{TAIL ~ These types} of {HEAD ~ harmonic drive transmissions} are known per se from the state of the art 
{ TAIL ~ These types } of { HEAD ~ harmonic drive transmissions } are known per se from the state of the art
TAIL TAIL TAIL TAIL TAIL TAIL OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH