<?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="SwivelJoint.2D.normal" scale="0.02">
      <Circle cx="0" cy="0" filled="false" id="SwivelJoint.2D.normal..circle" radius="1"/>
    </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="SlidingJoint.2D.fixed" scale="0.02">
      <Line id="SlidingJoint.2D.fixed..line1" x1="-2.5" x2="2.5" y1="-1.25" y2="-1.25"/>
      <Line id="SlidingJoint.2D.fixed..line2" x1="-2.5" x2="2.5" y1="1.25" y2="1.25"/>
      <Line id="SlidingJoint.2D.fixed..line3" x1="-2.5" x2="-2.5" y1="1.25" y2="-1.25"/>
      <Line id="SlidingJoint.2D.fixed..line4" x1="2.5" x2="2.5" y1="1.25" y2="-1.25"/>
      <Line id="SlidingJoint.2D.fixed..line5" x1="-2.5" x2="2.5" y1="-1.25" y2="1.25"/>
      <Line id="SlidingJoint.2D.fixed..line6" x1="-2.5" x2="2.5" y1="1.25" y2="-1.25"/>
      <Line id="SlidingJoint.2D.fixed..line7" x1="-2.25" x2="-0.75" y1="-1.25" y2="-2.5"/>
      <Line id="SlidingJoint.2D.fixed..line8" x1="-1.125" x2="0.375" y1="-1.25" y2="-2.5"/>
      <Line id="SlidingJoint.2D.fixed..line9" x1="0" x2="1.5" y1="-1.25" y2="-2.5"/>
      <Line id="SlidingJoint.2D.fixed..line10" x1="1.125" x2="2.625" y1="-1.25" y2="-2.5"/>
      <Line id="SlidingJoint.2D.fixed..line11" x1="2.25" x2="3.75" y1="-1.25" y2="-2.5"/>
    </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="-0.115121" y="-0.365015"/>
        <Position id="pos2" x="-0.105115" y="-0.207424"/>
        <Position id="pos3" x="0.185606" y="-0.395972"/>
        <Position id="pos4" x="-0.115121" y="-0.365015"/>
        <Position id="pos5" x="-0.105115" y="-0.207424"/>
        <Position id="pos6" x="-0.105115" y="-0.207424"/>
        <Position id="pos7" x="0.185606" y="-0.395972"/>
        <Position id="pos8" x="0.185606" y="-0.395972"/>
        <Position id="pos9" x="0.509486" y="0.206853"/>
        <Position id="pos10" x="0.509486" y="0.206853"/>
        <Position id="pos11" x="0.509486" y="0.206853"/>
        <Position id="pos12" x="0.225837" y="-0.120102"/>
        <Position id="pos13" x="0.225837" y="-0.120102"/>
        <Position id="pos14" x="0.225837" y="-0.120102"/>
        <Position id="pos15" x="0.190097" y="-0.357441"/>
        <Position id="pos16" x="0.225837" y="-0.120102"/>
        <Position id="pos17" x="0.509486" y="0.206853"/>
        <Position id="pos18" x="0.509486" y="0.206853"/>
        <Position id="pos19" x="0.349429" y="0.352917"/>
        <Position id="pos20" x="0.349429" y="0.352917"/>
        <Position id="pos21" x="0.349429" y="0.352917"/>
        <Position id="pos22" x="-0.200431" y="0.352917"/>
        <Position id="pos23" x="-0.198769" y="0.352917"/>
      </Positions>
      <Scalars>
        <Scalar id="scalar1" value="-0.365015"/>
        <Scalar id="scalar2" value="0"/>
        <Scalar id="scalar3" value="-0.207424"/>
        <Scalar id="scalar4" value="0"/>
        <Scalar id="scalar5" value="-0.395972"/>
        <Scalar id="scalar6" value="0"/>
        <Scalar id="scalar7" value="1.50739"/>
        <Scalar id="scalar8" value="-0.0917608"/>
        <Scalar id="scalar9" value="0.157909"/>
        <Scalar id="scalar10" value="-0.575355"/>
        <Scalar id="scalar11" value="0.231225"/>
        <Scalar id="scalar12" value="0.34651"/>
        <Scalar id="scalar13" value="1.07778"/>
        <Scalar id="scalar14" value="0.35091"/>
        <Scalar id="scalar15" value="0.684322"/>
        <Scalar id="scalar16" value="0"/>
        <Scalar id="scalar17" value="-0.496526"/>
        <Scalar id="scalar18" value="-2.28539"/>
        <Scalar id="scalar19" value="-0.249292"/>
        <Scalar id="scalar20" value="0.432847"/>
        <Scalar id="scalar21" value="0"/>
        <Scalar id="scalar22" value="-0.496526"/>
        <Scalar id="scalar23" value="-1.72026"/>
        <Scalar id="scalar24" value="-0.241203"/>
        <Scalar id="scalar25" value="0.240015"/>
        <Scalar id="scalar26" value="-0.120102"/>
        <Scalar id="scalar27" value="0"/>
        <Scalar id="scalar28" value="0.206853"/>
        <Scalar id="scalar29" value="0"/>
        <Scalar id="scalar30" value="2.40187"/>
        <Scalar id="scalar31" value="0.496229"/>
        <Scalar id="scalar32" value="0.216686"/>
        <Scalar id="scalar33" value="0.352917"/>
        <Scalar id="scalar34" value="0"/>
        <Scalar id="scalar35" value="3.14159"/>
        <Scalar id="scalar36" value="0.352917"/>
        <Scalar id="scalar37" value="0.54986"/>
        <Scalar id="scalar38" value="0.352917"/>
        <Scalar id="scalar39" value="3.14159"/>
      </Scalars>
      <Elements>
        <Bar fixed="false" id="sBar207">
          <Point fixed="false" id="sBar207.pt1" posRef="pos4"/>
          <Point fixed="false" id="sBar207.pt2" posRef="pos5"/>
          <Line fixed="false" id="sBar207.axis">
            <Param fixed="false" id="sBar207.axis.dir" scalarRef="scalar7"/>
            <Param fixed="false" id="sBar207.axis.offs" scalarRef="scalar8"/>
          </Line>
          <Param fixed="true" id="sBar207.length" scalarRef="scalar9"/>
        </Bar>
        <Bar fixed="false" id="sBar208">
          <Point fixed="false" id="sBar208.pt1" posRef="pos6"/>
          <Point fixed="false" id="sBar208.pt2" posRef="pos7"/>
          <Line fixed="false" id="sBar208.axis">
            <Param fixed="false" id="sBar208.axis.dir" scalarRef="scalar10"/>
            <Param fixed="false" id="sBar208.axis.offs" scalarRef="scalar11"/>
          </Line>
          <Param fixed="true" id="sBar208.length" scalarRef="scalar12"/>
        </Bar>
        <Bar fixed="false" id="sBar209">
          <Point fixed="false" id="sBar209.pt1" posRef="pos8"/>
          <Point fixed="false" id="sBar209.pt2" posRef="pos9"/>
          <Line fixed="false" id="sBar209.axis">
            <Param fixed="false" id="sBar209.axis.dir" scalarRef="scalar13"/>
            <Param fixed="false" id="sBar209.axis.offs" scalarRef="scalar14"/>
          </Line>
          <Param fixed="true" id="sBar209.length" scalarRef="scalar15"/>
        </Bar>
        <Bar fixed="false" id="sBar210">
          <Point fixed="false" id="sBar210.pt1" posRef="pos11"/>
          <Point fixed="false" id="sBar210.pt2" posRef="pos12"/>
          <Line fixed="false" id="sBar210.axis">
            <Param fixed="false" id="sBar210.axis.dir" scalarRef="scalar18"/>
            <Param fixed="false" id="sBar210.axis.offs" scalarRef="scalar19"/>
          </Line>
          <Param fixed="true" id="sBar210.length" scalarRef="scalar20"/>
        </Bar>
        <Bar fixed="false" id="sBar211">
          <Point fixed="false" id="sBar211.pt1" posRef="pos14"/>
          <Point fixed="false" id="sBar211.pt2" posRef="pos15"/>
          <Line fixed="false" id="sBar211.axis">
            <Param fixed="false" id="sBar211.axis.dir" scalarRef="scalar23"/>
            <Param fixed="false" id="sBar211.axis.offs" scalarRef="scalar24"/>
          </Line>
          <Param fixed="true" id="sBar211.length" scalarRef="scalar25"/>
        </Bar>
        <Bar fixed="false" id="sBar212">
          <Point fixed="false" id="sBar212.pt1" posRef="pos18"/>
          <Point fixed="false" id="sBar212.pt2" posRef="pos19"/>
          <Line fixed="false" id="sBar212.axis">
            <Param fixed="false" id="sBar212.axis.dir" scalarRef="scalar30"/>
            <Param fixed="false" id="sBar212.axis.offs" scalarRef="scalar31"/>
          </Line>
          <Param fixed="true" id="sBar212.length" scalarRef="scalar32"/>
        </Bar>
        <Bar fixed="false" id="sBar214">
          <Point fixed="false" id="sBar214.pt1" posRef="pos21"/>
          <Point fixed="false" id="sBar214.pt2" posRef="pos22"/>
          <Line fixed="false" id="sBar214.axis">
            <Param fixed="false" id="sBar214.axis.dir" scalarRef="scalar35"/>
            <Param fixed="false" id="sBar214.axis.offs" scalarRef="scalar36"/>
          </Line>
          <Param fixed="true" id="sBar214.length" scalarRef="scalar37"/>
        </Bar>
      </Elements>
      <Couplings>
        <SwivelJoint fixed="true" id="swj168">
          <Point fixed="true" id="swj168.pt" posRef="pos1"/>
          <Line fixed="false" id="swj168.line">
            <Param fixed="false" id="swj168.line.dir" scalarRef="scalar2"/>
            <Param fixed="false" id="swj168.line.offs" scalarRef="scalar1"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj169">
          <Point fixed="false" id="swj169.pt" posRef="pos2"/>
          <Line fixed="false" id="swj169.line">
            <Param fixed="false" id="swj169.line.dir" scalarRef="scalar4"/>
            <Param fixed="false" id="swj169.line.offs" scalarRef="scalar3"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj170">
          <Point fixed="false" id="swj170.pt" posRef="pos3"/>
          <Line fixed="false" id="swj170.line">
            <Param fixed="false" id="swj170.line.dir" scalarRef="scalar6"/>
            <Param fixed="false" id="swj170.line.offs" scalarRef="scalar5"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj171">
          <Point fixed="true" id="swj171.pt" posRef="pos16"/>
          <Line fixed="false" id="swj171.line">
            <Param fixed="false" id="swj171.line.dir" scalarRef="scalar27"/>
            <Param fixed="false" id="swj171.line.offs" scalarRef="scalar26"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj172">
          <Point fixed="false" id="swj172.pt" posRef="pos17"/>
          <Line fixed="false" id="swj172.line">
            <Param fixed="false" id="swj172.line.dir" scalarRef="scalar29"/>
            <Param fixed="false" id="swj172.line.offs" scalarRef="scalar28"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj173">
          <Point fixed="false" id="swj173.pt" posRef="pos20"/>
          <Line fixed="false" id="swj173.line">
            <Param fixed="false" id="swj173.line.dir" scalarRef="scalar34"/>
            <Param fixed="false" id="swj173.line.offs" scalarRef="scalar33"/>
          </Line>
        </SwivelJoint>
        <SlidingJoint fixed="true" id="slj60">
          <Point fixed="true" id="slj60.pt" posRef="pos23"/>
          <Line fixed="true" id="slj60.axis">
            <Param fixed="false" id="slj60.axis.dir" scalarRef="scalar39"/>
            <Param fixed="false" id="slj60.axis.offs" scalarRef="scalar38"/>
          </Line>
        </SlidingJoint>
        <RigidJoint fixed="false" id="rgj53">
          <Point fixed="false" id="rgj53.pt" posRef="pos10"/>
          <Line fixed="false" id="rgj53.axis">
            <Param fixed="false" id="rgj53.axis.dir" scalarRef="scalar17"/>
            <Param fixed="false" id="rgj53.axis.offs" scalarRef="scalar16"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj54">
          <Point fixed="false" id="rgj54.pt" posRef="pos13"/>
          <Line fixed="false" id="rgj54.axis">
            <Param fixed="false" id="rgj54.axis.dir" scalarRef="scalar22"/>
            <Param fixed="false" id="rgj54.axis.offs" scalarRef="scalar21"/>
          </Line>
        </RigidJoint>
      </Couplings>
      <Connections>
        <PointConnection couplingPointRef="rgj53.pt" elementPointRef="sBar210.pt1" id="pointcon1"/>
        <PointConnection couplingPointRef="rgj53.pt" elementPointRef="sBar209.pt2" id="pointcon2"/>
        <PointConnection couplingPointRef="rgj54.pt" elementPointRef="sBar211.pt1" id="pointcon3"/>
        <PointConnection couplingPointRef="rgj54.pt" elementPointRef="sBar210.pt2" id="pointcon4"/>
        <PointConnection couplingPointRef="swj168.pt" elementPointRef="sBar207.pt1" id="pointcon5"/>
        <PointConnection couplingPointRef="swj169.pt" elementPointRef="sBar208.pt1" id="pointcon6"/>
        <PointConnection couplingPointRef="swj169.pt" elementPointRef="sBar207.pt2" id="pointcon7"/>
        <PointConnection couplingPointRef="swj170.pt" elementPointRef="sBar209.pt1" id="pointcon8"/>
        <PointConnection couplingPointRef="swj170.pt" elementPointRef="sBar208.pt2" id="pointcon9"/>
        <PointConnection couplingPointRef="swj172.pt" elementPointRef="sBar212.pt1" id="pointcon10"/>
        <PointConnection couplingPointRef="swj173.pt" elementPointRef="sBar214.pt1" id="pointcon11"/>
        <PointConnection couplingPointRef="swj173.pt" elementPointRef="sBar212.pt2" id="pointcon12"/>
        <LineConnection couplingLineRef="slj60.axis" elementLineRef="sBar214.axis" id="linecon15"/>
        <CouplingConnection coupling1Ref="swj171" coupling2Ref="rgj54" id="couplingcon13" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj172" coupling2Ref="rgj53" id="couplingcon14" role="SwivelingRigidJoint"/>
      </Connections>
    </ComponentSpace>
  </ComponentSpaces>

</Mechanism>
