Abstract: Residual gearing transmission which includes a rotary planetary satellite carrier that carries an annular array of a plurality of rotatably mounted and angularly spaced satellite gear units for driven rotation about the axes of these units independently of rotation of the carrier. An output gear is rotatably mounted coaxially with respect to this carrier and is also rotatable independently of the latter. A continuous inverted drive chain loop has an outer run lapped about the outer sides of the satellite gear units to extend at opposite ends of this outer run to between an adjacent pair of such units for providing an inner run that is lapped about the output gear. A first input drive means is drivably connected to the plurality of satellite gear units to rotate them simultaneously, and a second input drive means to this carrier.