<?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="-0.269351" y="0.0291062"/>
        <Position id="pos2" x="-0.0196346" y="0.0525557"/>
        <Position id="pos3" x="-0.0762837" y="0.366804"/>
        <Position id="pos4" x="-0.0762837" y="0.366804"/>
        <Position id="pos5" x="-0.156518" y="0.064251"/>
        <Position id="pos6" x="-0.156518" y="0.064251"/>
        <Position id="pos7" x="-0.0196346" y="0.0525557"/>
        <Position id="pos8" x="-0.156518" y="0.064251"/>
        <Position id="pos9" x="-0.156518" y="0.064251"/>
        <Position id="pos10" x="-0.269351" y="0.0291062"/>
        <Position id="pos11" x="-0.156518" y="0.064251"/>
        <Position id="pos12" x="-0.0762837" y="0.366804"/>
        <Position id="pos13" x="0.0827989" y="0.37186"/>
        <Position id="pos14" x="0.0827989" y="0.37186"/>
        <Position id="pos15" x="0.0827989" y="0.37186"/>
        <Position id="pos16" x="0.191288" y="0.110112"/>
        <Position id="pos17" x="0.191288" y="0.110112"/>
        <Position id="pos18" x="0.0827989" y="0.37186"/>
        <Position id="pos19" x="0.0827989" y="0.37186"/>
        <Position id="pos20" x="0.372449" y="0.15636"/>
        <Position id="pos21" x="0.372449" y="0.15636"/>
        <Position id="pos22" x="-0.0196346" y="0.0525557"/>
        <Position id="pos23" x="-0.0937896" y="-0.249112"/>
        <Position id="pos24" x="-0.0937896" y="-0.249112"/>
        <Position id="pos25" x="0.0684029" y="-0.136205"/>
        <Position id="pos26" x="-0.0937896" y="-0.249112"/>
        <Position id="pos27" x="0.279775" y="-0.217102"/>
        <Position id="pos28" x="0.279775" y="-0.217102"/>
        <Position id="pos29" x="0.279775" y="-0.217102"/>
        <Position id="pos30" x="0.0684029" y="-0.136205"/>
        <Position id="pos31" x="0.0684029" y="-0.136205"/>
        <Position id="pos32" x="0.191288" y="0.110112"/>
        <Position id="pos33" x="0.279775" y="-0.217102"/>
      </Positions>
      <Scalars>
        <Scalar id="scalar1" value="0.0291062"/>
        <Scalar id="scalar2" value="0"/>
        <Scalar id="scalar3" value="0.0525557"/>
        <Scalar id="scalar4" value="0"/>
        <Scalar id="scalar5" value="0.366804"/>
        <Scalar id="scalar6" value="0"/>
        <Scalar id="scalar7" value="-1.83002"/>
        <Scalar id="scalar8" value="0.167758"/>
        <Scalar id="scalar9" value="0.313011"/>
        <Scalar id="scalar10" value="0"/>
        <Scalar id="scalar11" value="-0.00459973"/>
        <Scalar id="scalar12" value="3.05636"/>
        <Scalar id="scalar13" value="0.0506934"/>
        <Scalar id="scalar14" value="0.137382"/>
        <Scalar id="scalar15" value="0.064251"/>
        <Scalar id="scalar16" value="0"/>
        <Scalar id="scalar17" value="0.301951"/>
        <Scalar id="scalar18" value="-0.10789"/>
        <Scalar id="scalar19" value="0.11818"/>
        <Scalar id="scalar20" value="0.0317767"/>
        <Scalar id="scalar21" value="-0.369042"/>
        <Scalar id="scalar22" value="0.159163"/>
        <Scalar id="scalar23" value="0"/>
        <Scalar id="scalar24" value="-0.00299189"/>
        <Scalar id="scalar25" value="-1.17787"/>
        <Scalar id="scalar26" value="-0.218872"/>
        <Scalar id="scalar27" value="0.283341"/>
        <Scalar id="scalar28" value="0.110112"/>
        <Scalar id="scalar29" value="0"/>
        <Scalar id="scalar30" value="0.37186"/>
        <Scalar id="scalar31" value="0"/>
        <Scalar id="scalar32" value="-0.639653"/>
        <Scalar id="scalar33" value="-0.347769"/>
        <Scalar id="scalar34" value="0.361023"/>
        <Scalar id="scalar35" value="0.15636"/>
        <Scalar id="scalar36" value="0"/>
        <Scalar id="scalar37" value="-1.81183"/>
        <Scalar id="scalar38" value="0.0316126"/>
        <Scalar id="scalar39" value="0.310648"/>
        <Scalar id="scalar40" value="-0.249112"/>
        <Scalar id="scalar41" value="0"/>
        <Scalar id="scalar42" value="-0.136205"/>
        <Scalar id="scalar43" value="0"/>
        <Scalar id="scalar44" value="0.085481"/>
        <Scalar id="scalar45" value="0.240195"/>
        <Scalar id="scalar46" value="0.374934"/>
        <Scalar id="scalar47" value="0"/>
        <Scalar id="scalar48" value="-0.00317486"/>
        <Scalar id="scalar49" value="2.77607"/>
        <Scalar id="scalar50" value="-0.102757"/>
        <Scalar id="scalar51" value="0.226324"/>
        <Scalar id="scalar52" value="1.10804"/>
        <Scalar id="scalar53" value="0.122013"/>
        <Scalar id="scalar54" value="0.275269"/>
        <Scalar id="scalar55" value="-0.217102"/>
        <Scalar id="scalar56" value="0"/>
      </Scalars>
      <Elements>
        <Bar fixed="false" id="sBar218">
          <Point fixed="false" id="sBar218.pt1" posRef="pos4"/>
          <Point fixed="false" id="sBar218.pt2" posRef="pos5"/>
          <Line fixed="false" id="sBar218.axis">
            <Param fixed="false" id="sBar218.axis.dir" scalarRef="scalar7"/>
            <Param fixed="false" id="sBar218.axis.offs" scalarRef="scalar8"/>
          </Line>
          <Param fixed="true" id="sBar218.length" scalarRef="scalar9"/>
        </Bar>
        <Bar fixed="false" id="sBar219">
          <Point fixed="false" id="sBar219.pt1" posRef="pos7"/>
          <Point fixed="false" id="sBar219.pt2" posRef="pos8"/>
          <Line fixed="false" id="sBar219.axis">
            <Param fixed="false" id="sBar219.axis.dir" scalarRef="scalar12"/>
            <Param fixed="false" id="sBar219.axis.offs" scalarRef="scalar13"/>
          </Line>
          <Param fixed="true" id="sBar219.length" scalarRef="scalar14"/>
        </Bar>
        <Bar fixed="false" id="sBar220">
          <Point fixed="false" id="sBar220.pt1" posRef="pos10"/>
          <Point fixed="false" id="sBar220.pt2" posRef="pos11"/>
          <Line fixed="false" id="sBar220.axis">
            <Param fixed="false" id="sBar220.axis.dir" scalarRef="scalar17"/>
            <Param fixed="false" id="sBar220.axis.offs" scalarRef="scalar18"/>
          </Line>
          <Param fixed="true" id="sBar220.length" scalarRef="scalar19"/>
        </Bar>
        <Bar fixed="false" id="sBar221">
          <Point fixed="false" id="sBar221.pt1" posRef="pos12"/>
          <Point fixed="false" id="sBar221.pt2" posRef="pos13"/>
          <Line fixed="false" id="sBar221.axis">
            <Param fixed="false" id="sBar221.axis.dir" scalarRef="scalar20"/>
            <Param fixed="false" id="sBar221.axis.offs" scalarRef="scalar21"/>
          </Line>
          <Param fixed="true" id="sBar221.length" scalarRef="scalar22"/>
        </Bar>
        <Bar fixed="false" id="sBar222">
          <Point fixed="false" id="sBar222.pt1" posRef="pos15"/>
          <Point fixed="false" id="sBar222.pt2" posRef="pos16"/>
          <Line fixed="false" id="sBar222.axis">
            <Param fixed="false" id="sBar222.axis.dir" scalarRef="scalar25"/>
            <Param fixed="false" id="sBar222.axis.offs" scalarRef="scalar26"/>
          </Line>
          <Param fixed="true" id="sBar222.length" scalarRef="scalar27"/>
        </Bar>
        <Bar fixed="false" id="sBar223">
          <Point fixed="false" id="sBar223.pt1" posRef="pos19"/>
          <Point fixed="false" id="sBar223.pt2" posRef="pos20"/>
          <Line fixed="false" id="sBar223.axis">
            <Param fixed="false" id="sBar223.axis.dir" scalarRef="scalar32"/>
            <Param fixed="false" id="sBar223.axis.offs" scalarRef="scalar33"/>
          </Line>
          <Param fixed="true" id="sBar223.length" scalarRef="scalar34"/>
        </Bar>
        <Bar fixed="false" id="sBar224">
          <Point fixed="false" id="sBar224.pt1" posRef="pos22"/>
          <Point fixed="false" id="sBar224.pt2" posRef="pos23"/>
          <Line fixed="false" id="sBar224.axis">
            <Param fixed="false" id="sBar224.axis.dir" scalarRef="scalar37"/>
            <Param fixed="false" id="sBar224.axis.offs" scalarRef="scalar38"/>
          </Line>
          <Param fixed="true" id="sBar224.length" scalarRef="scalar39"/>
        </Bar>
        <Bar fixed="false" id="sBar225">
          <Point fixed="false" id="sBar225.pt1" posRef="pos26"/>
          <Point fixed="false" id="sBar225.pt2" posRef="pos27"/>
          <Line fixed="false" id="sBar225.axis">
            <Param fixed="false" id="sBar225.axis.dir" scalarRef="scalar44"/>
            <Param fixed="false" id="sBar225.axis.offs" scalarRef="scalar45"/>
          </Line>
          <Param fixed="true" id="sBar225.length" scalarRef="scalar46"/>
        </Bar>
        <Bar fixed="false" id="sBar226">
          <Point fixed="false" id="sBar226.pt1" posRef="pos29"/>
          <Point fixed="false" id="sBar226.pt2" posRef="pos30"/>
          <Line fixed="false" id="sBar226.axis">
            <Param fixed="false" id="sBar226.axis.dir" scalarRef="scalar49"/>
            <Param fixed="false" id="sBar226.axis.offs" scalarRef="scalar50"/>
          </Line>
          <Param fixed="true" id="sBar226.length" scalarRef="scalar51"/>
        </Bar>
        <Bar fixed="false" id="sBar227">
          <Point fixed="false" id="sBar227.pt1" posRef="pos31"/>
          <Point fixed="false" id="sBar227.pt2" posRef="pos32"/>
          <Line fixed="false" id="sBar227.axis">
            <Param fixed="false" id="sBar227.axis.dir" scalarRef="scalar52"/>
            <Param fixed="false" id="sBar227.axis.offs" scalarRef="scalar53"/>
          </Line>
          <Param fixed="true" id="sBar227.length" scalarRef="scalar54"/>
        </Bar>
      </Elements>
      <Couplings>
        <SwivelJoint fixed="true" id="swj200">
          <Point fixed="true" id="swj200.pt" posRef="pos1"/>
          <Line fixed="false" id="swj200.line">
            <Param fixed="false" id="swj200.line.dir" scalarRef="scalar2"/>
            <Param fixed="false" id="swj200.line.offs" scalarRef="scalar1"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj201">
          <Point fixed="false" id="swj201.pt" posRef="pos2"/>
          <Line fixed="false" id="swj201.line">
            <Param fixed="false" id="swj201.line.dir" scalarRef="scalar4"/>
            <Param fixed="false" id="swj201.line.offs" scalarRef="scalar3"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj202">
          <Point fixed="false" id="swj202.pt" posRef="pos3"/>
          <Line fixed="false" id="swj202.line">
            <Param fixed="false" id="swj202.line.dir" scalarRef="scalar6"/>
            <Param fixed="false" id="swj202.line.offs" scalarRef="scalar5"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj203">
          <Point fixed="false" id="swj203.pt" posRef="pos9"/>
          <Line fixed="false" id="swj203.line">
            <Param fixed="false" id="swj203.line.dir" scalarRef="scalar16"/>
            <Param fixed="false" id="swj203.line.offs" scalarRef="scalar15"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj204">
          <Point fixed="false" id="swj204.pt" posRef="pos17"/>
          <Line fixed="false" id="swj204.line">
            <Param fixed="false" id="swj204.line.dir" scalarRef="scalar29"/>
            <Param fixed="false" id="swj204.line.offs" scalarRef="scalar28"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj205">
          <Point fixed="false" id="swj205.pt" posRef="pos18"/>
          <Line fixed="false" id="swj205.line">
            <Param fixed="false" id="swj205.line.dir" scalarRef="scalar31"/>
            <Param fixed="false" id="swj205.line.offs" scalarRef="scalar30"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj206">
          <Point fixed="true" id="swj206.pt" posRef="pos21"/>
          <Line fixed="false" id="swj206.line">
            <Param fixed="false" id="swj206.line.dir" scalarRef="scalar36"/>
            <Param fixed="false" id="swj206.line.offs" scalarRef="scalar35"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj207">
          <Point fixed="false" id="swj207.pt" posRef="pos24"/>
          <Line fixed="false" id="swj207.line">
            <Param fixed="false" id="swj207.line.dir" scalarRef="scalar41"/>
            <Param fixed="false" id="swj207.line.offs" scalarRef="scalar40"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj208">
          <Point fixed="false" id="swj208.pt" posRef="pos25"/>
          <Line fixed="false" id="swj208.line">
            <Param fixed="false" id="swj208.line.dir" scalarRef="scalar43"/>
            <Param fixed="false" id="swj208.line.offs" scalarRef="scalar42"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj209">
          <Point fixed="true" id="swj209.pt" posRef="pos33"/>
          <Line fixed="false" id="swj209.line">
            <Param fixed="false" id="swj209.line.dir" scalarRef="scalar56"/>
            <Param fixed="false" id="swj209.line.offs" scalarRef="scalar55"/>
          </Line>
        </SwivelJoint>
        <RigidJoint fixed="false" id="rgj39">
          <Point fixed="false" id="rgj39.pt" posRef="pos6"/>
          <Line fixed="false" id="rgj39.axis">
            <Param fixed="false" id="rgj39.axis.dir" scalarRef="scalar11"/>
            <Param fixed="false" id="rgj39.axis.offs" scalarRef="scalar10"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj40">
          <Point fixed="false" id="rgj40.pt" posRef="pos14"/>
          <Line fixed="false" id="rgj40.axis">
            <Param fixed="false" id="rgj40.axis.dir" scalarRef="scalar24"/>
            <Param fixed="false" id="rgj40.axis.offs" scalarRef="scalar23"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj41">
          <Point fixed="false" id="rgj41.pt" posRef="pos28"/>
          <Line fixed="false" id="rgj41.axis">
            <Param fixed="false" id="rgj41.axis.dir" scalarRef="scalar48"/>
            <Param fixed="false" id="rgj41.axis.offs" scalarRef="scalar47"/>
          </Line>
        </RigidJoint>
      </Couplings>
      <Connections>
        <PointConnection couplingPointRef="rgj39.pt" elementPointRef="sBar219.pt2" id="pointcon1"/>
        <PointConnection couplingPointRef="rgj39.pt" elementPointRef="sBar218.pt2" id="pointcon2"/>
        <PointConnection couplingPointRef="rgj40.pt" elementPointRef="sBar222.pt1" id="pointcon3"/>
        <PointConnection couplingPointRef="rgj40.pt" elementPointRef="sBar221.pt2" id="pointcon4"/>
        <PointConnection couplingPointRef="rgj41.pt" elementPointRef="sBar226.pt1" id="pointcon5"/>
        <PointConnection couplingPointRef="rgj41.pt" elementPointRef="sBar225.pt2" id="pointcon6"/>
        <PointConnection couplingPointRef="swj200.pt" elementPointRef="sBar220.pt1" id="pointcon7"/>
        <PointConnection couplingPointRef="swj201.pt" elementPointRef="sBar224.pt1" id="pointcon8"/>
        <PointConnection couplingPointRef="swj201.pt" elementPointRef="sBar219.pt1" id="pointcon9"/>
        <PointConnection couplingPointRef="swj202.pt" elementPointRef="sBar221.pt1" id="pointcon10"/>
        <PointConnection couplingPointRef="swj202.pt" elementPointRef="sBar218.pt1" id="pointcon11"/>
        <PointConnection couplingPointRef="swj203.pt" elementPointRef="sBar220.pt2" id="pointcon12"/>
        <PointConnection couplingPointRef="swj204.pt" elementPointRef="sBar227.pt2" id="pointcon13"/>
        <PointConnection couplingPointRef="swj204.pt" elementPointRef="sBar222.pt2" id="pointcon14"/>
        <PointConnection couplingPointRef="swj205.pt" elementPointRef="sBar223.pt1" id="pointcon15"/>
        <PointConnection couplingPointRef="swj206.pt" elementPointRef="sBar223.pt2" id="pointcon16"/>
        <PointConnection couplingPointRef="swj207.pt" elementPointRef="sBar225.pt1" id="pointcon17"/>
        <PointConnection couplingPointRef="swj207.pt" elementPointRef="sBar224.pt2" id="pointcon18"/>
        <PointConnection couplingPointRef="swj208.pt" elementPointRef="sBar227.pt1" id="pointcon19"/>
        <PointConnection couplingPointRef="swj208.pt" elementPointRef="sBar226.pt2" id="pointcon20"/>
        <CouplingConnection coupling1Ref="swj203" coupling2Ref="rgj39" id="couplingcon21" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj205" coupling2Ref="rgj40" id="couplingcon22" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj209" coupling2Ref="rgj41" id="couplingcon23" role="SwivelingRigidJoint"/>
      </Connections>
    </ComponentSpace>
  </ComponentSpaces>

</Mechanism>
