A constant velocity joint comprising a first shaft rotating about a first rotation axis, a second shaft rotating about a second rotation axis, with the first and the second rotation axes intersecting at the center of the joint, three triads of yokes, each triad of yokes comprising a control yoke, a first shaft yoke pivotally mounted on the first shaft and a second yoke pivotally mounted on the second shaft, with the three yokes of the triad of yokes pivotally mounted to each other to pivot about a common axis passing from the center of the joint, the three control yokes, one from each triad of yokes, are pivotally mounted to each other to pivot about a common axis passing from the center of the joint, with the transmission ratio of the constant velocity joint remaining strictly at 1:1 no matter what the angle between the two rotation axes is.