Linking the URDF to a writing robot.

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Hi, everyone, I have a question regarding an URDF file. I am making a simulation of a writing robot, the model of the robot can be seen in the following Figure.

I modelled the robot using Solidworks and used the plugin to export URDF files: http://wiki.ros.org/sw_urdf_exporter I have managed to make almost all the links and join except one that I have not been able to do (next Figure).

The movement I would have to do is shown in the following video, this one is done from solidworks:

movement

Now how do I make this joint to get this movement from ROS?. This is the URDF generated by solidworks.

Thanks for the help.

<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="RobotLeg">
  <link
    name="Robot_Leg">
    <inertial>
      <origin
        xyz="0.083123 -0.015072 0.082911"
        rpy="0 0 0" />
      <mass
        value="0.028857" />
      <inertia
        ixx="1.1475E-05"
        ixy="4.9806E-09"
        ixz="4.6576E-08"
        iyy="7.7176E-06"
        iyz="6.9012E-09"
        izz="5.962E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Robot_Leg.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Robot_Leg.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="Base_Motor_Link">
    <inertial>
      <origin
        xyz="0.00767787616068407 -0.00225833851399611 -0.0012413484393124"
        rpy="0 0 0" />
      <mass
        value="0.0860449250147793" />
      <inertia
        ixx="1.88539881308253E-05"
        ixy="6.2113714873E-07"
        ixz="3.8371741127131E-09"
        iyy="4.99740197118256E-05"
        iyz="-1.654150730928E-08"
        izz="6.10876885118026E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Base_Motor_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Base_Motor_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Base_Motor_Join"
    type="continuous">
    <origin
      xyz="0 -0.072042 -0.015398"
      rpy="1.5708 0 0" />
    <parent
      link="Robot_Leg" />
    <child
      link="Base_Motor_Link" />
    <axis
      xyz="1 0 0" />
  </joint>
  <link
    name="Link_A">
    <inertial>
      <origin
        xyz="1.15561467142061E-06 -0.032497388523744 0.00269730420450316"
        rpy="0 0 0" />
      <mass
        value="0.0073094609493393" />
      <inertia
        ixx="4.8721951477713E-06"
        ixy="-2.66687045779472E-10"
        ixz="1.66661271984601E-12"
        iyy="4.65559649333118E-07"
        iyz="3.96639191288848E-08"
        izz="5.29403969631775E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/Link_A.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision> ...