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