<?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="-0.803485" y="-0.361158"/>
        <Position id="pos2" x="-0.213142" y="-0.366248"/>
        <Position id="pos3" x="0.302561" y="-0.367944"/>
        <Position id="pos4" x="0.609607" y="-0.127057"/>
        <Position id="pos5" x="-0.267827" y="0.0325296"/>
        <Position id="pos6" x="-0.133386" y="0.301276"/>
        <Position id="pos7" x="-0.803485" y="-0.361158"/>
        <Position id="pos8" x="-0.267827" y="0.0325296"/>
        <Position id="pos9" x="-0.213142" y="-0.366248"/>
        <Position id="pos10" x="-0.133386" y="0.301276"/>
        <Position id="pos11" x="-0.267827" y="0.0325296"/>
        <Position id="pos12" x="-0.310326" y="0.218269"/>
        <Position id="pos13" x="-0.310326" y="0.218269"/>
        <Position id="pos14" x="-0.310326" y="0.218269"/>
        <Position id="pos15" x="-0.133386" y="0.301276"/>
        <Position id="pos16" x="0.26912" y="-0.177862"/>
        <Position id="pos17" x="0.368948" y="0.246296"/>
        <Position id="pos18" x="0.26912" y="-0.177862"/>
        <Position id="pos19" x="0.302561" y="-0.367944"/>
        <Position id="pos20" x="0.26912" y="-0.177862"/>
        <Position id="pos21" x="0.799852" y="0.212632"/>
        <Position id="pos22" x="0.799852" y="0.212632"/>
        <Position id="pos23" x="0.799852" y="0.212632"/>
        <Position id="pos24" x="0.368948" y="0.246296"/>
        <Position id="pos25" x="0.609607" y="-0.127057"/>
        <Position id="pos26" x="0.368948" y="0.246296"/>
      </Positions>
      <Scalars>
        <Scalar id="scalar1" value="-0.361158"/>
        <Scalar id="scalar2" value="0"/>
        <Scalar id="scalar3" value="-0.366248"/>
        <Scalar id="scalar4" value="0"/>
        <Scalar id="scalar5" value="-0.367944"/>
        <Scalar id="scalar6" value="0"/>
        <Scalar id="scalar7" value="-0.127057"/>
        <Scalar id="scalar8" value="0"/>
        <Scalar id="scalar9" value="0.0325296"/>
        <Scalar id="scalar10" value="0"/>
        <Scalar id="scalar11" value="0.301276"/>
        <Scalar id="scalar12" value="0"/>
        <Scalar id="scalar13" value="0.633807"/>
        <Scalar id="scalar14" value="-0.184823"/>
        <Scalar id="scalar15" value="0.66477"/>
        <Scalar id="scalar16" value="1.45188"/>
        <Scalar id="scalar17" value="-0.168186"/>
        <Scalar id="scalar18" value="0.672271"/>
        <Scalar id="scalar19" value="1.79573"/>
        <Scalar id="scalar20" value="-0.253825"/>
        <Scalar id="scalar21" value="0.19054"/>
        <Scalar id="scalar22" value="0"/>
        <Scalar id="scalar23" value="0.00476216"/>
        <Scalar id="scalar24" value="0.438642"/>
        <Scalar id="scalar25" value="-0.329404"/>
        <Scalar id="scalar26" value="0.195443"/>
        <Scalar id="scalar27" value="-0.177862"/>
        <Scalar id="scalar28" value="0"/>
        <Scalar id="scalar29" value="0.246296"/>
        <Scalar id="scalar30" value="0"/>
        <Scalar id="scalar31" value="-1.39665"/>
        <Scalar id="scalar32" value="-0.234233"/>
        <Scalar id="scalar33" value="0.193001"/>
        <Scalar id="scalar34" value="0.634328"/>
        <Scalar id="scalar35" value="0.302753"/>
        <Scalar id="scalar36" value="0.658909"/>
        <Scalar id="scalar37" value="0"/>
        <Scalar id="scalar38" value="0.000610475"/>
        <Scalar id="scalar39" value="3.06363"/>
        <Scalar id="scalar40" value="0.274285"/>
        <Scalar id="scalar41" value="0.432217"/>
        <Scalar id="scalar42" value="2.14336"/>
        <Scalar id="scalar43" value="0.443547"/>
        <Scalar id="scalar44" value="0.444195"/>
      </Scalars>
      <Elements>
        <Bar fixed="false" id="sBar64">
          <Point fixed="false" id="sBar64.pt1" posRef="pos7"/>
          <Point fixed="false" id="sBar64.pt2" posRef="pos8"/>
          <Line fixed="false" id="sBar64.axis">
            <Param fixed="false" id="sBar64.axis.dir" scalarRef="scalar13"/>
            <Param fixed="false" id="sBar64.axis.offs" scalarRef="scalar14"/>
          </Line>
          <Param fixed="true" id="sBar64.length" scalarRef="scalar15"/>
        </Bar>
        <Bar fixed="false" id="sBar65">
          <Point fixed="false" id="sBar65.pt1" posRef="pos9"/>
          <Point fixed="false" id="sBar65.pt2" posRef="pos10"/>
          <Line fixed="false" id="sBar65.axis">
            <Param fixed="false" id="sBar65.axis.dir" scalarRef="scalar16"/>
            <Param fixed="false" id="sBar65.axis.offs" scalarRef="scalar17"/>
          </Line>
          <Param fixed="true" id="sBar65.length" scalarRef="scalar18"/>
        </Bar>
        <Bar fixed="false" id="sBar68">
          <Point fixed="false" id="sBar68.pt1" posRef="pos11"/>
          <Point fixed="false" id="sBar68.pt2" posRef="pos12"/>
          <Line fixed="false" id="sBar68.axis">
            <Param fixed="false" id="sBar68.axis.dir" scalarRef="scalar19"/>
            <Param fixed="false" id="sBar68.axis.offs" scalarRef="scalar20"/>
          </Line>
          <Param fixed="true" id="sBar68.length" scalarRef="scalar21"/>
        </Bar>
        <Bar fixed="false" id="sBar69">
          <Point fixed="false" id="sBar69.pt1" posRef="pos14"/>
          <Point fixed="false" id="sBar69.pt2" posRef="pos15"/>
          <Line fixed="false" id="sBar69.axis">
            <Param fixed="false" id="sBar69.axis.dir" scalarRef="scalar24"/>
            <Param fixed="false" id="sBar69.axis.offs" scalarRef="scalar25"/>
          </Line>
          <Param fixed="true" id="sBar69.length" scalarRef="scalar26"/>
        </Bar>
        <Bar fixed="false" id="sBar70">
          <Point fixed="false" id="sBar70.pt1" posRef="pos18"/>
          <Point fixed="false" id="sBar70.pt2" posRef="pos19"/>
          <Line fixed="false" id="sBar70.axis">
            <Param fixed="false" id="sBar70.axis.dir" scalarRef="scalar31"/>
            <Param fixed="false" id="sBar70.axis.offs" scalarRef="scalar32"/>
          </Line>
          <Param fixed="true" id="sBar70.length" scalarRef="scalar33"/>
        </Bar>
        <Bar fixed="false" id="sBar72">
          <Point fixed="false" id="sBar72.pt1" posRef="pos20"/>
          <Point fixed="false" id="sBar72.pt2" posRef="pos21"/>
          <Line fixed="false" id="sBar72.axis">
            <Param fixed="false" id="sBar72.axis.dir" scalarRef="scalar34"/>
            <Param fixed="false" id="sBar72.axis.offs" scalarRef="scalar35"/>
          </Line>
          <Param fixed="true" id="sBar72.length" scalarRef="scalar36"/>
        </Bar>
        <Bar fixed="false" id="sBar73">
          <Point fixed="false" id="sBar73.pt1" posRef="pos23"/>
          <Point fixed="false" id="sBar73.pt2" posRef="pos24"/>
          <Line fixed="false" id="sBar73.axis">
            <Param fixed="false" id="sBar73.axis.dir" scalarRef="scalar39"/>
            <Param fixed="false" id="sBar73.axis.offs" scalarRef="scalar40"/>
          </Line>
          <Param fixed="true" id="sBar73.length" scalarRef="scalar41"/>
        </Bar>
        <Bar fixed="false" id="sBar74">
          <Point fixed="false" id="sBar74.pt1" posRef="pos25"/>
          <Point fixed="false" id="sBar74.pt2" posRef="pos26"/>
          <Line fixed="false" id="sBar74.axis">
            <Param fixed="false" id="sBar74.axis.dir" scalarRef="scalar42"/>
            <Param fixed="false" id="sBar74.axis.offs" scalarRef="scalar43"/>
          </Line>
          <Param fixed="true" id="sBar74.length" scalarRef="scalar44"/>
        </Bar>
      </Elements>
      <Couplings>
        <SwivelJoint fixed="true" id="swj57">
          <Point fixed="true" id="swj57.pt" posRef="pos1"/>
          <Line fixed="false" id="swj57.line">
            <Param fixed="false" id="swj57.line.dir" scalarRef="scalar2"/>
            <Param fixed="false" id="swj57.line.offs" scalarRef="scalar1"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj58">
          <Point fixed="true" id="swj58.pt" posRef="pos2"/>
          <Line fixed="false" id="swj58.line">
            <Param fixed="false" id="swj58.line.dir" scalarRef="scalar4"/>
            <Param fixed="false" id="swj58.line.offs" scalarRef="scalar3"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj59">
          <Point fixed="true" id="swj59.pt" posRef="pos3"/>
          <Line fixed="false" id="swj59.line">
            <Param fixed="false" id="swj59.line.dir" scalarRef="scalar6"/>
            <Param fixed="false" id="swj59.line.offs" scalarRef="scalar5"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj60">
          <Point fixed="true" id="swj60.pt" posRef="pos4"/>
          <Line fixed="false" id="swj60.line">
            <Param fixed="false" id="swj60.line.dir" scalarRef="scalar8"/>
            <Param fixed="false" id="swj60.line.offs" scalarRef="scalar7"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj61">
          <Point fixed="false" id="swj61.pt" posRef="pos5"/>
          <Line fixed="false" id="swj61.line">
            <Param fixed="false" id="swj61.line.dir" scalarRef="scalar10"/>
            <Param fixed="false" id="swj61.line.offs" scalarRef="scalar9"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj62">
          <Point fixed="false" id="swj62.pt" posRef="pos6"/>
          <Line fixed="false" id="swj62.line">
            <Param fixed="false" id="swj62.line.dir" scalarRef="scalar12"/>
            <Param fixed="false" id="swj62.line.offs" scalarRef="scalar11"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj63">
          <Point fixed="false" id="swj63.pt" posRef="pos16"/>
          <Line fixed="false" id="swj63.line">
            <Param fixed="false" id="swj63.line.dir" scalarRef="scalar28"/>
            <Param fixed="false" id="swj63.line.offs" scalarRef="scalar27"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj64">
          <Point fixed="false" id="swj64.pt" posRef="pos17"/>
          <Line fixed="false" id="swj64.line">
            <Param fixed="false" id="swj64.line.dir" scalarRef="scalar30"/>
            <Param fixed="false" id="swj64.line.offs" scalarRef="scalar29"/>
          </Line>
        </SwivelJoint>
        <RigidJoint fixed="false" id="rgj14">
          <Point fixed="false" id="rgj14.pt" posRef="pos13"/>
          <Line fixed="false" id="rgj14.axis">
            <Param fixed="false" id="rgj14.axis.dir" scalarRef="scalar23"/>
            <Param fixed="false" id="rgj14.axis.offs" scalarRef="scalar22"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj15">
          <Point fixed="false" id="rgj15.pt" posRef="pos22"/>
          <Line fixed="false" id="rgj15.axis">
            <Param fixed="false" id="rgj15.axis.dir" scalarRef="scalar38"/>
            <Param fixed="false" id="rgj15.axis.offs" scalarRef="scalar37"/>
          </Line>
        </RigidJoint>
      </Couplings>
      <Connections>
        <PointConnection couplingPointRef="rgj14.pt" elementPointRef="sBar69.pt1" id="pointcon1"/>
        <PointConnection couplingPointRef="rgj14.pt" elementPointRef="sBar68.pt2" id="pointcon2"/>
        <PointConnection couplingPointRef="rgj15.pt" elementPointRef="sBar73.pt1" id="pointcon3"/>
        <PointConnection couplingPointRef="rgj15.pt" elementPointRef="sBar72.pt2" id="pointcon4"/>
        <PointConnection couplingPointRef="swj57.pt" elementPointRef="sBar64.pt1" id="pointcon5"/>
        <PointConnection couplingPointRef="swj58.pt" elementPointRef="sBar65.pt1" id="pointcon6"/>
        <PointConnection couplingPointRef="swj59.pt" elementPointRef="sBar70.pt2" id="pointcon7"/>
        <PointConnection couplingPointRef="swj60.pt" elementPointRef="sBar74.pt1" id="pointcon8"/>
        <PointConnection couplingPointRef="swj61.pt" elementPointRef="sBar68.pt1" id="pointcon9"/>
        <PointConnection couplingPointRef="swj61.pt" elementPointRef="sBar64.pt2" id="pointcon10"/>
        <PointConnection couplingPointRef="swj62.pt" elementPointRef="sBar69.pt2" id="pointcon11"/>
        <PointConnection couplingPointRef="swj62.pt" elementPointRef="sBar65.pt2" id="pointcon12"/>
        <PointConnection couplingPointRef="swj63.pt" elementPointRef="sBar72.pt1" id="pointcon13"/>
        <PointConnection couplingPointRef="swj63.pt" elementPointRef="sBar70.pt1" id="pointcon14"/>
        <PointConnection couplingPointRef="swj64.pt" elementPointRef="sBar74.pt2" id="pointcon15"/>
        <PointConnection couplingPointRef="swj64.pt" elementPointRef="sBar73.pt2" id="pointcon16"/>
      </Connections>
    </ComponentSpace>
  </ComponentSpaces>

</Mechanism>
