Abstract: The present disclosure relates to a method for connecting a motor to a gearbox, wherein, first, a form- and/or force-fit connection between the motor and the gearbox is established by screwing together a motor- or gearbox-side first component and the respective motor- or gearbox-side second component to be connected thereto, or by establishing an interference fit between these two components, and wherein, additionally, an axial lock between the two components is then established by means of caulking, in that a lug formed on the first component is deformed by means of a caulking tool into a recess formed on the second component.

Abstract: A multi-stage gear is provided with a planetary gear and a strain wave gear adjacent to the multi-stage gear, wherein a output of the planetary gear maintains a drive connection with a wave generator of the strain wave gear, and wherein the planetary gear is arranged at least partially radially within the strain wave gear. It is provided that the wave generator is mounted radially on a ring gear of the planetary gear.

Abstract: A multi-stage gear is provided with a planetary gear and a strain wave gear adjacent to the multi-stage gear, wherein a output of the planetary gear maintains a drive connection with a wave generator of the strain wave gear, and wherein the planetary gear is arranged at least partially radially within the strain wave gear. It is provided that the wave generator is mounted radially on a ring gear of the planetary gear.