The gear stage for the rotary part is configured as {HEAD ~ harmonic drive gear train} having a driving, elliptical drive disk, and {TAIL ~ a stationary, internally toothed ring gear} 
having
The gear stage for the rotary part is configured as { HEAD ~ harmonic drive gear train } having a driving , elliptical drive disk , and { TAIL ~ a stationary , internally toothed ring gear }
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL