A compact epicyclic drive includes a pinion rotatable about a ring gear and an eccentric element fixedly connected to the pinion so as to be rotated thereby, a knife head bearing supported on and extending around the eccentric element, and a knife head assembly connected to a sickle knife assembly. The knife head assembly is configured so as to translate rotation of the eccentric element into sideward reciprocating movements of the sickle knife assembly, and to transfer forces resulting from the movements to a housing supporting the drive. Two of the drives can be utilized for reciprocatingly driving two of the sickle knife assemblies in opposite directions, such that the transferred forces will at least partially cancel one another.