PURPOSE: To facilitate manufacture of a small joint by making connection between an input shaft and an output shaft with plural links, consisting of spherical links, which have the center of their spheres at the center of rotation of the two shafts, and an intermediate link which becomes bent in its central area at an angle of crossing of the two shafts.

CONSTITUTION: When an input and an output shafts 2 and 3 incline downward from their horizontal axis forming an angle θ of inclination, the distance between flanges 5A and 5B which are fixed on the input and output shafts 2 and 3 increases in their upper part and decreases in their lower part. In this case, a link piece 12A composing an intermediate link 12 which is connected to spherical links 9A and 9B in an upper part shifts in the direction toward a Z axis to decrease an angle α between the link piece 12A and the Z axis. On the other hand, a link piece 12B connected to the spherical links 9A and 9B in a lower part shifts in the direction away from the Z axis to increase an angle β between the link piece 12B and the Z axis, and the intermediate link 12 becomes bent at its central area. When in rotation, the angle between the spherical links 9A and 9B varies from time to time, while the spherical links 9A and 9B vary swinging motion and the intermediate link varies the angle of inclination so as to transmit the rotation at a uniform speed.