Trochoid drive system

A trochoid drive system, comprising an action part that turns around a driving shaft;

• and a steering part that co-rotates with the action part and is relatively movable in two-dimensional directions on a turning plane,
• wherein
• the action part includes a plurality of action members that are uniformly disposed at positions from the driving shaft by a predetermined radius and along a circumferential direction, each action member being provided rotatably at a corresponding steering shaft parallel to the driving shaft, and
• the steering part includes a link system that rotates each action member around the corresponding steering shaft,
• wherein
• the link system includes:
• a guide body having a predetermined length in a length direction and attached to the steering shaft so that the length direction is in a radial direction of the steering shaft;
• and
• a moving body provided for each guide body, the moving body being movable along the length direction of the guide body, and
• in a state where a center of rotation of the steering part coincides with the driving shaft, a plurality of coupling portions provided at a plurality of outer edge parts of the steering part so as to correspond to the steering shafts are each attached rotatably to the corresponding moving body at a position separated from the steering shaft by a predetermined distance on one of forward and backward sides of the rotation direction.