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