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