This extends the kinematic system from a one-bar mechanism into a four-bar mechanism. The parcel shelf is initially modeled in a very simple way. This model is then refined further and further until the desired degree of exactness and generality is reached. The kinematic motions are implemented in multiple stages with the aid of the motion control system. The kinematic dead points serve as trigger points for the individual stages of the simulation. The results are calculated using the script system available in the kinematics software ASOM v7.