<?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="-0.243677" y="-0.274643"/>
        <Position id="pos2" x="-0.0825198" y="0.045975"/>
        <Position id="pos3" x="0.132922" y="0.0510642"/>
        <Position id="pos4" x="-0.0876089" y="-0.444282"/>
        <Position id="pos5" x="0.131225" y="-0.440889"/>
        <Position id="pos6" x="-0.240356" y="-0.208219"/>
        <Position id="pos7" x="0.0227614" y="-0.171089"/>
        <Position id="pos8" x="0.234811" y="-0.166023"/>
        <Position id="pos9" x="0.240772" y="-0.323712"/>
        <Position id="pos10" x="0.136201" y="-0.25755"/>
        <Position id="pos11" x="0.136201" y="-0.25755"/>
        <Position id="pos12" x="0.136201" y="-0.25755"/>
        <Position id="pos13" x="0.234811" y="-0.166023"/>
        <Position id="pos14" x="0.136201" y="-0.25755"/>
        <Position id="pos15" x="-0.243677" y="-0.274643"/>
        <Position id="pos16" x="-0.240356" y="-0.208219"/>
        <Position id="pos17" x="0.0227614" y="-0.171089"/>
        <Position id="pos18" x="0.234811" y="-0.166023"/>
        <Position id="pos19" x="0.131225" y="-0.440889"/>
        <Position id="pos20" x="0.136201" y="-0.25755"/>
        <Position id="pos21" x="-0.240284" y="0.210525"/>
        <Position id="pos22" x="-0.235007" y="0.281759"/>
        <Position id="pos23" x="0.139896" y="0.230874"/>
        <Position id="pos24" x="0.0211468" y="0.317389"/>
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        <Position id="pos26" x="0.302747" y="0.314"/>
        <Position id="pos27" x="0.243362" y="0.314715"/>
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        <Position id="pos36" x="0.0227614" y="-0.171089"/>
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        <Position id="pos38" x="-0.0830345" y="-0.257611"/>
        <Position id="pos39" x="-0.0830345" y="-0.257611"/>
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        <Position id="pos42" x="-0.0876089" y="-0.444282"/>
        <Position id="pos43" x="-0.235007" y="0.281759"/>
        <Position id="pos44" x="-0.240284" y="0.210525"/>
        <Position id="pos45" x="-0.235007" y="0.281759"/>
        <Position id="pos46" x="-0.072153" y="0.229174"/>
        <Position id="pos47" x="-0.072153" y="0.229174"/>
        <Position id="pos48" x="-0.072153" y="0.229174"/>
        <Position id="pos49" x="0.0211468" y="0.317389"/>
        <Position id="pos50" x="-0.072153" y="0.229174"/>
        <Position id="pos51" x="-0.072153" y="0.229174"/>
        <Position id="pos52" x="-0.0825198" y="0.045975"/>
        <Position id="pos53" x="-0.072153" y="0.229174"/>
        <Position id="pos54" x="0.139896" y="0.230874"/>
      </Positions>
      <Scalars>
        <Scalar id="scalar1" value="-0.274643"/>
        <Scalar id="scalar2" value="0"/>
        <Scalar id="scalar3" value="0.045975"/>
        <Scalar id="scalar4" value="0"/>
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        <Scalar id="scalar6" value="0"/>
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        <Scalar id="scalar8" value="0"/>
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        <Scalar id="scalar10" value="0"/>
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        <Scalar id="scalar12" value="0"/>
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        <Scalar id="scalar16" value="0"/>
        <Scalar id="scalar17" value="2.57748"/>
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        <Scalar id="scalar78" value="1.88602e-005"/>
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        <Scalar id="scalar88" value="-0.229745"/>
        <Scalar id="scalar89" value="0.212055"/>
      </Scalars>
      <Elements>
        <Bar fixed="false" id="sBar23">
          <Point fixed="false" id="sBar23.pt1" posRef="pos9"/>
          <Point fixed="false" id="sBar23.pt2" posRef="pos10"/>
          <Line fixed="false" id="sBar23.axis">
            <Param fixed="false" id="sBar23.axis.dir" scalarRef="scalar17"/>
            <Param fixed="false" id="sBar23.axis.offs" scalarRef="scalar18"/>
          </Line>
          <Param fixed="true" id="sBar23.length" scalarRef="scalar19"/>
        </Bar>
        <Bar fixed="false" id="sBar24">
          <Point fixed="false" id="sBar24.pt1" posRef="pos12"/>
          <Point fixed="false" id="sBar24.pt2" posRef="pos13"/>
          <Line fixed="false" id="sBar24.axis">
            <Param fixed="false" id="sBar24.axis.dir" scalarRef="scalar22"/>
            <Param fixed="false" id="sBar24.axis.offs" scalarRef="scalar23"/>
          </Line>
          <Param fixed="true" id="sBar24.length" scalarRef="scalar24"/>
        </Bar>
        <Bar fixed="false" id="sBar25">
          <Point fixed="false" id="sBar25.pt1" posRef="pos15"/>
          <Point fixed="false" id="sBar25.pt2" posRef="pos16"/>
          <Line fixed="false" id="sBar25.axis">
            <Param fixed="false" id="sBar25.axis.dir" scalarRef="scalar27"/>
            <Param fixed="false" id="sBar25.axis.offs" scalarRef="scalar28"/>
          </Line>
          <Param fixed="true" id="sBar25.length" scalarRef="scalar29"/>
        </Bar>
        <Bar fixed="false" id="sBar28">
          <Point fixed="false" id="sBar28.pt1" posRef="pos17"/>
          <Point fixed="false" id="sBar28.pt2" posRef="pos18"/>
          <Line fixed="false" id="sBar28.axis">
            <Param fixed="false" id="sBar28.axis.dir" scalarRef="scalar30"/>
            <Param fixed="false" id="sBar28.axis.offs" scalarRef="scalar31"/>
          </Line>
          <Param fixed="true" id="sBar28.length" scalarRef="scalar32"/>
        </Bar>
        <Bar fixed="false" id="sBar31">
          <Point fixed="false" id="sBar31.pt1" posRef="pos19"/>
          <Point fixed="false" id="sBar31.pt2" posRef="pos20"/>
          <Line fixed="false" id="sBar31.axis">
            <Param fixed="false" id="sBar31.axis.dir" scalarRef="scalar33"/>
            <Param fixed="false" id="sBar31.axis.offs" scalarRef="scalar34"/>
          </Line>
          <Param fixed="true" id="sBar31.length" scalarRef="scalar35"/>
        </Bar>
        <Bar fixed="false" id="sBar32">
          <Point fixed="false" id="sBar32.pt1" posRef="pos25"/>
          <Point fixed="false" id="sBar32.pt2" posRef="pos26"/>
          <Point fixed="false" id="sBar32.pt3" posRef="pos27"/>
          <Line fixed="false" id="sBar32.axis">
            <Param fixed="false" id="sBar32.axis.dir" scalarRef="scalar44"/>
            <Param fixed="false" id="sBar32.axis.offs" scalarRef="scalar45"/>
          </Line>
          <Param fixed="true" id="sBar32.length" scalarRef="scalar46"/>
        </Bar>
        <Bar fixed="false" id="sBar33">
          <Point fixed="false" id="sBar33.pt1" posRef="pos29"/>
          <Point fixed="false" id="sBar33.pt2" posRef="pos30"/>
          <Line fixed="false" id="sBar33.axis">
            <Param fixed="false" id="sBar33.axis.dir" scalarRef="scalar49"/>
            <Param fixed="false" id="sBar33.axis.offs" scalarRef="scalar50"/>
          </Line>
          <Param fixed="true" id="sBar33.length" scalarRef="scalar51"/>
        </Bar>
        <Bar fixed="false" id="sBar34">
          <Point fixed="false" id="sBar34.pt1" posRef="pos31"/>
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        </Bar>
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          <Point fixed="false" id="sBar38.pt1" posRef="pos36"/>
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          <Point fixed="false" id="sBar39.pt1" posRef="pos39"/>
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          </Line>
          <Param fixed="true" id="sBar39.length" scalarRef="scalar67"/>
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          <Param fixed="true" id="sBar41.length" scalarRef="scalar73"/>
        </Bar>
        <Bar fixed="false" id="sBar42">
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      </Elements>
      <Couplings>
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          </Line>
        </SwivelJoint>
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        </SwivelJoint>
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          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj25">
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          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj26">
          <Point fixed="true" id="swj26.pt" posRef="pos5"/>
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          </Line>
        </SwivelJoint>
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        </SwivelJoint>
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        </SwivelJoint>
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            <Param fixed="false" id="swj30.line.dir" scalarRef="scalar16"/>
            <Param fixed="false" id="swj30.line.offs" scalarRef="scalar15"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj31">
          <Point fixed="false" id="swj31.pt" posRef="pos14"/>
          <Line fixed="false" id="swj31.line">
            <Param fixed="false" id="swj31.line.dir" scalarRef="scalar26"/>
            <Param fixed="false" id="swj31.line.offs" scalarRef="scalar25"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj32">
          <Point fixed="true" id="swj32.pt" posRef="pos21"/>
          <Line fixed="false" id="swj32.line">
            <Param fixed="false" id="swj32.line.dir" scalarRef="scalar37"/>
            <Param fixed="false" id="swj32.line.offs" scalarRef="scalar36"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj33">
          <Point fixed="false" id="swj33.pt" posRef="pos22"/>
          <Line fixed="false" id="swj33.line">
            <Param fixed="false" id="swj33.line.dir" scalarRef="scalar39"/>
            <Param fixed="false" id="swj33.line.offs" scalarRef="scalar38"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj35">
          <Point fixed="false" id="swj35.pt" posRef="pos23"/>
          <Line fixed="false" id="swj35.line">
            <Param fixed="false" id="swj35.line.dir" scalarRef="scalar41"/>
            <Param fixed="false" id="swj35.line.offs" scalarRef="scalar40"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj36">
          <Point fixed="false" id="swj36.pt" posRef="pos24"/>
          <Line fixed="false" id="swj36.line">
            <Param fixed="false" id="swj36.line.dir" scalarRef="scalar43"/>
            <Param fixed="false" id="swj36.line.offs" scalarRef="scalar42"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj37">
          <Point fixed="false" id="swj37.pt" posRef="pos28"/>
          <Line fixed="false" id="swj37.line">
            <Param fixed="false" id="swj37.line.dir" scalarRef="scalar48"/>
            <Param fixed="false" id="swj37.line.offs" scalarRef="scalar47"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj38">
          <Point fixed="false" id="swj38.pt" posRef="pos38"/>
          <Line fixed="false" id="swj38.line">
            <Param fixed="false" id="swj38.line.dir" scalarRef="scalar64"/>
            <Param fixed="false" id="swj38.line.offs" scalarRef="scalar63"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj39">
          <Point fixed="false" id="swj39.pt" posRef="pos50"/>
          <Line fixed="false" id="swj39.line">
            <Param fixed="false" id="swj39.line.dir" scalarRef="scalar83"/>
            <Param fixed="false" id="swj39.line.offs" scalarRef="scalar82"/>
          </Line>
        </SwivelJoint>
        <RigidJoint fixed="false" id="rgj5">
          <Point fixed="false" id="rgj5.pt" posRef="pos11"/>
          <Line fixed="false" id="rgj5.axis">
            <Param fixed="false" id="rgj5.axis.dir" scalarRef="scalar21"/>
            <Param fixed="false" id="rgj5.axis.offs" scalarRef="scalar20"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj6">
          <Point fixed="false" id="rgj6.pt" posRef="pos35"/>
          <Line fixed="false" id="rgj6.axis">
            <Param fixed="false" id="rgj6.axis.dir" scalarRef="scalar59"/>
            <Param fixed="false" id="rgj6.axis.offs" scalarRef="scalar58"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj7">
          <Point fixed="false" id="rgj7.pt" posRef="pos47"/>
          <Line fixed="false" id="rgj7.axis">
            <Param fixed="false" id="rgj7.axis.dir" scalarRef="scalar78"/>
            <Param fixed="false" id="rgj7.axis.offs" scalarRef="scalar77"/>
          </Line>
        </RigidJoint>
      </Couplings>
      <Connections>
        <PointConnection couplingPointRef="rgj5.pt" elementPointRef="sBar24.pt1" id="pointcon1"/>
        <PointConnection couplingPointRef="rgj5.pt" elementPointRef="sBar23.pt2" id="pointcon2"/>
        <PointConnection couplingPointRef="rgj6.pt" elementPointRef="sBar38.pt2" id="pointcon3"/>
        <PointConnection couplingPointRef="rgj6.pt" elementPointRef="sBar37.pt2" id="pointcon4"/>
        <PointConnection couplingPointRef="rgj7.pt" elementPointRef="sBar43.pt1" id="pointcon5"/>
        <PointConnection couplingPointRef="rgj7.pt" elementPointRef="sBar42.pt2" id="pointcon6"/>
        <PointConnection couplingPointRef="swj22.pt" elementPointRef="sBar25.pt1" id="pointcon7"/>
        <PointConnection couplingPointRef="swj23.pt" elementPointRef="sBar44.pt2" id="pointcon8"/>
        <PointConnection couplingPointRef="swj24.pt" elementPointRef="sBar34.pt2" id="pointcon9"/>
        <PointConnection couplingPointRef="swj25.pt" elementPointRef="sBar40.pt2" id="pointcon10"/>
        <PointConnection couplingPointRef="swj26.pt" elementPointRef="sBar31.pt1" id="pointcon11"/>
        <PointConnection couplingPointRef="swj27.pt" elementPointRef="sBar37.pt1" id="pointcon12"/>
        <PointConnection couplingPointRef="swj27.pt" elementPointRef="sBar25.pt2" id="pointcon13"/>
        <PointConnection couplingPointRef="swj29.pt" elementPointRef="sBar38.pt1" id="pointcon14"/>
        <PointConnection couplingPointRef="swj29.pt" elementPointRef="sBar28.pt1" id="pointcon15"/>
        <PointConnection couplingPointRef="swj30.pt" elementPointRef="sBar28.pt2" id="pointcon16"/>
        <PointConnection couplingPointRef="swj30.pt" elementPointRef="sBar24.pt2" id="pointcon17"/>
        <PointConnection couplingPointRef="swj31.pt" elementPointRef="sBar39.pt2" id="pointcon18"/>
        <PointConnection couplingPointRef="swj31.pt" elementPointRef="sBar31.pt2" id="pointcon19"/>
        <PointConnection couplingPointRef="swj32.pt" elementPointRef="sBar41.pt2" id="pointcon20"/>
        <PointConnection couplingPointRef="swj33.pt" elementPointRef="sBar42.pt1" id="pointcon21"/>
        <PointConnection couplingPointRef="swj33.pt" elementPointRef="sBar41.pt1" id="pointcon22"/>
        <PointConnection couplingPointRef="swj35.pt" elementPointRef="sBar45.pt2" id="pointcon23"/>
        <PointConnection couplingPointRef="swj35.pt" elementPointRef="sBar34.pt1" id="pointcon24"/>
        <PointConnection couplingPointRef="swj35.pt" elementPointRef="sBar33.pt2" id="pointcon25"/>
        <PointConnection couplingPointRef="swj36.pt" elementPointRef="sBar43.pt2" id="pointcon26"/>
        <PointConnection couplingPointRef="swj36.pt" elementPointRef="sBar32.pt1" id="pointcon27"/>
        <PointConnection couplingPointRef="swj37.pt" elementPointRef="sBar33.pt1" id="pointcon28"/>
        <PointConnection couplingPointRef="swj37.pt" elementPointRef="sBar32.pt3" id="pointcon29"/>
        <PointConnection couplingPointRef="swj38.pt" elementPointRef="sBar40.pt1" id="pointcon30"/>
        <PointConnection couplingPointRef="swj38.pt" elementPointRef="sBar39.pt1" id="pointcon31"/>
        <PointConnection couplingPointRef="swj39.pt" elementPointRef="sBar45.pt1" id="pointcon32"/>
        <PointConnection couplingPointRef="swj39.pt" elementPointRef="sBar44.pt1" id="pointcon33"/>
        <CouplingConnection coupling1Ref="swj31" coupling2Ref="rgj5" id="couplingcon34" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj38" coupling2Ref="rgj6" id="couplingcon35" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj39" coupling2Ref="rgj7" id="couplingcon36" role="SwivelingRigidJoint"/>
      </Connections>
    </ComponentSpace>
  </ComponentSpaces>

</Mechanism>
