PURPOSE: To provide a rotary engine with recycled power having a simpler structure and higher efficiency.

CONSTITUTION: A drive shaft 1 carries on identical arms with equal angular spacing one or more auxiliary rotors, each axle 5 being parallel to the shaft while each axle 9 is inclined towards the shaft. The axles are held together by a central joint 4, each auxiliary rotor carries two gears 8, 10 of different diameters engaging with the corresponding internal gears, one of which is movable. All rotors are interconnected kinematically and engaging with the two internal gears in such a way that the rotation of the shaft 1 results from the motion of each rotor which is virtually equivalent to rolling along the internal surface of the internal gears, so that, as a result of the thrust force of the moving annulus and the return force of the fixed annulus, each rotor, resolving this conflict, rotates upon itself and, by moving translationally with respect to the internal gears, causes the drive shaft to be put into axial rotation.