Epicyclic gear train is comprised of a first gear coaxial to second gear and a satellite gear in a mesh with first and second gears. Satellite gear is an enveloping worm and is placed on a rotating carrier for supporting said satellite where carrier is coaxial to first and second gears. Axis of enveloping worm and axis of first and second matting gears are parallel, intersection or crossing. Epicyclic gear train could also be comprised of the first gear coaxial to the second gear and two coaxial enveloping worms attached to each other to rotate together in mesh with first and second gears. Enveloping worms are placed on a rotating carrier for supporting said satellites where carrier is coaxial to first and second gears. Axis of enveloping worms and axis of first and second matting gears are parallel or intersected.