<?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="-0.297698" y="0.287624"/>
        <Position id="pos2" x="-0.325144" y="0.260179"/>
        <Position id="pos3" x="0.218437" y="-0.281933"/>
        <Position id="pos4" x="-0.297698" y="0.287624"/>
        <Position id="pos5" x="-0.325144" y="0.260179"/>
        <Position id="pos6" x="-0.325144" y="0.260179"/>
        <Position id="pos7" x="0.218437" y="-0.281933"/>
        <Position id="pos8" x="0.218437" y="-0.281933"/>
        <Position id="pos9" x="0.270932" y="-0.217221"/>
        <Position id="pos10" x="0.270932" y="-0.217221"/>
        <Position id="pos11" x="0.312205" y="0.149342"/>
        <Position id="pos12" x="0.312205" y="0.149342"/>
        <Position id="pos13" x="0.270932" y="-0.217221"/>
        <Position id="pos14" x="0.307844" y="0.110607"/>
        <Position id="pos15" x="0.270932" y="-0.217221"/>
        <Position id="pos16" x="-0.228444" y="0.114224"/>
        <Position id="pos17" x="-0.0711571" y="0.133055"/>
        <Position id="pos18" x="-0.228444" y="0.114224"/>
        <Position id="pos19" x="-0.203541" y="0.231127"/>
        <Position id="pos20" x="-0.203541" y="0.231127"/>
        <Position id="pos21" x="-0.203541" y="0.231127"/>
        <Position id="pos22" x="-0.0711571" y="0.133055"/>
        <Position id="pos23" x="-0.203541" y="0.231127"/>
        <Position id="pos24" x="0.307844" y="0.110607"/>
        <Position id="pos25" x="-0.203541" y="0.231127"/>
        <Position id="pos26" x="0.307844" y="0.110607"/>
        <Position id="pos27" x="0.29626" y="0.243808"/>
        <Position id="pos28" x="-0.0711571" y="0.133055"/>
        <Position id="pos29" x="0.29626" y="0.243808"/>
        <Position id="pos30" x="0.312205" y="0.149342"/>
        <Position id="pos31" x="0.29626" y="0.243808"/>
      </Positions>
      <Scalars>
        <Scalar id="scalar1" value="0.287624"/>
        <Scalar id="scalar2" value="0"/>
        <Scalar id="scalar3" value="0.260179"/>
        <Scalar id="scalar4" value="0"/>
        <Scalar id="scalar5" value="-0.281933"/>
        <Scalar id="scalar6" value="0"/>
        <Scalar id="scalar7" value="-2.35619"/>
        <Scalar id="scalar8" value="0.413885"/>
        <Scalar id="scalar9" value="0.0388143"/>
        <Scalar id="scalar10" value="-0.784045"/>
        <Scalar id="scalar11" value="0.0453773"/>
        <Scalar id="scalar12" value="0.767701"/>
        <Scalar id="scalar13" value="0.889252"/>
        <Scalar id="scalar14" value="0.347254"/>
        <Scalar id="scalar15" value="0.0833271"/>
        <Scalar id="scalar16" value="0"/>
        <Scalar id="scalar17" value="-0.0347858"/>
        <Scalar id="scalar18" value="0.149342"/>
        <Scalar id="scalar19" value="0"/>
        <Scalar id="scalar20" value="-1.68292"/>
        <Scalar id="scalar21" value="-0.293535"/>
        <Scalar id="scalar22" value="0.36888"/>
        <Scalar id="scalar23" value="-0.217221"/>
        <Scalar id="scalar24" value="0"/>
        <Scalar id="scalar25" value="0.114224"/>
        <Scalar id="scalar26" value="0"/>
        <Scalar id="scalar27" value="0.133055"/>
        <Scalar id="scalar28" value="0"/>
        <Scalar id="scalar29" value="1.36091"/>
        <Scalar id="scalar30" value="-0.247229"/>
        <Scalar id="scalar31" value="0.119526"/>
        <Scalar id="scalar32" value="0"/>
        <Scalar id="scalar33" value="0.00755252"/>
        <Scalar id="scalar34" value="-0.637596"/>
        <Scalar id="scalar35" value="-0.0645559"/>
        <Scalar id="scalar36" value="0.164754"/>
        <Scalar id="scalar37" value="0.231127"/>
        <Scalar id="scalar38" value="0"/>
        <Scalar id="scalar39" value="0.110607"/>
        <Scalar id="scalar40" value="0"/>
        <Scalar id="scalar41" value="-0.23145"/>
        <Scalar id="scalar42" value="-0.178273"/>
        <Scalar id="scalar43" value="0.525395"/>
        <Scalar id="scalar44" value="0.243808"/>
        <Scalar id="scalar45" value="0"/>
        <Scalar id="scalar46" value="0.292774"/>
        <Scalar id="scalar47" value="-0.147929"/>
        <Scalar id="scalar48" value="0.383747"/>
        <Scalar id="scalar49" value="1.73801"/>
        <Scalar id="scalar50" value="0.332706"/>
        <Scalar id="scalar51" value="0.0958013"/>
      </Scalars>
      <Elements>
        <Bar fixed="false" id="sBar49">
          <Point fixed="false" id="sBar49.pt1" posRef="pos4"/>
          <Point fixed="false" id="sBar49.pt2" posRef="pos5"/>
          <Line fixed="false" id="sBar49.axis">
            <Param fixed="false" id="sBar49.axis.dir" scalarRef="scalar7"/>
            <Param fixed="false" id="sBar49.axis.offs" scalarRef="scalar8"/>
          </Line>
          <Param fixed="true" id="sBar49.length" scalarRef="scalar9"/>
        </Bar>
        <Bar fixed="false" id="sBar50">
          <Point fixed="false" id="sBar50.pt1" posRef="pos6"/>
          <Point fixed="false" id="sBar50.pt2" posRef="pos7"/>
          <Line fixed="false" id="sBar50.axis">
            <Param fixed="false" id="sBar50.axis.dir" scalarRef="scalar10"/>
            <Param fixed="false" id="sBar50.axis.offs" scalarRef="scalar11"/>
          </Line>
          <Param fixed="true" id="sBar50.length" scalarRef="scalar12"/>
        </Bar>
        <Bar fixed="false" id="sBar51">
          <Point fixed="false" id="sBar51.pt1" posRef="pos8"/>
          <Point fixed="false" id="sBar51.pt2" posRef="pos9"/>
          <Line fixed="false" id="sBar51.axis">
            <Param fixed="false" id="sBar51.axis.dir" scalarRef="scalar13"/>
            <Param fixed="false" id="sBar51.axis.offs" scalarRef="scalar14"/>
          </Line>
          <Param fixed="true" id="sBar51.length" scalarRef="scalar15"/>
        </Bar>
        <Bar fixed="false" id="sBar52">
          <Point fixed="false" id="sBar52.pt1" posRef="pos12"/>
          <Point fixed="false" id="sBar52.pt2" posRef="pos13"/>
          <Point fixed="false" id="sBar52.pt3" posRef="pos14"/>
          <Line fixed="false" id="sBar52.axis">
            <Param fixed="false" id="sBar52.axis.dir" scalarRef="scalar20"/>
            <Param fixed="false" id="sBar52.axis.offs" scalarRef="scalar21"/>
          </Line>
          <Param fixed="true" id="sBar52.length" scalarRef="scalar22"/>
        </Bar>
        <Bar fixed="false" id="sBar53">
          <Point fixed="false" id="sBar53.pt1" posRef="pos18"/>
          <Point fixed="false" id="sBar53.pt2" posRef="pos19"/>
          <Line fixed="false" id="sBar53.axis">
            <Param fixed="false" id="sBar53.axis.dir" scalarRef="scalar29"/>
            <Param fixed="false" id="sBar53.axis.offs" scalarRef="scalar30"/>
          </Line>
          <Param fixed="true" id="sBar53.length" scalarRef="scalar31"/>
        </Bar>
        <Bar fixed="false" id="sBar54">
          <Point fixed="false" id="sBar54.pt1" posRef="pos21"/>
          <Point fixed="false" id="sBar54.pt2" posRef="pos22"/>
          <Line fixed="false" id="sBar54.axis">
            <Param fixed="false" id="sBar54.axis.dir" scalarRef="scalar34"/>
            <Param fixed="false" id="sBar54.axis.offs" scalarRef="scalar35"/>
          </Line>
          <Param fixed="true" id="sBar54.length" scalarRef="scalar36"/>
        </Bar>
        <Bar fixed="false" id="sBar55">
          <Point fixed="false" id="sBar55.pt1" posRef="pos25"/>
          <Point fixed="false" id="sBar55.pt2" posRef="pos26"/>
          <Line fixed="false" id="sBar55.axis">
            <Param fixed="false" id="sBar55.axis.dir" scalarRef="scalar41"/>
            <Param fixed="false" id="sBar55.axis.offs" scalarRef="scalar42"/>
          </Line>
          <Param fixed="true" id="sBar55.length" scalarRef="scalar43"/>
        </Bar>
        <Bar fixed="false" id="sBar56">
          <Point fixed="false" id="sBar56.pt1" posRef="pos28"/>
          <Point fixed="false" id="sBar56.pt2" posRef="pos29"/>
          <Line fixed="false" id="sBar56.axis">
            <Param fixed="false" id="sBar56.axis.dir" scalarRef="scalar46"/>
            <Param fixed="false" id="sBar56.axis.offs" scalarRef="scalar47"/>
          </Line>
          <Param fixed="true" id="sBar56.length" scalarRef="scalar48"/>
        </Bar>
        <Bar fixed="false" id="sBar61">
          <Point fixed="false" id="sBar61.pt1" posRef="pos30"/>
          <Point fixed="false" id="sBar61.pt2" posRef="pos31"/>
          <Line fixed="false" id="sBar61.axis">
            <Param fixed="false" id="sBar61.axis.dir" scalarRef="scalar49"/>
            <Param fixed="false" id="sBar61.axis.offs" scalarRef="scalar50"/>
          </Line>
          <Param fixed="true" id="sBar61.length" scalarRef="scalar51"/>
        </Bar>
      </Elements>
      <Couplings>
        <SwivelJoint fixed="true" id="swj42">
          <Point fixed="true" id="swj42.pt" posRef="pos1"/>
          <Line fixed="false" id="swj42.line">
            <Param fixed="false" id="swj42.line.dir" scalarRef="scalar2"/>
            <Param fixed="false" id="swj42.line.offs" scalarRef="scalar1"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj43">
          <Point fixed="false" id="swj43.pt" posRef="pos2"/>
          <Line fixed="false" id="swj43.line">
            <Param fixed="false" id="swj43.line.dir" scalarRef="scalar4"/>
            <Param fixed="false" id="swj43.line.offs" scalarRef="scalar3"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj44">
          <Point fixed="false" id="swj44.pt" posRef="pos3"/>
          <Line fixed="false" id="swj44.line">
            <Param fixed="false" id="swj44.line.dir" scalarRef="scalar6"/>
            <Param fixed="false" id="swj44.line.offs" scalarRef="scalar5"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj45">
          <Point fixed="false" id="swj45.pt" posRef="pos11"/>
          <Line fixed="false" id="swj45.line">
            <Param fixed="false" id="swj45.line.dir" scalarRef="scalar19"/>
            <Param fixed="false" id="swj45.line.offs" scalarRef="scalar18"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj46">
          <Point fixed="true" id="swj46.pt" posRef="pos15"/>
          <Line fixed="false" id="swj46.line">
            <Param fixed="false" id="swj46.line.dir" scalarRef="scalar24"/>
            <Param fixed="false" id="swj46.line.offs" scalarRef="scalar23"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj47">
          <Point fixed="true" id="swj47.pt" posRef="pos16"/>
          <Line fixed="false" id="swj47.line">
            <Param fixed="false" id="swj47.line.dir" scalarRef="scalar26"/>
            <Param fixed="false" id="swj47.line.offs" scalarRef="scalar25"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj48">
          <Point fixed="false" id="swj48.pt" posRef="pos17"/>
          <Line fixed="false" id="swj48.line">
            <Param fixed="false" id="swj48.line.dir" scalarRef="scalar28"/>
            <Param fixed="false" id="swj48.line.offs" scalarRef="scalar27"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj49">
          <Point fixed="false" id="swj49.pt" posRef="pos23"/>
          <Line fixed="false" id="swj49.line">
            <Param fixed="false" id="swj49.line.dir" scalarRef="scalar38"/>
            <Param fixed="false" id="swj49.line.offs" scalarRef="scalar37"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj50">
          <Point fixed="false" id="swj50.pt" posRef="pos24"/>
          <Line fixed="false" id="swj50.line">
            <Param fixed="false" id="swj50.line.dir" scalarRef="scalar40"/>
            <Param fixed="false" id="swj50.line.offs" scalarRef="scalar39"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="false" id="swj51">
          <Point fixed="false" id="swj51.pt" posRef="pos27"/>
          <Line fixed="false" id="swj51.line">
            <Param fixed="false" id="swj51.line.dir" scalarRef="scalar45"/>
            <Param fixed="false" id="swj51.line.offs" scalarRef="scalar44"/>
          </Line>
        </SwivelJoint>
        <RigidJoint fixed="false" id="rgj11">
          <Point fixed="false" id="rgj11.pt" posRef="pos10"/>
          <Line fixed="false" id="rgj11.axis">
            <Param fixed="false" id="rgj11.axis.dir" scalarRef="scalar17"/>
            <Param fixed="false" id="rgj11.axis.offs" scalarRef="scalar16"/>
          </Line>
        </RigidJoint>
        <RigidJoint fixed="false" id="rgj12">
          <Point fixed="false" id="rgj12.pt" posRef="pos20"/>
          <Line fixed="false" id="rgj12.axis">
            <Param fixed="false" id="rgj12.axis.dir" scalarRef="scalar33"/>
            <Param fixed="false" id="rgj12.axis.offs" scalarRef="scalar32"/>
          </Line>
        </RigidJoint>
      </Couplings>
      <Connections>
        <PointConnection couplingPointRef="rgj11.pt" elementPointRef="sBar52.pt2" id="pointcon1"/>
        <PointConnection couplingPointRef="rgj11.pt" elementPointRef="sBar51.pt2" id="pointcon2"/>
        <PointConnection couplingPointRef="rgj12.pt" elementPointRef="sBar54.pt1" id="pointcon3"/>
        <PointConnection couplingPointRef="rgj12.pt" elementPointRef="sBar53.pt2" id="pointcon4"/>
        <PointConnection couplingPointRef="swj42.pt" elementPointRef="sBar49.pt1" id="pointcon5"/>
        <PointConnection couplingPointRef="swj43.pt" elementPointRef="sBar50.pt1" id="pointcon6"/>
        <PointConnection couplingPointRef="swj43.pt" elementPointRef="sBar49.pt2" id="pointcon7"/>
        <PointConnection couplingPointRef="swj44.pt" elementPointRef="sBar51.pt1" id="pointcon8"/>
        <PointConnection couplingPointRef="swj44.pt" elementPointRef="sBar50.pt2" id="pointcon9"/>
        <PointConnection couplingPointRef="swj45.pt" elementPointRef="sBar61.pt1" id="pointcon10"/>
        <PointConnection couplingPointRef="swj45.pt" elementPointRef="sBar52.pt1" id="pointcon11"/>
        <PointConnection couplingPointRef="swj47.pt" elementPointRef="sBar53.pt1" id="pointcon12"/>
        <PointConnection couplingPointRef="swj48.pt" elementPointRef="sBar56.pt1" id="pointcon13"/>
        <PointConnection couplingPointRef="swj48.pt" elementPointRef="sBar54.pt2" id="pointcon14"/>
        <PointConnection couplingPointRef="swj49.pt" elementPointRef="sBar55.pt1" id="pointcon15"/>
        <PointConnection couplingPointRef="swj50.pt" elementPointRef="sBar55.pt2" id="pointcon16"/>
        <PointConnection couplingPointRef="swj50.pt" elementPointRef="sBar52.pt3" id="pointcon17"/>
        <PointConnection couplingPointRef="swj51.pt" elementPointRef="sBar61.pt2" id="pointcon18"/>
        <PointConnection couplingPointRef="swj51.pt" elementPointRef="sBar56.pt2" id="pointcon19"/>
        <CouplingConnection coupling1Ref="swj46" coupling2Ref="rgj11" id="couplingcon20" role="SwivelingRigidJoint"/>
        <CouplingConnection coupling1Ref="swj49" coupling2Ref="rgj12" id="couplingcon21" role="SwivelingRigidJoint"/>
      </Connections>
    </ComponentSpace>
  </ComponentSpaces>

</Mechanism>
