Universal drive

A universal drive comprising:

• a ring gear;
• a sun gear having a sun gear axis moveable relative to a ring gear axis of the ring gear;
• a gear train comprising a series of gears configured to connect the sun gear and the ring gear to each other;
• a link mechanism connected to the sun gear and the ring gear so rotation between the sun gear and the ring gear is allowed such that a power transmission state between the sun gear and the ring gear is continuously maintained while accommodating a change in an inter-axis distance between the sun gear and the ring gear, the link mechanism being configured to support rotating shafts of the series of gears constituting the gear train;
• a carrier configured to support a rotating shaft of a final gear engaged with the ring gear, among the gears constituting the gear train;
• and
• a sliding member positioned between at least one of the gears constituting the gear train and the carrier such that the sliding member is slidable relative to the carrier.