{HEAD ~ A lower arm} has {TAIL ~ one end} connected to the base rotatable joint member and another end connected to a central joint member 
has
{ HEAD ~ A lower arm } has { TAIL ~ one end } connected to the base rotatable joint member and another end connected to a central joint member
HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH