Steering transmission device and steering apparatus

A vehicle steering apparatus for steering a vehicle in accordance with a vehicle steering operation, comprising,

• a vehicle wheel,
• a steering transmission device including:
• a first gear being rotatable on a rotational axis to rotate in accordance with the vehicle steering operation,
• a second gear being rotatable on the rotational axis,
• an intermediate gear engaging with the first and second gears to transmit a rotation between the first gear and the second gear through the intermediate gear,
• a support member being rotatable on the rotational axis while supporting the intermediate gear in such a manner that the intermediate gear is rotatable on another rotational axis which another rotational axis intersects the rotational axis and extends perpendicularly to the rotational axis, and
• a driving device for driving the support member to rotate on the rotational axis so that a differential rotational motion is generated between the first and second gears, and
• a connecting member arranged between the second gear and the vehicle wheel so that a motion of the second gear is transmitted through the connecting member to the vehicle wheel to change an orientation of the vehicle wheel.