| CPC F16H 1/46 (2013.01) [F16H 3/48 (2013.01); F16H 2001/2881 (2013.01)] | 20 Claims |

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12. A gear drive comprising:
a first rotational input coupled to a first planetary gear set;
a second planetary gear set coupled to the first planetary gear set through at least two intermediate connections;
a first intermediate connection of the at least two intermediate connections coupled between a first element of the first planetary gear set and a second element of the second planetary gear set, the first intermediate connection rotationally securing the first element to the second element, the first intermediate connection configured to rotate relative to the first rotational input; and
a second intermediate connection of the at least two intermediate connections coupled between a third element of the first planetary gear set and a fourth element of the second planetary gear set;
wherein the second intermediate connection comprises a rotatable nested connection securing the third element and the fourth element radially and laterally while facilitating rotation of the third element and the fourth element relative to each other, and each of the first intermediate connection and the second intermediate connection are coaxial with the first rotational input.
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