<?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="-0.206845" y="-0.368285"/>
        <Position id="pos2" x="0.0920848" y="-0.12384"/>
        <Position id="pos3" x="-0.00804928" y="-0.0222334"/>
        <Position id="pos4" x="0.150454" y="-0.00315572"/>
        <Position id="pos5" x="0.121079" y="-0.403492"/>
        <Position id="pos6" x="-0.202925" y="-0.21802"/>
        <Position id="pos7" x="-0.206845" y="-0.368285"/>
        <Position id="pos8" x="-0.202925" y="-0.21802"/>
        <Position id="pos9" x="-0.202925" y="-0.21802"/>
        <Position id="pos10" x="0.121079" y="-0.403492"/>
        <Position id="pos11" x="0.121079" y="-0.403492"/>
        <Position id="pos12" x="0.150454" y="-0.00315572"/>
        <Position id="pos13" x="0.140835" y="-0.134256"/>
        <Position id="pos14" x="0.140835" y="-0.134256"/>
        <Position id="pos15" x="0.10186" y="0.00862434"/>
        <Position id="pos16" x="0.150454" y="-0.00315572"/>
        <Position id="pos17" x="0.10186" y="0.00862434"/>
        <Position id="pos18" x="0.10186" y="0.00862434"/>
        <Position id="pos19" x="0.0920848" y="-0.12384"/>
        <Position id="pos20" x="-0.0172604" y="0.326736"/>
        <Position id="pos21" x="0.150454" y="-0.00315572"/>
        <Position id="pos22" x="0.104242" y="0.0686011"/>
        <Position id="pos23" x="0.104242" y="0.0686011"/>
        <Position id="pos24" x="-0.0172604" y="0.326736"/>
        <Position id="pos25" x="0.104242" y="0.0686011"/>
        <Position id="pos26" x="0.104242" y="0.0686011"/>
        <Position id="pos27" x="0.104242" y="0.0686011"/>
        <Position id="pos28" x="-0.00804928" y="-0.0222334"/>
        <Position id="pos29" x="-0.298537" y="0.348601"/>
        <Position id="pos30" x="-0.0172604" y="0.326736"/>
        <Position id="pos31" x="-0.0660198" y="0.330526"/>
        <Position id="pos32" x="-0.0660198" y="0.330526"/>
        <Position id="pos33" x="-0.0660198" y="0.330526"/>
        <Position id="pos34" x="0.10186" y="0.00862434"/>
      </Positions>
      <Scalars>
        <Scalar id="scalar1" value="-0.368285"/>
        <Scalar id="scalar2" value="0"/>
        <Scalar id="scalar3" value="-0.12384"/>
        <Scalar id="scalar4" value="0"/>
        <Scalar id="scalar5" value="-0.0222334"/>
        <Scalar id="scalar6" value="0"/>
        <Scalar id="scalar7" value="-0.00315572"/>
        <Scalar id="scalar8" value="0"/>
        <Scalar id="scalar9" value="-0.403492"/>
        <Scalar id="scalar10" value="0"/>
        <Scalar id="scalar11" value="-0.21802"/>
        <Scalar id="scalar12" value="0"/>
        <Scalar id="scalar13" value="1.54472"/>
        <Scalar id="scalar14" value="-0.19717"/>
        <Scalar id="scalar15" value="0.150317"/>
        <Scalar id="scalar16" value="-0.519907"/>
        <Scalar id="scalar17" value="0.290025"/>
        <Scalar id="scalar18" value="0.373334"/>
        <Scalar id="scalar19" value="1.49755"/>
        <Scalar id="scalar20" value="0.150282"/>
        <Scalar id="scalar21" value="0.401412"/>
        <Scalar id="scalar22" value="-0.134256"/>
        <Scalar id="scalar23" value="0"/>
        <Scalar id="scalar24" value="0.00862434"/>
        <Scalar id="scalar25" value="0"/>
        <Scalar id="scalar26" value="2.90377"/>
        <Scalar id="scalar27" value="0.0323789"/>
        <Scalar id="scalar28" value="0.050002"/>
        <Scalar id="scalar29" value="-1.64446"/>
        <Scalar id="scalar30" value="-0.100949"/>
        <Scalar id="scalar31" value="0.132825"/>
        <Scalar id="scalar32" value="0.326736"/>
        <Scalar id="scalar33" value="0"/>
        <Scalar id="scalar34" value="2.14295"/>
        <Scalar id="scalar35" value="0.124784"/>
        <Scalar id="scalar36" value="0.0853498"/>
        <Scalar id="scalar37" value="0"/>
        <Scalar id="scalar38" value="0.00860394"/>
        <Scalar id="scalar39" value="-1.13087"/>
        <Scalar id="scalar40" value="-0.123532"/>
        <Scalar id="scalar41" value="0.285301"/>
        <Scalar id="scalar42" value="0.0686011"/>
        <Scalar id="scalar43" value="0"/>
        <Scalar id="scalar44" value="-2.46144"/>
        <Scalar id="scalar45" value="-0.0122237"/>
        <Scalar id="scalar46" value="0.144431"/>
        <Scalar id="scalar47" value="-0.0775788"/>
        <Scalar id="scalar48" value="-0.324415"/>
        <Scalar id="scalar49" value="0.282125"/>
        <Scalar id="scalar50" value="0.330526"/>
        <Scalar id="scalar51" value="0"/>
        <Scalar id="scalar52" value="-1.09008"/>
        <Scalar id="scalar53" value="-0.0943034"/>
        <Scalar id="scalar54" value="0.363049"/>
      </Scalars>
      <Elements>
        <Bar fixed="false" id="sBar109">
          <Point fixed="false" id="sBar109.pt1" posRef="pos7"/>
          <Point fixed="false" id="sBar109.pt2" posRef="pos8"/>
          <Line fixed="false" id="sBar109.axis">
            <Param fixed="false" id="sBar109.axis.dir" scalarRef="scalar13"/>
            <Param fixed="false" id="sBar109.axis.offs" scalarRef="scalar14"/>
          </Line>
          <Param fixed="true" id="sBar109.length" scalarRef="scalar15"/>
        </Bar>
        <Bar fixed="false" id="sBar110">
          <Point fixed="false" id="sBar110.pt1" posRef="pos9"/>
          <Point fixed="false" id="sBar110.pt2" posRef="pos10"/>
          <Line fixed="false" id="sBar110.axis">
            <Param fixed="false" id="sBar110.axis.dir" scalarRef="scalar16"/>
            <Param fixed="false" id="sBar110.axis.offs" scalarRef="scalar17"/>
          </Line>
          <Param fixed="true" id="sBar110.length" scalarRef="scalar18"/>
        </Bar>
        <Bar fixed="false" id="sBar111">
          <Point fixed="false" id="sBar111.pt1" posRef="pos11"/>
          <Point fixed="false" id="sBar111.pt2" posRef="pos12"/>
          <Point fixed="false" id="sBar111.pt3" posRef="pos13"/>
          <Line fixed="false" id="sBar111.axis">
            <Param fixed="false" id="sBar111.axis.dir" scalarRef="scalar19"/>
            <Param fixed="false" id="sBar111.axis.offs" scalarRef="scalar20"/>
          </Line>
          <Param fixed="true" id="sBar111.length" scalarRef="scalar21"/>
        </Bar>
        <Bar fixed="false" id="sBar112">
          <Point fixed="false" id="sBar112.pt1" posRef="pos16"/>
          <Point fixed="false" id="sBar112.pt2" posRef="pos17"/>
          <Line fixed="false" id="sBar112.axis">
            <Param fixed="false" id="sBar112.axis.dir" scalarRef="scalar26"/>
            <Param fixed="false" id="sBar112.axis.offs" scalarRef="scalar27"/>
          </Line>
          <Param fixed="true" id="sBar112.length" scalarRef="scalar28"/>
        </Bar>
        <Bar fixed="false" id="sBar113">
          <Point fixed="false" id="sBar113.pt1" posRef="pos18"/>
          <Point fixed="false" id="sBar113.pt2" posRef="pos19"/>
          <Line fixed="false" id="sBar113.axis">
            <Param fixed="false" id="sBar113.axis.dir" scalarRef="scalar29"/>
            <Param fixed="false" id="sBar113.axis.offs" scalarRef="scalar30"/>
          </Line>
          <Param fixed="true" id="sBar113.length" scalarRef="scalar31"/>
        </Bar>
        <Bar fixed="false" id="sBar114">
          <Point fixed="false" id="sBar114.pt1" posRef="pos21"/>
          <Point fixed="false" id="sBar114.pt2" posRef="pos22"/>
          <Line fixed="false" id="sBar114.axis">
            <Param fixed="false" id="sBar114.axis.dir" scalarRef="scalar34"/>
            <Param fixed="false" id="sBar114.axis.offs" scalarRef="scalar35"/>
          </Line>
          <Param fixed="true" id="sBar114.length" scalarRef="scalar36"/>
        </Bar>
        <Bar fixed="false" id="sBar115">
          <Point fixed="false" id="sBar115.pt1" posRef="pos24"/>
          <Point fixed="false" id="sBar115.pt2" posRef="pos25"/>
          <Line fixed="false" id="sBar115.axis">
            <Param fixed="false" id="sBar115.axis.dir" scalarRef="scalar39"/>
            <Param fixed="false" id="sBar115.axis.offs" scalarRef="scalar40"/>
          </Line>
          <Param fixed="true" id="sBar115.length" scalarRef="scalar41"/>
        </Bar>
        <Bar fixed="false" id="sBar116">
          <Point fixed="false" id="sBar116.pt1" posRef="pos27"/>
          <Point fixed="false" id="sBar116.pt2" posRef="pos28"/>
          <Line fixed="false" id="sBar116.axis">
            <Param fixed="false" id="sBar116.axis.dir" scalarRef="scalar44"/>
            <Param fixed="false" id="sBar116.axis.offs" scalarRef="scalar45"/>
          </Line>
          <Param fixed="true" id="sBar116.length" scalarRef="scalar46"/>
        </Bar>
        <Bar fixed="false" id="sBar118">
          <Point fixed="false" id="sBar118.pt1" posRef="pos29"/>
          <Point fixed="false" id="sBar118.pt2" posRef="pos30"/>
          <Point fixed="false" id="sBar118.pt3" posRef="pos31"/>
          <Line fixed="false" id="sBar118.axis">
            <Param fixed="false" id="sBar118.axis.dir" scalarRef="scalar47"/>
            <Param fixed="false" id="sBar118.axis.offs" scalarRef="scalar48"/>
          </Line>
          <Param fixed="true" id="sBar118.length" scalarRef="scalar49"/>
        </Bar>
        <Bar fixed="false" id="sBar120">
          <Point fixed="false" id="sBar120.pt1" posRef="pos33"/>
          <Point fixed="false" id="sBar120.pt2" posRef="pos34"/>
          <Line fixed="false" id="sBar120.axis">
            <Param fixed="false" id="sBar120.axis.dir" scalarRef="scalar52"/>
            <Param fixed="false" id="sBar120.axis.offs" scalarRef="scalar53"/>
          </Line>
          <Param fixed="true" id="sBar120.length" scalarRef="scalar54"/>
        </Bar>
      </Elements>
      <Couplings>
        <SwivelJoint fixed="true" id="swj86">
          <Point fixed="true" id="swj86.pt" posRef="pos1"/>
          <Line fixed="false" id="swj86.line">
            <Param fixed="false" id="swj86.line.dir" scalarRef="scalar2"/>
            <Param fixed="false" id="swj86.line.offs" scalarRef="scalar1"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj87">
          <Point fixed="true" id="swj87.pt" posRef="pos2"/>
          <Line fixed="false" id="swj87.line">
            <Param fixed="false" id="swj87.line.dir" scalarRef="scalar4"/>
            <Param fixed="false" id="swj87.line.offs" scalarRef="scalar3"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj88">
          <Point fixed="true" id="swj88.pt" posRef="pos3"/>
          <Line fixed="false" id="swj88.line">
            <Param fixed="false" id="swj88.line.dir" scalarRef="scalar6"/>
            <Param fixed="false" id="swj88.line.offs" scalarRef="scalar5"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj89">
          <Point fixed="false" id="swj89.pt" posRef="pos4"/>
          <Line fixed="false" id="swj89.line">
            <Param fixed="false" id="swj89.line.dir" scalarRef="scalar8"/>
            <Param fixed="false" id="swj89.line.offs" scalarRef="scalar7"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj90">
          <Point fixed="false" id="swj90.pt" posRef="pos5"/>
          <Line fixed="false" id="swj90.line">
            <Param fixed="false" id="swj90.line.dir" scalarRef="scalar10"/>
            <Param fixed="false" id="swj90.line.offs" scalarRef="scalar9"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj91">
          <Point fixed="false" id="swj91.pt" posRef="pos6"/>
          <Line fixed="false" id="swj91.line">
            <Param fixed="false" id="swj91.line.dir" scalarRef="scalar12"/>
            <Param fixed="false" id="swj91.line.offs" scalarRef="scalar11"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj92">
          <Point fixed="true" id="swj92.pt" posRef="pos14"/>
          <Line fixed="false" id="swj92.line">
            <Param fixed="false" id="swj92.line.dir" scalarRef="scalar23"/>
            <Param fixed="false" id="swj92.line.offs" scalarRef="scalar22"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj93">
          <Point fixed="false" id="swj93.pt" posRef="pos15"/>
          <Line fixed="false" id="swj93.line">
            <Param fixed="false" id="swj93.line.dir" scalarRef="scalar25"/>
            <Param fixed="false" id="swj93.line.offs" scalarRef="scalar24"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj94">
          <Point fixed="false" id="swj94.pt" posRef="pos20"/>
          <Line fixed="false" id="swj94.line">
            <Param fixed="false" id="swj94.line.dir" scalarRef="scalar33"/>
            <Param fixed="false" id="swj94.line.offs" scalarRef="scalar32"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj95">
          <Point fixed="false" id="swj95.pt" posRef="pos26"/>
          <Line fixed="false" id="swj95.line">
            <Param fixed="false" id="swj95.line.dir" scalarRef="scalar43"/>
            <Param fixed="false" id="swj95.line.offs" scalarRef="scalar42"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj96">
          <Point fixed="false" id="swj96.pt" posRef="pos32"/>
          <Line fixed="false" id="swj96.line">
            <Param fixed="false" id="swj96.line.dir" scalarRef="scalar51"/>
            <Param fixed="false" id="swj96.line.offs" scalarRef="scalar50"/>
          </Line>
        </SwivelJoint>
        <RigidJoint fixed="false" id="rgj38">
          <Point fixed="false" id="rgj38.pt" posRef="pos23"/>
          <Line fixed="false" id="rgj38.axis">
            <Param fixed="false" id="rgj38.axis.dir" scalarRef="scalar38"/>
            <Param fixed="false" id="rgj38.axis.offs" scalarRef="scalar37"/>
          </Line>
        </RigidJoint>
      </Couplings>
      <Connections>
        <PointConnection couplingPointRef="rgj38.pt" elementPointRef="sBar115.pt2" id="pointcon1"/>
        <PointConnection couplingPointRef="rgj38.pt" elementPointRef="sBar114.pt2" id="pointcon2"/>
        <PointConnection couplingPointRef="swj86.pt" elementPointRef="sBar109.pt1" id="pointcon3"/>
        <PointConnection couplingPointRef="swj87.pt" elementPointRef="sBar113.pt2" id="pointcon4"/>
        <PointConnection couplingPointRef="swj88.pt" elementPointRef="sBar116.pt2" id="pointcon5"/>
        <PointConnection couplingPointRef="swj89.pt" elementPointRef="sBar114.pt1" id="pointcon6"/>
        <PointConnection couplingPointRef="swj89.pt" elementPointRef="sBar112.pt1" id="pointcon7"/>
        <PointConnection couplingPointRef="swj89.pt" elementPointRef="sBar111.pt2" id="pointcon8"/>
        <PointConnection couplingPointRef="swj90.pt" elementPointRef="sBar111.pt1" id="pointcon9"/>
        <PointConnection couplingPointRef="swj90.pt" elementPointRef="sBar110.pt2" id="pointcon10"/>
        <PointConnection couplingPointRef="swj91.pt" elementPointRef="sBar110.pt1" id="pointcon11"/>
        <PointConnection couplingPointRef="swj91.pt" elementPointRef="sBar109.pt2" id="pointcon12"/>
        <PointConnection couplingPointRef="swj92.pt" elementPointRef="sBar111.pt3" id="pointcon13"/>
        <PointConnection couplingPointRef="swj93.pt" elementPointRef="sBar120.pt2" id="pointcon14"/>
        <PointConnection couplingPointRef="swj93.pt" elementPointRef="sBar113.pt1" id="pointcon15"/>
        <PointConnection couplingPointRef="swj93.pt" elementPointRef="sBar112.pt2" id="pointcon16"/>
        <PointConnection couplingPointRef="swj94.pt" elementPointRef="sBar118.pt2" id="pointcon17"/>
        <PointConnection couplingPointRef="swj94.pt" elementPointRef="sBar115.pt1" id="pointcon18"/>
        <PointConnection couplingPointRef="swj95.pt" elementPointRef="sBar116.pt1" id="pointcon19"/>
        <PointConnection couplingPointRef="swj96.pt" elementPointRef="sBar120.pt1" id="pointcon20"/>
        <PointConnection couplingPointRef="swj96.pt" elementPointRef="sBar118.pt3" id="pointcon21"/>
        <CouplingConnection coupling1Ref="swj95" coupling2Ref="rgj38" id="couplingcon22" role="SwivelingRigidJoint"/>
      </Connections>
    </ComponentSpace>
  </ComponentSpaces>

</Mechanism>
