        <Bar fixed="false" id="sBar164">
          <Point fixed="false" id="sBar164.pt1" posRef="pos3"/>
          <Point fixed="false" id="sBar164.pt2" posRef="pos4"/>
          <Line fixed="false" id="sBar164.axis">
            <Param fixed="false" id="sBar164.axis.dir" scalarRef="scalar5"/>
            <Param fixed="false" id="sBar164.axis.offs" scalarRef="scalar6"/>
          </Line>
          <Param fixed="true" id="sBar164.length" scalarRef="scalar7"/>
        </Bar>
        <Bar fixed="false" id="sBar165">
          <Point fixed="false" id="sBar165.pt1" posRef="pos7"/>
          <Point fixed="false" id="sBar165.pt2" posRef="pos8"/>
          <Line fixed="false" id="sBar165.axis">
            <Param fixed="false" id="sBar165.axis.dir" scalarRef="scalar12"/>
            <Param fixed="false" id="sBar165.axis.offs" scalarRef="scalar13"/>
          </Line>
          <Param fixed="true" id="sBar165.length" scalarRef="scalar14"/>
        </Bar>
        <Bar fixed="false" id="sBar166">
          <Point fixed="false" id="sBar166.pt1" posRef="pos10"/>
          <Point fixed="false" id="sBar166.pt2" posRef="pos11"/>
          <Line fixed="false" id="sBar166.axis">
            <Param fixed="false" id="sBar166.axis.dir" scalarRef="scalar17"/>
            <Param fixed="false" id="sBar166.axis.offs" scalarRef="scalar18"/>
          </Line>
          <Param fixed="true" id="sBar166.length" scalarRef="scalar19"/>
        </Bar>
        <Bar fixed="false" id="sBar167">
          <Point fixed="false" id="sBar167.pt1" posRef="pos14"/>
          <Point fixed="false" id="sBar167.pt2" posRef="pos15"/>
          <Line fixed="false" id="sBar167.axis">
            <Param fixed="false" id="sBar167.axis.dir" scalarRef="scalar24"/>
            <Param fixed="false" id="sBar167.axis.offs" scalarRef="scalar25"/>
          </Line>
          <Param fixed="true" id="sBar167.length" scalarRef="scalar26"/>
        </Bar>
        <Bar fixed="false" id="sBar168">
          <Point fixed="false" id="sBar168.pt1" posRef="pos16"/>
          <Point fixed="false" id="sBar168.pt2" posRef="pos17"/>
          <Line fixed="false" id="sBar168.axis">
            <Param fixed="false" id="sBar168.axis.dir" scalarRef="scalar27"/>
            <Param fixed="false" id="sBar168.axis.offs" scalarRef="scalar28"/>
          </Line>
          <Param fixed="true" id="sBar168.length" scalarRef="scalar29"/>
        </Bar>
        <Bar fixed="false" id="sBar172">
          <Point fixed="false" id="sBar172.pt1" posRef="pos20"/>
          <Point fixed="false" id="sBar172.pt2" posRef="pos21"/>
          <Line fixed="false" id="sBar172.axis">
            <Param fixed="false" id="sBar172.axis.dir" scalarRef="scalar34"/>
            <Param fixed="false" id="sBar172.axis.offs" scalarRef="scalar35"/>
          </Line>
          <Param fixed="true" id="sBar172.length" scalarRef="scalar36"/>
        </Bar>
        <Bar fixed="false" id="sBar173">
          <Point fixed="false" id="sBar173.pt1" posRef="pos23"/>
          <Point fixed="false" id="sBar173.pt2" posRef="pos24"/>
          <Line fixed="false" id="sBar173.axis">
            <Param fixed="false" id="sBar173.axis.dir" scalarRef="scalar39"/>
            <Param fixed="false" id="sBar173.axis.offs" scalarRef="scalar40"/>
          </Line>
          <Param fixed="true" id="sBar173.length" scalarRef="scalar41"/>
        </Bar>
        <Bar fixed="false" id="sBar174">
          <Point fixed="false" id="sBar174.pt1" posRef="pos26"/>
          <Point fixed="false" id="sBar174.pt2" posRef="pos27"/>
          <Line fixed="false" id="sBar174.axis">
            <Param fixed="false" id="sBar174.axis.dir" scalarRef="scalar44"/>
            <Param fixed="false" id="sBar174.axis.offs" scalarRef="scalar45"/>
          </Line>
          <Param fixed="true" id="sBar174.length" scalarRef="scalar46"/>
        </Bar>
        <Bar fixed="false" id="sBar175">
          <Point fixed="false" id="sBar175.pt1" posRef="pos29"/>
          <Point fixed="false" id="sBar175.pt2" posRef="pos30"/>
          <Line fixed="false" id="sBar175.axis">
            <Param fixed="false" id="sBar175.axis.dir" scalarRef="scalar49"/>
            <Param fixed="false" id="sBar175.axis.offs" scalarRef="scalar50"/>
          </Line>
          <Param fixed="true" id="sBar175.length" scalarRef="scalar51"/>
        </Bar>
      </Elements>
      <Couplings>
        <SwivelJoint fixed="true" id="swj127">
          <Point fixed="true" id="swj127.pt" posRef="pos1"/>
          <Line fixed="false" id="swj127.line">
            <Param fixed="false" id="swj127.line.dir" scalarRef="scalar2"/>
            <Param fixed="false" id="swj127.line.offs" scalarRef="scalar1"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj128">
          <Point fixed="true" id="swj128.pt" posRef="pos2"/>
          <Line fixed="false" id="swj128.line">
            <Param fixed="false" id="swj128.line.dir" scalarRef="scalar4"/>
            <Param fixed="false" id="swj128.line.offs" scalarRef="scalar3"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj131">
          <Point fixed="true" id="swj131.pt" posRef="pos5"/>
          <Line fixed="false" id="swj131.line">
            <Param fixed="false" id="swj131.line.dir" scalarRef="scalar9"/>
            <Param fixed="false" id="swj131.line.offs" scalarRef="scalar8"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj132">
          <Point fixed="false" id="swj132.pt" posRef="pos12"/>
          <Line fixed="false" id="swj132.line">
            <Param fixed="false" id="swj132.line.dir" scalarRef="scalar21"/>
            <Param fixed="false" id="swj132.line.offs" scalarRef="scalar20"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj133">
          <Point fixed="false" id="swj133.pt" posRef="pos13"/>
          <Line fixed="false" id="swj133.line">
            <Param fixed="false" id="swj133.line.dir" scalarRef="scalar23"/>
            <Param fixed="false" id="swj133.line.offs" scalarRef="scalar22"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj134">
          <Point fixed="false" id="swj134.pt" posRef="pos18"/>
          <Line fixed="false" id="swj134.line">
            <Param fixed="false" id="swj134.line.dir" scalarRef="scalar31"/>
            <Param fixed="false" id="swj134.line.offs" scalarRef="scalar30"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj136">
          <Point fixed="false" id="swj136.pt" posRef="pos28"/>
          <Line fixed="false" id="swj136.line">
            <Param fixed="false" id="swj136.line.dir" scalarRef="scalar48"/>
            <Param fixed="false" id="swj136.line.offs" scalarRef="scalar47"/>
          </Line>
        </SwivelJoint>
        <RigidJoint fixed="false" id="rgj42">
          <Point fixed="false" id="rgj42.pt" posRef="pos6"/>
          <Line fixed="false" id="rgj42.axis">
            <Param fixed="false" id="rgj42.axis.dir" scalarRef="scalar11"/>
            <Param fixed="false" id="rgj42.axis.offs" scalarRef="scalar10"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj43">
          <Point fixed="false" id="rgj43.pt" posRef="pos9"/>
          <Line fixed="false" id="rgj43.axis">
            <Param fixed="false" id="rgj43.axis.dir" scalarRef="scalar16"/>
            <Param fixed="false" id="rgj43.axis.offs" scalarRef="scalar15"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj44">
          <Point fixed="false" id="rgj44.pt" posRef="pos19"/>
          <Line fixed="false" id="rgj44.axis">
            <Param fixed="false" id="rgj44.axis.dir" scalarRef="scalar33"/>
            <Param fixed="false" id="rgj44.axis.offs" scalarRef="scalar32"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj45">
          <Point fixed="false" id="rgj45.pt" posRef="pos22"/>
          <Line fixed="false" id="rgj45.axis">
            <Param fixed="false" id="rgj45.axis.dir" scalarRef="scalar38"/>
            <Param fixed="false" id="rgj45.axis.offs" scalarRef="scalar37"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj46">
          <Point fixed="false" id="rgj46.pt" posRef="pos25"/>
          <Line fixed="false" id="rgj46.axis">
            <Param fixed="false" id="rgj46.axis.dir" scalarRef="scalar43"/>
            <Param fixed="false" id="rgj46.axis.offs" scalarRef="scalar42"/>
          </Line>
        </RigidJoint>
      </Couplings>
      <Connections>
        <PointConnection couplingPointRef="rgj42.pt" elementPointRef="sBar165.pt1" id="pointcon1"/>
        <PointConnection couplingPointRef="rgj42.pt" elementPointRef="sBar164.pt1" id="pointcon2"/>
        <PointConnection couplingPointRef="rgj43.pt" elementPointRef="sBar166.pt1" id="pointcon3"/>
        <PointConnection couplingPointRef="rgj43.pt" elementPointRef="sBar165.pt2" id="pointcon4"/>
        <PointConnection couplingPointRef="rgj45.pt" elementPointRef="sBar173.pt1" id="pointcon5"/>
        <PointConnection couplingPointRef="rgj45.pt" elementPointRef="sBar172.pt2" id="pointcon6"/>
        <PointConnection couplingPointRef="rgj46.pt" elementPointRef="sBar174.pt1" id="pointcon7"/>
        <PointConnection couplingPointRef="rgj46.pt" elementPointRef="sBar173.pt2" id="pointcon8"/>
        <PointConnection couplingPointRef="swj127.pt" elementPointRef="sBar167.pt1" id="pointcon9"/>
        <PointConnection couplingPointRef="swj128.pt" elementPointRef="sBar168.pt2" id="pointcon10"/>
        <PointConnection couplingPointRef="swj131.pt" elementPointRef="sBar175.pt2" id="pointcon11"/>
        <PointConnection couplingPointRef="swj132.pt" elementPointRef="sBar168.pt1" id="pointcon12"/>
        <PointConnection couplingPointRef="swj132.pt" elementPointRef="sBar164.pt2" id="pointcon13"/>
        <PointConnection couplingPointRef="swj133.pt" elementPointRef="sBar167.pt2" id="pointcon14"/>
        <PointConnection couplingPointRef="swj134.pt" elementPointRef="sBar172.pt1" id="pointcon15"/>
        <PointConnection couplingPointRef="swj136.pt" elementPointRef="sBar175.pt1" id="pointcon16"/>
        <CouplingConnection coupling1Ref="swj133" coupling2Ref="rgj42" id="couplingcon17" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj134" coupling2Ref="rgj43" id="couplingcon18" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj136" coupling2Ref="rgj46" id="couplingcon19" role="SwivelingRigidJoint"/>
      </Connections>
    </ComponentSpace>
  </ComponentSpaces>

</Mechanism>
