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A trochoid drive system (1) is equipped with: wheels (153) disposed in three locations on the periphery of an outer wheel (10) that revolves around a drive shaft (22a)
and steering links (16) that revolve with the wheel, and that are able to move in a horizontal direction on the revolving surface. Each steering link (16) has a linear slider (163) provided with: a guide member (163a) having a predetermined length and mounted on an upright steering shaft (151) that rotates a wheel (153), the length direction of the guide member (163a) facing the radial direction of the steering shaft (151)
and a moving member (163b) that slides on the guide member. With the center of rotation of the steering linking part (16) coinciding with the drive shaft of the outer wheel (10), a rotary shaft (164) provided correspondingly to the steering shaft (151) is rotatably mounted on the corresponding moving member (163b) at a position separated from the steering shaft (151) by a prescribed distance. This enables a geometrically complete solution for a trochoidal curve to be achieved with a system comprising simple mechanical elements.
