Rotational motion transmission mechanism for non-parallel axes

A rotational motion transmission unit for non-parallel axes rotation, comprising:

• at least one driver, comprising:
• at least one guide, wherein the at least one guide curls around a driver axis with an axial lead, wherein a curling radius and a pitch of the at least one guide vary throughout a length of the at least one driver;
• and
• at least one driven comprising at least one follower arranged around a driven axis,
• wherein:
• the at least one driver, while rotating around its axis, is arranged to rotate the at least one driven around the driven axis by the at least one guide leading the at least one follower engaged with it in an arc around the driven axis,
• the at least one driver and the at least one driven are adapted to rotate continuously in synchronization;
• the at least one guide leads the at least one follower less than 180 degrees around the driven axis, and
• the guide and follower are configured to disengage and re-engage with each other;
• the driver axis of rotation is at an angle to the driven axis of rotation;
• at least one contact patch of the at least one follower engaging with the at least one guide is radially inward to the driven axis;
• and
• wherein a first distance between the driver axis and the driven axis is less than a second distance between the driven axis and an engaging point of the at least one guide and the at least one follower.