The other end of lower arm 14 is connected to {HEAD ~ one part} 16a of {TAIL ~ a central joint} 16 whose other part 16b is connected to one end of an upper arm 18 
The other end of lower arm 14 is connected to { HEAD ~ one part } 16a of { TAIL ~ a central joint } 16 whose other part 16b is connected to one end of an upper arm 18
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD OTH REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH