<?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="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="-0.225016" y="-0.320445"/>
        <Position id="pos2" x="-0.140197" y="0.314005"/>
        <Position id="pos3" x="-0.0863507" y="0.358061"/>
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        <Position id="pos8" x="-0.100777" y="0.210374"/>
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        <Position id="pos19" x="0.0636593" y="0.321943"/>
        <Position id="pos20" x="0.012478" y="0.19865"/>
        <Position id="pos21" x="0.012478" y="0.19865"/>
        <Position id="pos22" x="-0.100777" y="0.210374"/>
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        <Position id="pos24" x="0.012478" y="0.19865"/>
        <Position id="pos25" x="-0.103823" y="-0.0271249"/>
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        <Position id="pos57" x="-0.102876" y="-0.437496"/>
        <Position id="pos58" x="0.111458" y="-0.225252"/>
        <Position id="pos59" x="0.111458" y="-0.225252"/>
        <Position id="pos60" x="0.109578" y="-0.437335"/>
      </Positions>
      <Scalars>
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        <Scalar id="scalar2" value="0"/>
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        <Scalar id="scalar97" value="-0.11345"/>
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      </Scalars>
      <Elements>
        <Bar fixed="false" id="sBar1">
          <Point fixed="false" id="sBar1.pt1" posRef="pos9"/>
          <Point fixed="false" id="sBar1.pt2" posRef="pos10"/>
          <Line fixed="false" id="sBar1.axis">
            <Param fixed="false" id="sBar1.axis.dir" scalarRef="scalar17"/>
            <Param fixed="false" id="sBar1.axis.offs" scalarRef="scalar18"/>
          </Line>
          <Param fixed="true" id="sBar1.length" scalarRef="scalar19"/>
        </Bar>
        <Bar fixed="false" id="sBar2">
          <Point fixed="false" id="sBar2.pt1" posRef="pos11"/>
          <Point fixed="false" id="sBar2.pt2" posRef="pos12"/>
          <Point fixed="false" id="sBar2.pt3" posRef="pos13"/>
          <Line fixed="false" id="sBar2.axis">
            <Param fixed="false" id="sBar2.axis.dir" scalarRef="scalar20"/>
            <Param fixed="false" id="sBar2.axis.offs" scalarRef="scalar21"/>
          </Line>
          <Param fixed="true" id="sBar2.length" scalarRef="scalar22"/>
        </Bar>
        <Bar fixed="false" id="sBar3">
          <Point fixed="false" id="sBar3.pt1" posRef="pos14"/>
          <Point fixed="false" id="sBar3.pt2" posRef="pos15"/>
          <Line fixed="false" id="sBar3.axis">
            <Param fixed="false" id="sBar3.axis.dir" scalarRef="scalar23"/>
            <Param fixed="false" id="sBar3.axis.offs" scalarRef="scalar24"/>
          </Line>
          <Param fixed="true" id="sBar3.length" scalarRef="scalar25"/>
        </Bar>
        <Bar fixed="false" id="sBar4">
          <Point fixed="false" id="sBar4.pt1" posRef="pos16"/>
          <Point fixed="false" id="sBar4.pt2" posRef="pos17"/>
          <Line fixed="false" id="sBar4.axis">
            <Param fixed="false" id="sBar4.axis.dir" scalarRef="scalar26"/>
            <Param fixed="false" id="sBar4.axis.offs" scalarRef="scalar27"/>
          </Line>
          <Param fixed="true" id="sBar4.length" scalarRef="scalar28"/>
        </Bar>
        <Bar fixed="false" id="sBar5">
          <Point fixed="false" id="sBar5.pt1" posRef="pos19"/>
          <Point fixed="false" id="sBar5.pt2" posRef="pos20"/>
          <Line fixed="false" id="sBar5.axis">
            <Param fixed="false" id="sBar5.axis.dir" scalarRef="scalar31"/>
            <Param fixed="false" id="sBar5.axis.offs" scalarRef="scalar32"/>
          </Line>
          <Param fixed="true" id="sBar5.length" scalarRef="scalar33"/>
        </Bar>
        <Bar fixed="false" id="sBar6">
          <Point fixed="false" id="sBar6.pt1" posRef="pos22"/>
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      </Elements>
      <Couplings>
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        </SwivelJoint>
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        </SwivelJoint>
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        </SwivelJoint>
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          <Line fixed="false" id="swj4.line">
            <Param fixed="false" id="swj4.line.dir" scalarRef="scalar8"/>
            <Param fixed="false" id="swj4.line.offs" scalarRef="scalar7"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj5">
          <Point fixed="false" id="swj5.pt" posRef="pos5"/>
          <Line fixed="false" id="swj5.line">
            <Param fixed="false" id="swj5.line.dir" scalarRef="scalar10"/>
            <Param fixed="false" id="swj5.line.offs" scalarRef="scalar9"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj6">
          <Point fixed="false" id="swj6.pt" posRef="pos6"/>
          <Line fixed="false" id="swj6.line">
            <Param fixed="false" id="swj6.line.dir" scalarRef="scalar12"/>
            <Param fixed="false" id="swj6.line.offs" scalarRef="scalar11"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj8">
          <Point fixed="false" id="swj8.pt" posRef="pos7"/>
          <Line fixed="false" id="swj8.line">
            <Param fixed="false" id="swj8.line.dir" scalarRef="scalar14"/>
            <Param fixed="false" id="swj8.line.offs" scalarRef="scalar13"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj9">
          <Point fixed="false" id="swj9.pt" posRef="pos8"/>
          <Line fixed="false" id="swj9.line">
            <Param fixed="false" id="swj9.line.dir" scalarRef="scalar16"/>
            <Param fixed="false" id="swj9.line.offs" scalarRef="scalar15"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj11">
          <Point fixed="false" id="swj11.pt" posRef="pos18"/>
          <Line fixed="false" id="swj11.line">
            <Param fixed="false" id="swj11.line.dir" scalarRef="scalar30"/>
            <Param fixed="false" id="swj11.line.offs" scalarRef="scalar29"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj12">
          <Point fixed="true" id="swj12.pt" posRef="pos24"/>
          <Line fixed="false" id="swj12.line">
            <Param fixed="false" id="swj12.line.dir" scalarRef="scalar40"/>
            <Param fixed="false" id="swj12.line.offs" scalarRef="scalar39"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj13">
          <Point fixed="true" id="swj13.pt" posRef="pos32"/>
          <Line fixed="false" id="swj13.line">
            <Param fixed="false" id="swj13.line.dir" scalarRef="scalar53"/>
            <Param fixed="false" id="swj13.line.offs" scalarRef="scalar52"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj14">
          <Point fixed="true" id="swj14.pt" posRef="pos33"/>
          <Line fixed="false" id="swj14.line">
            <Param fixed="false" id="swj14.line.dir" scalarRef="scalar55"/>
            <Param fixed="false" id="swj14.line.offs" scalarRef="scalar54"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj15">
          <Point fixed="true" id="swj15.pt" posRef="pos34"/>
          <Line fixed="false" id="swj15.line">
            <Param fixed="false" id="swj15.line.dir" scalarRef="scalar57"/>
            <Param fixed="false" id="swj15.line.offs" scalarRef="scalar56"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj16">
          <Point fixed="false" id="swj16.pt" posRef="pos35"/>
          <Line fixed="false" id="swj16.line">
            <Param fixed="false" id="swj16.line.dir" scalarRef="scalar59"/>
            <Param fixed="false" id="swj16.line.offs" scalarRef="scalar58"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj18">
          <Point fixed="false" id="swj18.pt" posRef="pos36"/>
          <Line fixed="false" id="swj18.line">
            <Param fixed="false" id="swj18.line.dir" scalarRef="scalar61"/>
            <Param fixed="false" id="swj18.line.offs" scalarRef="scalar60"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj19">
          <Point fixed="false" id="swj19.pt" posRef="pos37"/>
          <Line fixed="false" id="swj19.line">
            <Param fixed="false" id="swj19.line.dir" scalarRef="scalar63"/>
            <Param fixed="false" id="swj19.line.offs" scalarRef="scalar62"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj20">
          <Point fixed="false" id="swj20.pt" posRef="pos38"/>
          <Line fixed="false" id="swj20.line">
            <Param fixed="false" id="swj20.line.dir" scalarRef="scalar65"/>
            <Param fixed="false" id="swj20.line.offs" scalarRef="scalar64"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj21">
          <Point fixed="false" id="swj21.pt" posRef="pos53"/>
          <Line fixed="false" id="swj21.line">
            <Param fixed="false" id="swj21.line.dir" scalarRef="scalar87"/>
            <Param fixed="false" id="swj21.line.offs" scalarRef="scalar86"/>
          </Line>
        </SwivelJoint>
        <RigidJoint fixed="false" id="rgj1">
          <Point fixed="false" id="rgj1.pt" posRef="pos21"/>
          <Line fixed="false" id="rgj1.axis">
            <Param fixed="false" id="rgj1.axis.dir" scalarRef="scalar35"/>
            <Param fixed="false" id="rgj1.axis.offs" scalarRef="scalar34"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj2">
          <Point fixed="false" id="rgj2.pt" posRef="pos29"/>
          <Line fixed="false" id="rgj2.axis">
            <Param fixed="false" id="rgj2.axis.dir" scalarRef="scalar48"/>
            <Param fixed="false" id="rgj2.axis.offs" scalarRef="scalar47"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj3">
          <Point fixed="false" id="rgj3.pt" posRef="pos50"/>
          <Line fixed="false" id="rgj3.axis">
            <Param fixed="false" id="rgj3.axis.dir" scalarRef="scalar82"/>
            <Param fixed="false" id="rgj3.axis.offs" scalarRef="scalar81"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj4">
          <Point fixed="false" id="rgj4.pt" posRef="pos58"/>
          <Line fixed="false" id="rgj4.axis">
            <Param fixed="false" id="rgj4.axis.dir" scalarRef="scalar95"/>
            <Param fixed="false" id="rgj4.axis.offs" scalarRef="scalar94"/>
          </Line>
        </RigidJoint>
      </Couplings>
      <Connections>
        <PointConnection couplingPointRef="rgj1.pt" elementPointRef="sBar6.pt2" id="pointcon1"/>
        <PointConnection couplingPointRef="rgj1.pt" elementPointRef="sBar5.pt2" id="pointcon2"/>
        <PointConnection couplingPointRef="rgj2.pt" elementPointRef="sBar9.pt2" id="pointcon3"/>
        <PointConnection couplingPointRef="rgj2.pt" elementPointRef="sBar8.pt2" id="pointcon4"/>
        <PointConnection couplingPointRef="rgj3.pt" elementPointRef="sBar19.pt1" id="pointcon5"/>
        <PointConnection couplingPointRef="rgj3.pt" elementPointRef="sBar18.pt2" id="pointcon6"/>
        <PointConnection couplingPointRef="rgj4.pt" elementPointRef="sBar22.pt1" id="pointcon7"/>
        <PointConnection couplingPointRef="rgj4.pt" elementPointRef="sBar13.pt3" id="pointcon8"/>
        <PointConnection couplingPointRef="swj1.pt" elementPointRef="sBar10.pt1" id="pointcon9"/>
        <PointConnection couplingPointRef="swj11.pt" elementPointRef="sBar5.pt1" id="pointcon10"/>
        <PointConnection couplingPointRef="swj11.pt" elementPointRef="sBar2.pt3" id="pointcon11"/>
        <PointConnection couplingPointRef="swj14.pt" elementPointRef="sBar21.pt2" id="pointcon12"/>
        <PointConnection couplingPointRef="swj15.pt" elementPointRef="sBar17.pt2" id="pointcon13"/>
        <PointConnection couplingPointRef="swj16.pt" elementPointRef="sBar18.pt1" id="pointcon14"/>
        <PointConnection couplingPointRef="swj16.pt" elementPointRef="sBar10.pt2" id="pointcon15"/>
        <PointConnection couplingPointRef="swj18.pt" elementPointRef="sBar19.pt2" id="pointcon16"/>
        <PointConnection couplingPointRef="swj18.pt" elementPointRef="sBar13.pt1" id="pointcon17"/>
        <PointConnection couplingPointRef="swj19.pt" elementPointRef="sBar14.pt1" id="pointcon18"/>
        <PointConnection couplingPointRef="swj19.pt" elementPointRef="sBar13.pt2" id="pointcon19"/>
        <PointConnection couplingPointRef="swj2.pt" elementPointRef="sBar1.pt1" id="pointcon20"/>
        <PointConnection couplingPointRef="swj20.pt" elementPointRef="sBar20.pt2" id="pointcon21"/>
        <PointConnection couplingPointRef="swj20.pt" elementPointRef="sBar17.pt1" id="pointcon22"/>
        <PointConnection couplingPointRef="swj20.pt" elementPointRef="sBar14.pt2" id="pointcon23"/>
        <PointConnection couplingPointRef="swj21.pt" elementPointRef="sBar21.pt1" id="pointcon24"/>
        <PointConnection couplingPointRef="swj21.pt" elementPointRef="sBar20.pt1" id="pointcon25"/>
        <PointConnection couplingPointRef="swj3.pt" elementPointRef="sBar2.pt1" id="pointcon26"/>
        <PointConnection couplingPointRef="swj3.pt" elementPointRef="sBar1.pt2" id="pointcon27"/>
        <PointConnection couplingPointRef="swj4.pt" elementPointRef="sBar3.pt1" id="pointcon28"/>
        <PointConnection couplingPointRef="swj4.pt" elementPointRef="sBar2.pt2" id="pointcon29"/>
        <PointConnection couplingPointRef="swj5.pt" elementPointRef="sBar4.pt1" id="pointcon30"/>
        <PointConnection couplingPointRef="swj5.pt" elementPointRef="sBar3.pt2" id="pointcon31"/>
        <PointConnection couplingPointRef="swj6.pt" elementPointRef="sBar9.pt1" id="pointcon32"/>
        <PointConnection couplingPointRef="swj6.pt" elementPointRef="sBar4.pt2" id="pointcon33"/>
        <PointConnection couplingPointRef="swj8.pt" elementPointRef="sBar8.pt1" id="pointcon34"/>
        <PointConnection couplingPointRef="swj8.pt" elementPointRef="sBar7.pt1" id="pointcon35"/>
        <PointConnection couplingPointRef="swj9.pt" elementPointRef="sBar7.pt2" id="pointcon36"/>
        <PointConnection couplingPointRef="swj9.pt" elementPointRef="sBar6.pt1" id="pointcon37"/>
        <CouplingConnection coupling1Ref="swj12" coupling2Ref="rgj1" id="couplingcon38" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj13" coupling2Ref="rgj2" id="couplingcon39" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj21" coupling2Ref="rgj3" id="couplingcon40" role="SwivelingRigidJoint"/>
      </Connections>
    </ComponentSpace>
  </ComponentSpaces>

</Mechanism>
