{HEAD ~ The device} 1, wherein {TAIL ~ the elliptical drive disk} of the harmonic drive transmission is arranged at least partially radially within a hollow space of the at least one of the rotary parts 
wherein
{ HEAD ~ The device } 1 , wherein { TAIL ~ the elliptical drive disk } of the harmonic drive transmission is arranged at least partially radially within a hollow space of the at least one of the rotary parts
HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH REL TAIL 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 OTH