Ornithopter aircraft transmission

, A method for generating an oscillating motion without using gears, said method comprising:

• a) pivotally mounting a yoke within a headstock along a first axis;
• b) pivotally mounting a wobble plate assembly within said yoke such that said wobble plate assembly pivots about a second axis orthogonal to said first axis and wherein said wobble plate assembly comprises an annular retainer that is mounted within said yoke, an annular bearing that is rotatable within said annular retainer and a drive that is secured within said annular bearing, said annular bearing including an inter bearing race;
• c) coupling a shaft, having a longitudinal axis that is orthogonal to both said first and second axes, to said drive at a first end while a second end of said shaft is coupled to a rotating mechanism;
• d) positioning a wedge that is parallel to said shaft at said first end and wherein said wedge comprises a wedge end that is contact with said inter bearing race;
• and
• e) rotating said shaft about its longitudinal axis to subject said yoke and wobble plate assembly to an oscillating motion as said wedge end rides along said inter bearing race as said annular bearing rotates within said annular retainer, while said yoke pivots about said first axis and said wobble plate assembly pivots about said second axis.