Pericyclic transmission

A pericyclic transmission comprising,

• at least one input shaft rotatable about an axis of rotation,
• at least one inclined bearing seat secured to an inclined shaft section rigidly connected to said at least one input shaft, said at least one inclined bearing seat being oriented at an inclination angle with respect to said axis of rotation of said at least one input shaft,
• an input gear attached to each of said at least one inclined bearing seat, said input gear being oriented at said inclination angle and having an axis of rotation inclined to said axis of rotation of said at least one input shaft by said inclination angle, whereby upon rotation of said at least one input shaft, said input gear performs at least a nutating motion,
• an intermediate gear in mesh with said input gear, said intermediate gear being attached to a shaft section with an axis of rotation coincident with said axis of rotation of said at least one input shaft, the tooth engagement of said mesh being the first tooth engagement of the pericyclic transmission as seen in the direction of the shaft sections starting from the input shaft,
• said intermediate gear communicating with at least one transmission output and
• said input shaft being, via said inclined shaft section, also rigidly connected to said shaft section with coincident rotation axis, said inclined shaft section being between said input shaft and said shaft section with coincident rotation axis.