<?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="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="SwivelJoint.2D.normal" scale="0.02">
      <Circle cx="0" cy="0" filled="false" id="SwivelJoint.2D.normal..circle" radius="1"/>
    </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="-0.597941" y="-0.265835"/>
        <Position id="pos2" x="-0.14697" y="-0.00629641"/>
        <Position id="pos3" x="-0.597941" y="-0.265835"/>
        <Position id="pos4" x="-0.698012" y="0.0180472"/>
        <Position id="pos5" x="-0.698012" y="0.0180472"/>
        <Position id="pos6" x="0.0145715" y="-0.402227"/>
        <Position id="pos7" x="0.443993" y="-0.326053"/>
        <Position id="pos8" x="0.443993" y="-0.326053"/>
        <Position id="pos9" x="-0.698012" y="0.0180472"/>
        <Position id="pos10" x="-0.14697" y="-0.00629641"/>
        <Position id="pos11" x="0.0145715" y="-0.402227"/>
        <Position id="pos12" x="0.0145715" y="-0.402227"/>
        <Position id="pos13" x="0.164683" y="0.00905891"/>
        <Position id="pos14" x="0.164683" y="0.00905891"/>
        <Position id="pos15" x="0.164683" y="0.00905891"/>
        <Position id="pos16" x="0.443993" y="-0.326053"/>
        <Position id="pos17" x="0.164683" y="0.00905891"/>
        <Position id="pos18" x="0.164683" y="0.00905891"/>
        <Position id="pos19" x="0.287435" y="0.256924"/>
        <Position id="pos20" x="0.287435" y="0.256924"/>
      </Positions>
      <Scalars>
        <Scalar id="scalar1" value="-0.265835"/>
        <Scalar id="scalar2" value="0"/>
        <Scalar id="scalar3" value="-0.00629641"/>
        <Scalar id="scalar4" value="0"/>
        <Scalar id="scalar5" value="1.9097"/>
        <Scalar id="scalar6" value="-0.652308"/>
        <Scalar id="scalar7" value="0.301004"/>
        <Scalar id="scalar8" value="0.0180472"/>
        <Scalar id="scalar9" value="0"/>
        <Scalar id="scalar10" value="-0.402227"/>
        <Scalar id="scalar11" value="0"/>
        <Scalar id="scalar12" value="-0.326053"/>
        <Scalar id="scalar13" value="0"/>
        <Scalar id="scalar14" value="2.84893"/>
        <Scalar id="scalar15" value="-0.184097"/>
        <Scalar id="scalar16" value="1.19272"/>
        <Scalar id="scalar17" value="-1.18341"/>
        <Scalar id="scalar18" value="0.138458"/>
        <Scalar id="scalar19" value="0.427617"/>
        <Scalar id="scalar20" value="1.22084"/>
        <Scalar id="scalar21" value="0.151595"/>
        <Scalar id="scalar22" value="0.437824"/>
        <Scalar id="scalar23" value="0"/>
        <Scalar id="scalar24" value="-0.00693472"/>
        <Scalar id="scalar25" value="-0.87597"/>
        <Scalar id="scalar26" value="-0.132304"/>
        <Scalar id="scalar27" value="0.43625"/>
        <Scalar id="scalar28" value="0.00905891"/>
        <Scalar id="scalar29" value="0"/>
        <Scalar id="scalar30" value="1.11097"/>
        <Scalar id="scalar31" value="0.143557"/>
        <Scalar id="scalar32" value="0.276595"/>
        <Scalar id="scalar33" value="0.256924"/>
        <Scalar id="scalar34" value="0"/>
      </Scalars>
      <Elements>
        <Bar fixed="false" id="sBar100">
          <Point fixed="false" id="sBar100.pt1" posRef="pos3"/>
          <Point fixed="false" id="sBar100.pt2" posRef="pos4"/>
          <Line fixed="false" id="sBar100.axis">
            <Param fixed="false" id="sBar100.axis.dir" scalarRef="scalar5"/>
            <Param fixed="false" id="sBar100.axis.offs" scalarRef="scalar6"/>
          </Line>
          <Param fixed="true" id="sBar100.length" scalarRef="scalar7"/>
        </Bar>
        <Bar fixed="false" id="sBar102">
          <Point fixed="false" id="sBar102.pt1" posRef="pos8"/>
          <Point fixed="false" id="sBar102.pt2" posRef="pos9"/>
          <Line fixed="false" id="sBar102.axis">
            <Param fixed="false" id="sBar102.axis.dir" scalarRef="scalar14"/>
            <Param fixed="false" id="sBar102.axis.offs" scalarRef="scalar15"/>
          </Line>
          <Param fixed="true" id="sBar102.length" scalarRef="scalar16"/>
        </Bar>
        <Bar fixed="false" id="sBar103">
          <Point fixed="false" id="sBar103.pt1" posRef="pos10"/>
          <Point fixed="false" id="sBar103.pt2" posRef="pos11"/>
          <Line fixed="false" id="sBar103.axis">
            <Param fixed="false" id="sBar103.axis.dir" scalarRef="scalar17"/>
            <Param fixed="false" id="sBar103.axis.offs" scalarRef="scalar18"/>
          </Line>
          <Param fixed="true" id="sBar103.length" scalarRef="scalar19"/>
        </Bar>
        <Bar fixed="false" id="sBar104">
          <Point fixed="false" id="sBar104.pt1" posRef="pos12"/>
          <Point fixed="false" id="sBar104.pt2" posRef="pos13"/>
          <Line fixed="false" id="sBar104.axis">
            <Param fixed="false" id="sBar104.axis.dir" scalarRef="scalar20"/>
            <Param fixed="false" id="sBar104.axis.offs" scalarRef="scalar21"/>
          </Line>
          <Param fixed="true" id="sBar104.length" scalarRef="scalar22"/>
        </Bar>
        <Bar fixed="false" id="sBar105">
          <Point fixed="false" id="sBar105.pt1" posRef="pos15"/>
          <Point fixed="false" id="sBar105.pt2" posRef="pos16"/>
          <Line fixed="false" id="sBar105.axis">
            <Param fixed="false" id="sBar105.axis.dir" scalarRef="scalar25"/>
            <Param fixed="false" id="sBar105.axis.offs" scalarRef="scalar26"/>
          </Line>
          <Param fixed="true" id="sBar105.length" scalarRef="scalar27"/>
        </Bar>
        <Bar fixed="false" id="sBar106">
          <Point fixed="false" id="sBar106.pt1" posRef="pos18"/>
          <Point fixed="false" id="sBar106.pt2" posRef="pos19"/>
          <Line fixed="false" id="sBar106.axis">
            <Param fixed="false" id="sBar106.axis.dir" scalarRef="scalar30"/>
            <Param fixed="false" id="sBar106.axis.offs" scalarRef="scalar31"/>
          </Line>
          <Param fixed="true" id="sBar106.length" scalarRef="scalar32"/>
        </Bar>
      </Elements>
      <Couplings>
        <SwivelJoint fixed="true" id="swj71">
          <Point fixed="true" id="swj71.pt" posRef="pos1"/>
          <Line fixed="false" id="swj71.line">
            <Param fixed="false" id="swj71.line.dir" scalarRef="scalar2"/>
            <Param fixed="false" id="swj71.line.offs" scalarRef="scalar1"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj72">
          <Point fixed="true" id="swj72.pt" posRef="pos2"/>
          <Line fixed="false" id="swj72.line">
            <Param fixed="false" id="swj72.line.dir" scalarRef="scalar4"/>
            <Param fixed="false" id="swj72.line.offs" scalarRef="scalar3"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj73">
          <Point fixed="false" id="swj73.pt" posRef="pos5"/>
          <Line fixed="false" id="swj73.line">
            <Param fixed="false" id="swj73.line.dir" scalarRef="scalar9"/>
            <Param fixed="false" id="swj73.line.offs" scalarRef="scalar8"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj74">
          <Point fixed="false" id="swj74.pt" posRef="pos6"/>
          <Line fixed="false" id="swj74.line">
            <Param fixed="false" id="swj74.line.dir" scalarRef="scalar11"/>
            <Param fixed="false" id="swj74.line.offs" scalarRef="scalar10"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj75">
          <Point fixed="false" id="swj75.pt" posRef="pos7"/>
          <Line fixed="false" id="swj75.line">
            <Param fixed="false" id="swj75.line.dir" scalarRef="scalar13"/>
            <Param fixed="false" id="swj75.line.offs" scalarRef="scalar12"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj76">
          <Point fixed="false" id="swj76.pt" posRef="pos17"/>
          <Line fixed="false" id="swj76.line">
            <Param fixed="false" id="swj76.line.dir" scalarRef="scalar29"/>
            <Param fixed="false" id="swj76.line.offs" scalarRef="scalar28"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj77">
          <Point fixed="true" id="swj77.pt" posRef="pos20"/>
          <Line fixed="false" id="swj77.line">
            <Param fixed="false" id="swj77.line.dir" scalarRef="scalar34"/>
            <Param fixed="false" id="swj77.line.offs" scalarRef="scalar33"/>
          </Line>
        </SwivelJoint>
        <RigidJoint fixed="false" id="rgj32">
          <Point fixed="false" id="rgj32.pt" posRef="pos14"/>
          <Line fixed="false" id="rgj32.axis">
            <Param fixed="false" id="rgj32.axis.dir" scalarRef="scalar24"/>
            <Param fixed="false" id="rgj32.axis.offs" scalarRef="scalar23"/>
          </Line>
        </RigidJoint>
      </Couplings>
      <Connections>
        <PointConnection couplingPointRef="rgj32.pt" elementPointRef="sBar105.pt1" id="pointcon1"/>
        <PointConnection couplingPointRef="rgj32.pt" elementPointRef="sBar104.pt2" id="pointcon2"/>
        <PointConnection couplingPointRef="swj71.pt" elementPointRef="sBar100.pt1" id="pointcon3"/>
        <PointConnection couplingPointRef="swj72.pt" elementPointRef="sBar103.pt1" id="pointcon4"/>
        <PointConnection couplingPointRef="swj73.pt" elementPointRef="sBar102.pt2" id="pointcon5"/>
        <PointConnection couplingPointRef="swj73.pt" elementPointRef="sBar100.pt2" id="pointcon6"/>
        <PointConnection couplingPointRef="swj74.pt" elementPointRef="sBar104.pt1" id="pointcon7"/>
        <PointConnection couplingPointRef="swj74.pt" elementPointRef="sBar103.pt2" id="pointcon8"/>
        <PointConnection couplingPointRef="swj75.pt" elementPointRef="sBar105.pt2" id="pointcon9"/>
        <PointConnection couplingPointRef="swj75.pt" elementPointRef="sBar102.pt1" id="pointcon10"/>
        <PointConnection couplingPointRef="swj76.pt" elementPointRef="sBar106.pt1" id="pointcon11"/>
        <PointConnection couplingPointRef="swj77.pt" elementPointRef="sBar106.pt2" id="pointcon12"/>
        <CouplingConnection coupling1Ref="swj76" coupling2Ref="rgj32" id="couplingcon13" role="SwivelingRigidJoint"/>
      </Connections>
    </ComponentSpace>
  </ComponentSpaces>

</Mechanism>
