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@gbj_tester
I think if chain or belt drive is to be retained, it would probably be easier to include the angled shaft coupling mechanism between the cranks and chainring, i.e. where the spider usually lives. The 'cogging' effect of a simple Cardan joint is probably not that big a deal with a pedal cycle with only a few degrees of shaft misalignment, and is probably easier to manufacture than a Rzeppa joint. The only frame modification needed would be an anchor/bearing to constrain the chainring to a plane parallel to the plane of the rear wheel