Abstract: A housing has trunnions installed at three positions, equiangularly around an inner circumferential surface of the housing. Bearings are coupled to respective trunnions and rollers are coupled to the outsides of the respective bearings. A driving axle, in which an insert with grooves on an outer periphery thereof, is coupled to an end of the driving axle so that the driving axle can be coupled into the housing. According to embodiments of the present invention, vibration associated with constant velocity joints can be effectively reduced by causing the sliding friction force of the roller with respect to the trunnion to be transmitted to the housing, such that the friction force is cancelled in the transmission side.