In this paper we present a general existence result of periodic solutions for functional differential inclusions with nonconvex right hand sides, by using the asymptotic fixed point theory. In our result, the uniform boundedness and ultimate boundedness are only assumed to the solutions with bounded initial functions. On the other hand, the dissipativity is sought on a suitable bounded convex subset of the state space of solutions. This becomes difficult for the systems with infinite delay since in this case the subset is probably not forward invariant for the orbits of solutions. These are also considerable even for the usual functional differential equations with infinite delay. As an application, we answer an open problem on the existence of an equilibrium state for multivalued permanent systems.