##040003116377206200002
*
* Compile mechanism for sm_ns_16_165_hnd
*
begin COMPONENT sm_ns_16_165_hnd
	no_of_joints		6
	no_of_loops		0
	TCP_link_name		k7
	user_TCP :
0	0	1	1071.997437	
0	1	0	0.000484	
-1	0	0	1485	
0	0	0	1	
	inverse_family	-1
	base_name		k1

	begin LINK k2
		joint_from	k1
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j1
		axis_points	0 0 1000 , 0 0 0
		param_index	0
		joint_type	rot
		user_value	0
		range		-180 180
		max_speed	155
		max_acceleration	310
	end;

	begin LINK k3
		joint_from	k2
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j2
		axis_points	300 -1000 600 , 300 1000 600
		param_index	1
		joint_type	rot
		user_value	0
		range		-60 155
		max_speed	155
		max_acceleration	310
	end;

	begin LINK k4
		joint_from	k3
		transformation_to_father :
0	0	-1	1600	
0	1	0	0	
1	0	0	999.998596	
0	0	0	1	
		joint_name	j3
		axis_points	300 1000 1300 , 300 -1000 1300
		param_index	2
		joint_type	rot
		user_value	0
		range		-170 110
		max_speed	170
		max_acceleration	340
	end;

	begin LINK k5
		joint_from	k4
		transformation_to_father :
1	0	0	0	
0	1	0	0.000484	
0	0	1	0	
0	0	0	1	
		joint_name	j4
		axis_points	300 0 1485 , -1000 0 1485
		param_index	3
		joint_type	rot
		user_value	0
		range		-2700 2700
		max_speed	360
		max_acceleration	720
	end;

	begin LINK k6
		joint_from	k5
		transformation_to_father :
1	0	0	-0.002502	
0	1	0	0	
0	0	1	0.001343	
0	0	0	1	
		joint_name	j5
		axis_points	936.990356 172.001846 1484.987793 , 936.990356 472.001831 1484.987793
		param_index	4
		joint_type	rot
		user_value	0
		range		-125 125
		max_speed	90
		max_acceleration	90
	end;

	begin LINK k7
		joint_from	k6
		transformation_to_father :
1	0	0	0.002563	
0	1	0	-0.000484	
0	0	1	-0.000366	
0	0	0	1	
		joint_name	j6
		axis_points	1271.997437 0.000484 1485 , 1071.997437 0.000484 1485
		param_index	5
		joint_type	rot
		user_value	0
		range		-2700 2700
		max_speed	90
		max_acceleration	90
	end

end
