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