An epicyclic transmission has a sun gear rotating about a transmission axis, a planet carrier provided with a plurality of tenons, which extend along respective supporting axes, and a plurality of planet gears meshing with the sun gear and supported by the tenons, by means of the interposition of bearings which allow the planet gears to rotate about respective rotation axes, parallel to the transmission axis; the inner rings of the bearings are coupled to the tenons in a swiveling manner by means of joint devices defined by cylindrical hinges which hinge about hinge axes which are fixed with respect to the tenons and lay on a plane orthogonal to the transmission and rotation axes.