Transmission on all wheel steer power machine

A vehicle comprising a transmission vehi- ass transmit power output of a hydraulic actuating motor mounted on a vehicle body on a wheel, the transmission comprising: an assembly (128) gear adapted to receive a input drive motor driven chain; a shaft (140) rigidly coupled to the assembly (128) gear, the shaft having (140) an inner end (144) and an outer end (142); a bearing (156) single spherical coupling the inboard end (144) of the shaft (140) to the vehicle body; characterized by a universal joint (124) coupled to the outer end (142) of the shaft (140); and a hub (123) coupled to the universal joint wheel (124).