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