Transmission device having a central rotating wheel and a laying mechanism with such a device

A laying mechanism for a weapon, comprising:

• a central wheel disposed to rotate about a central wheel axle and to drive movement of rounds for said weapon, said central wheel axle being fixed in a first position;
• a satellite wheel connected to an elevation shield mantlet having a satellite wheel axle, said satellite wheel and said satellite wheel axle being revolvable around said first position wherein said satellite wheel does not rotate about said satellite wheel axle;
• a drive element connecting said central wheel and said satellite wheel, said drive element having a first portion and a second portion, wherein rotating said satellite wheel in a first direction moves said drive element to induce said central wheel to rotate in a second direction opposite said first direction;
• and
• a tension controller connected to said drive element that controls a tension of said drive element to at least partially compensate for rotation of said central wheel induced by said satellite wheel.