<?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="0.013171" y="-0.398366"/>
        <Position id="pos2" x="0.173312" y="-0.418613"/>
        <Position id="pos3" x="0.207534" y="0.194382"/>
        <Position id="pos4" x="0.207534" y="0.194382"/>
        <Position id="pos5" x="0.237138" y="0.0692509"/>
        <Position id="pos6" x="0.237138" y="0.0692509"/>
        <Position id="pos7" x="0.237138" y="0.0692509"/>
        <Position id="pos8" x="0.173312" y="-0.418613"/>
        <Position id="pos9" x="0.237138" y="0.0692509"/>
        <Position id="pos10" x="-0.280099" y="0.0968593"/>
        <Position id="pos11" x="-0.348456" y="0.290044"/>
        <Position id="pos12" x="-0.280099" y="0.0968593"/>
        <Position id="pos13" x="-0.348456" y="0.290044"/>
        <Position id="pos14" x="-0.348456" y="0.290044"/>
        <Position id="pos15" x="-0.370714" y="0.420705"/>
        <Position id="pos16" x="-0.348456" y="0.290044"/>
        <Position id="pos17" x="-0.188313" y="0.273497"/>
        <Position id="pos18" x="-0.348456" y="0.290044"/>
        <Position id="pos19" x="-0.188313" y="0.273497"/>
        <Position id="pos20" x="-0.280099" y="0.0968593"/>
        <Position id="pos21" x="-0.132842" y="0.0766122"/>
        <Position id="pos22" x="-0.132842" y="0.0766122"/>
        <Position id="pos23" x="-0.132842" y="0.0766122"/>
        <Position id="pos24" x="0.0788379" y="0.107905"/>
        <Position id="pos25" x="0.0788379" y="0.107905"/>
        <Position id="pos26" x="0.0788379" y="0.107905"/>
        <Position id="pos27" x="0.237138" y="0.0692509"/>
        <Position id="pos28" x="-0.132842" y="0.0766122"/>
        <Position id="pos29" x="0.0788379" y="0.107905"/>
        <Position id="pos30" x="0.0788379" y="0.107905"/>
        <Position id="pos31" x="0.013171" y="-0.398366"/>
        <Position id="pos32" x="-0.132842" y="0.0766122"/>
        <Position id="pos33" x="-0.188313" y="0.273497"/>
        <Position id="pos34" x="-0.16699" y="0.197814"/>
        <Position id="pos35" x="-0.16699" y="0.197814"/>
        <Position id="pos36" x="-0.16699" y="0.197814"/>
        <Position id="pos37" x="0.207534" y="0.194382"/>
      </Positions>
      <Scalars>
        <Scalar id="scalar1" value="-0.398366"/>
        <Scalar id="scalar2" value="0"/>
        <Scalar id="scalar3" value="-0.418613"/>
        <Scalar id="scalar4" value="0"/>
        <Scalar id="scalar5" value="0.194382"/>
        <Scalar id="scalar6" value="0"/>
        <Scalar id="scalar7" value="-1.33848"/>
        <Scalar id="scalar8" value="-0.246712"/>
        <Scalar id="scalar9" value="0.128586"/>
        <Scalar id="scalar10" value="0"/>
        <Scalar id="scalar11" value="0.00122617"/>
        <Scalar id="scalar12" value="-1.70089"/>
        <Scalar id="scalar13" value="-0.226151"/>
        <Scalar id="scalar14" value="0.492022"/>
        <Scalar id="scalar15" value="0.0692509"/>
        <Scalar id="scalar16" value="0"/>
        <Scalar id="scalar17" value="1.91089"/>
        <Scalar id="scalar18" value="-0.231745"/>
        <Scalar id="scalar19" value="0.204922"/>
        <Scalar id="scalar20" value="0.0968593"/>
        <Scalar id="scalar21" value="0"/>
        <Scalar id="scalar22" value="0"/>
        <Scalar id="scalar23" value="0.00130033"/>
        <Scalar id="scalar24" value="1.73953"/>
        <Scalar id="scalar25" value="-0.294799"/>
        <Scalar id="scalar26" value="0.132543"/>
        <Scalar id="scalar27" value="0.290044"/>
        <Scalar id="scalar28" value="0"/>
        <Scalar id="scalar29" value="0.273497"/>
        <Scalar id="scalar30" value="0"/>
        <Scalar id="scalar31" value="-0.102961"/>
        <Scalar id="scalar32" value="-0.252694"/>
        <Scalar id="scalar33" value="0.160996"/>
        <Scalar id="scalar34" value="-0.136639"/>
        <Scalar id="scalar35" value="-0.0578031"/>
        <Scalar id="scalar36" value="0.148642"/>
        <Scalar id="scalar37" value="0"/>
        <Scalar id="scalar38" value="4.18829e-006"/>
        <Scalar id="scalar39" value="0.146767"/>
        <Scalar id="scalar40" value="-0.0952155"/>
        <Scalar id="scalar41" value="0.213981"/>
        <Scalar id="scalar42" value="0"/>
        <Scalar id="scalar43" value="4.18829e-006"/>
        <Scalar id="scalar44" value="-0.239495"/>
        <Scalar id="scalar45" value="-0.123526"/>
        <Scalar id="scalar46" value="0.162951"/>
        <Scalar id="scalar47" value="0.0766122"/>
        <Scalar id="scalar48" value="0"/>
        <Scalar id="scalar49" value="0.107905"/>
        <Scalar id="scalar50" value="0"/>
        <Scalar id="scalar51" value="-1.69978"/>
        <Scalar id="scalar52" value="-0.0643032"/>
        <Scalar id="scalar53" value="0.510512"/>
        <Scalar id="scalar54" value="1.84542"/>
        <Scalar id="scalar55" value="-0.107089"/>
        <Scalar id="scalar56" value="0.20455"/>
        <Scalar id="scalar57" value="0.197814"/>
        <Scalar id="scalar58" value="0"/>
        <Scalar id="scalar59" value="-0.0091619"/>
        <Scalar id="scalar60" value="-0.196276"/>
        <Scalar id="scalar61" value="0.374539"/>
      </Scalars>
      <Elements>
        <Bar fixed="false" id="sBar28">
          <Point fixed="false" id="sBar28.pt1" posRef="pos4"/>
          <Point fixed="false" id="sBar28.pt2" posRef="pos5"/>
          <Line fixed="false" id="sBar28.axis">
            <Param fixed="false" id="sBar28.axis.dir" scalarRef="scalar7"/>
            <Param fixed="false" id="sBar28.axis.offs" scalarRef="scalar8"/>
          </Line>
          <Param fixed="true" id="sBar28.length" scalarRef="scalar9"/>
        </Bar>
        <Bar fixed="false" id="sBar29">
          <Point fixed="false" id="sBar29.pt1" posRef="pos7"/>
          <Point fixed="false" id="sBar29.pt2" posRef="pos8"/>
          <Line fixed="false" id="sBar29.axis">
            <Param fixed="false" id="sBar29.axis.dir" scalarRef="scalar12"/>
            <Param fixed="false" id="sBar29.axis.offs" scalarRef="scalar13"/>
          </Line>
          <Param fixed="true" id="sBar29.length" scalarRef="scalar14"/>
        </Bar>
        <Bar fixed="false" id="sBar30">
          <Point fixed="false" id="sBar30.pt1" posRef="pos10"/>
          <Point fixed="false" id="sBar30.pt2" posRef="pos11"/>
          <Line fixed="false" id="sBar30.axis">
            <Param fixed="false" id="sBar30.axis.dir" scalarRef="scalar17"/>
            <Param fixed="false" id="sBar30.axis.offs" scalarRef="scalar18"/>
          </Line>
          <Param fixed="true" id="sBar30.length" scalarRef="scalar19"/>
        </Bar>
        <Bar fixed="false" id="sBar31">
          <Point fixed="false" id="sBar31.pt1" posRef="pos14"/>
          <Point fixed="false" id="sBar31.pt2" posRef="pos15"/>
          <Line fixed="false" id="sBar31.axis">
            <Param fixed="false" id="sBar31.axis.dir" scalarRef="scalar24"/>
            <Param fixed="false" id="sBar31.axis.offs" scalarRef="scalar25"/>
          </Line>
          <Param fixed="true" id="sBar31.length" scalarRef="scalar26"/>
        </Bar>
        <Bar fixed="false" id="sBar32">
          <Point fixed="false" id="sBar32.pt1" posRef="pos18"/>
          <Point fixed="false" id="sBar32.pt2" posRef="pos19"/>
          <Line fixed="false" id="sBar32.axis">
            <Param fixed="false" id="sBar32.axis.dir" scalarRef="scalar31"/>
            <Param fixed="false" id="sBar32.axis.offs" scalarRef="scalar32"/>
          </Line>
          <Param fixed="true" id="sBar32.length" scalarRef="scalar33"/>
        </Bar>
        <Bar fixed="false" id="sBar33">
          <Point fixed="false" id="sBar33.pt1" posRef="pos20"/>
          <Point fixed="false" id="sBar33.pt2" posRef="pos21"/>
          <Line fixed="false" id="sBar33.axis">
            <Param fixed="false" id="sBar33.axis.dir" scalarRef="scalar34"/>
            <Param fixed="false" id="sBar33.axis.offs" scalarRef="scalar35"/>
          </Line>
          <Param fixed="true" id="sBar33.length" scalarRef="scalar36"/>
        </Bar>
        <Bar fixed="false" id="sBar34">
          <Point fixed="false" id="sBar34.pt1" posRef="pos23"/>
          <Point fixed="false" id="sBar34.pt2" posRef="pos24"/>
          <Line fixed="false" id="sBar34.axis">
            <Param fixed="false" id="sBar34.axis.dir" scalarRef="scalar39"/>
            <Param fixed="false" id="sBar34.axis.offs" scalarRef="scalar40"/>
          </Line>
          <Param fixed="true" id="sBar34.length" scalarRef="scalar41"/>
        </Bar>
        <Bar fixed="false" id="sBar35">
          <Point fixed="false" id="sBar35.pt1" posRef="pos26"/>
          <Point fixed="false" id="sBar35.pt2" posRef="pos27"/>
          <Line fixed="false" id="sBar35.axis">
            <Param fixed="false" id="sBar35.axis.dir" scalarRef="scalar44"/>
            <Param fixed="false" id="sBar35.axis.offs" scalarRef="scalar45"/>
          </Line>
          <Param fixed="true" id="sBar35.length" scalarRef="scalar46"/>
        </Bar>
        <Bar fixed="false" id="sBar36">
          <Point fixed="false" id="sBar36.pt1" posRef="pos30"/>
          <Point fixed="false" id="sBar36.pt2" posRef="pos31"/>
          <Line fixed="false" id="sBar36.axis">
            <Param fixed="false" id="sBar36.axis.dir" scalarRef="scalar51"/>
            <Param fixed="false" id="sBar36.axis.offs" scalarRef="scalar52"/>
          </Line>
          <Param fixed="true" id="sBar36.length" scalarRef="scalar53"/>
        </Bar>
        <Bar fixed="false" id="sBar37">
          <Point fixed="false" id="sBar37.pt1" posRef="pos32"/>
          <Point fixed="false" id="sBar37.pt2" posRef="pos33"/>
          <Point fixed="false" id="sBar37.pt3" posRef="pos34"/>
          <Line fixed="false" id="sBar37.axis">
            <Param fixed="false" id="sBar37.axis.dir" scalarRef="scalar54"/>
            <Param fixed="false" id="sBar37.axis.offs" scalarRef="scalar55"/>
          </Line>
          <Param fixed="true" id="sBar37.length" scalarRef="scalar56"/>
        </Bar>
        <Bar fixed="false" id="sBar38">
          <Point fixed="false" id="sBar38.pt1" posRef="pos36"/>
          <Point fixed="false" id="sBar38.pt2" posRef="pos37"/>
          <Line fixed="false" id="sBar38.axis">
            <Param fixed="false" id="sBar38.axis.dir" scalarRef="scalar59"/>
            <Param fixed="false" id="sBar38.axis.offs" scalarRef="scalar60"/>
          </Line>
          <Param fixed="true" id="sBar38.length" scalarRef="scalar61"/>
        </Bar>
      </Elements>
      <Couplings>
        <SwivelJoint fixed="true" id="swj24">
          <Point fixed="true" id="swj24.pt" posRef="pos1"/>
          <Line fixed="false" id="swj24.line">
            <Param fixed="false" id="swj24.line.dir" scalarRef="scalar2"/>
            <Param fixed="false" id="swj24.line.offs" scalarRef="scalar1"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj25">
          <Point fixed="true" id="swj25.pt" posRef="pos2"/>
          <Line fixed="false" id="swj25.line">
            <Param fixed="false" id="swj25.line.dir" scalarRef="scalar4"/>
            <Param fixed="false" id="swj25.line.offs" scalarRef="scalar3"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj26">
          <Point fixed="false" id="swj26.pt" posRef="pos3"/>
          <Line fixed="false" id="swj26.line">
            <Param fixed="false" id="swj26.line.dir" scalarRef="scalar6"/>
            <Param fixed="false" id="swj26.line.offs" scalarRef="scalar5"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj27">
          <Point fixed="false" id="swj27.pt" posRef="pos9"/>
          <Line fixed="false" id="swj27.line">
            <Param fixed="false" id="swj27.line.dir" scalarRef="scalar16"/>
            <Param fixed="false" id="swj27.line.offs" scalarRef="scalar15"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj28">
          <Point fixed="false" id="swj28.pt" posRef="pos12"/>
          <Line fixed="false" id="swj28.line">
            <Param fixed="false" id="swj28.line.dir" scalarRef="scalar21"/>
            <Param fixed="false" id="swj28.line.offs" scalarRef="scalar20"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj29">
          <Point fixed="false" id="swj29.pt" posRef="pos16"/>
          <Line fixed="false" id="swj29.line">
            <Param fixed="false" id="swj29.line.dir" scalarRef="scalar28"/>
            <Param fixed="false" id="swj29.line.offs" scalarRef="scalar27"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj30">
          <Point fixed="false" id="swj30.pt" posRef="pos17"/>
          <Line fixed="false" id="swj30.line">
            <Param fixed="false" id="swj30.line.dir" scalarRef="scalar30"/>
            <Param fixed="false" id="swj30.line.offs" scalarRef="scalar29"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj31">
          <Point fixed="false" id="swj31.pt" posRef="pos28"/>
          <Line fixed="false" id="swj31.line">
            <Param fixed="false" id="swj31.line.dir" scalarRef="scalar48"/>
            <Param fixed="false" id="swj31.line.offs" scalarRef="scalar47"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj32">
          <Point fixed="false" id="swj32.pt" posRef="pos29"/>
          <Line fixed="false" id="swj32.line">
            <Param fixed="false" id="swj32.line.dir" scalarRef="scalar50"/>
            <Param fixed="false" id="swj32.line.offs" scalarRef="scalar49"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj33">
          <Point fixed="false" id="swj33.pt" posRef="pos35"/>
          <Line fixed="false" id="swj33.line">
            <Param fixed="false" id="swj33.line.dir" scalarRef="scalar58"/>
            <Param fixed="false" id="swj33.line.offs" scalarRef="scalar57"/>
          </Line>
        </SwivelJoint>
        <RigidJoint fixed="false" id="rgj3">
          <Point fixed="false" id="rgj3.pt" posRef="pos6"/>
          <Line fixed="false" id="rgj3.axis">
            <Param fixed="false" id="rgj3.axis.dir" scalarRef="scalar11"/>
            <Param fixed="false" id="rgj3.axis.offs" scalarRef="scalar10"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj4">
          <Point fixed="false" id="rgj4.pt" posRef="pos13"/>
          <Line fixed="false" id="rgj4.axis">
            <Param fixed="false" id="rgj4.axis.dir" scalarRef="scalar23"/>
            <Param fixed="false" id="rgj4.axis.offs" scalarRef="scalar22"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj5">
          <Point fixed="false" id="rgj5.pt" posRef="pos22"/>
          <Line fixed="false" id="rgj5.axis">
            <Param fixed="false" id="rgj5.axis.dir" scalarRef="scalar38"/>
            <Param fixed="false" id="rgj5.axis.offs" scalarRef="scalar37"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj6">
          <Point fixed="false" id="rgj6.pt" posRef="pos25"/>
          <Line fixed="false" id="rgj6.axis">
            <Param fixed="false" id="rgj6.axis.dir" scalarRef="scalar43"/>
            <Param fixed="false" id="rgj6.axis.offs" scalarRef="scalar42"/>
          </Line>
        </RigidJoint>
      </Couplings>
      <Connections>
        <PointConnection couplingPointRef="rgj3.pt" elementPointRef="sBar29.pt1" id="pointcon1"/>
        <PointConnection couplingPointRef="rgj3.pt" elementPointRef="sBar28.pt2" id="pointcon2"/>
        <PointConnection couplingPointRef="rgj4.pt" elementPointRef="sBar31.pt1" id="pointcon3"/>
        <PointConnection couplingPointRef="rgj4.pt" elementPointRef="sBar30.pt2" id="pointcon4"/>
        <PointConnection couplingPointRef="rgj5.pt" elementPointRef="sBar34.pt1" id="pointcon5"/>
        <PointConnection couplingPointRef="rgj5.pt" elementPointRef="sBar33.pt2" id="pointcon6"/>
        <PointConnection couplingPointRef="rgj6.pt" elementPointRef="sBar35.pt1" id="pointcon7"/>
        <PointConnection couplingPointRef="rgj6.pt" elementPointRef="sBar34.pt2" id="pointcon8"/>
        <PointConnection couplingPointRef="swj24.pt" elementPointRef="sBar36.pt2" id="pointcon9"/>
        <PointConnection couplingPointRef="swj25.pt" elementPointRef="sBar29.pt2" id="pointcon10"/>
        <PointConnection couplingPointRef="swj26.pt" elementPointRef="sBar38.pt2" id="pointcon11"/>
        <PointConnection couplingPointRef="swj26.pt" elementPointRef="sBar28.pt1" id="pointcon12"/>
        <PointConnection couplingPointRef="swj27.pt" elementPointRef="sBar35.pt2" id="pointcon13"/>
        <PointConnection couplingPointRef="swj28.pt" elementPointRef="sBar33.pt1" id="pointcon14"/>
        <PointConnection couplingPointRef="swj28.pt" elementPointRef="sBar30.pt1" id="pointcon15"/>
        <PointConnection couplingPointRef="swj29.pt" elementPointRef="sBar32.pt1" id="pointcon16"/>
        <PointConnection couplingPointRef="swj30.pt" elementPointRef="sBar37.pt2" id="pointcon17"/>
        <PointConnection couplingPointRef="swj30.pt" elementPointRef="sBar32.pt2" id="pointcon18"/>
        <PointConnection couplingPointRef="swj31.pt" elementPointRef="sBar37.pt1" id="pointcon19"/>
        <PointConnection couplingPointRef="swj32.pt" elementPointRef="sBar36.pt1" id="pointcon20"/>
        <PointConnection couplingPointRef="swj33.pt" elementPointRef="sBar38.pt1" id="pointcon21"/>
        <PointConnection couplingPointRef="swj33.pt" elementPointRef="sBar37.pt3" id="pointcon22"/>
        <CouplingConnection coupling1Ref="swj27" coupling2Ref="rgj3" id="couplingcon23" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj29" coupling2Ref="rgj4" id="couplingcon24" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj31" coupling2Ref="rgj5" id="couplingcon25" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj32" coupling2Ref="rgj6" id="couplingcon26" role="SwivelingRigidJoint"/>
      </Connections>
    </ComponentSpace>
  </ComponentSpaces>

</Mechanism>
