A transmission or actuator offering one or more rotational outputs proportionate in speed and direction to that of a common rotational input, each with its own ratio coupled with a controllable dynamic slip/compliance element and optionally either of a one-way bearing or brake preventing back driving. Ratios are continuously variable between positive and negative values, including infinity, varied by mechanical or electromechanical actuators under external or computer control. The transmission may intrinsically integrate multiple partial transmissions for increasing torque capability, rapidly changing between alternate settings, and/or to drive multiple outputs with customizable design. A communicating system of such distributed transmissions forming a hierarchy or network, each transmission driven directly by a motor, indirectly by the output of another transmission, or both, including indirect cumulative forward and back driving throughout the hierarchy or network. Such a network of actuators for complex robotic, manufacturing, movement, or transport applications.

A continuous variable planetary (CVP) system comprises a C2 carrier having a pattern of slots, the slots having one or more slot walls; a C1 carrier, at least one of the C2 carrier or C1 carrier being rotatable relative to the other; at least three planetary assemblies coupled between the C2 carrier and the C1 carrier, each planetary assembly including a planet, a planet axle, and an end cap on at least one end of the planet axle, the end cap disposed within the slot, rotation of C2 carrier relative to the C1 carrier inducing a skew condition in the planet axle and thereby inducing a tilt condition on the planet axle; and a protective layer affixed against at least one of the one or more slot walls, the protective layer including one or more protective layer attachment features configured to attach to one or more slot wall attachment features.

Inventive embodiments are directed to components, subassemblies, systems, and/or methods for continuously variable transmissions (CVT). In one embodiment, a control system is adapted to facilitate a change in the ratio of a CVT. In another embodiment, a control system includes a stator plate configured to have a plurality of radially offset slots. Various inventive traction planet assemblies and stator plates can be used to facilitate shifting the ratio of a CVT. In some embodiments, the traction planet assemblies include planet axles configured to cooperate with the stator plate. In one embodiment, the stator plate is configured to rotate and apply a skew condition to each of the planet axles. In some embodiments, a stator driver is operably coupled to the stator plate. Embodiments of a traction sun are adapted to cooperate with other components of the CVT to support operation and/or functionality of the CVT. Among other things, shift control interfaces for a CVT are disclosed.

A centerless wheel assembly may include a centerless rim configured to rotate about a point. The centerless wheel assembly may also include a centerless flywheel that may be configured to indirectly couple with the centerless rim and to rotate about a point. The centerless wheel assembly may additionally include a device for rotating the centerless rim in a first direction and in a second direction. The centerless wheel assembly may also include a one-way bearing that may be disposed between the centerless rim and the centerless flywheel. The one-way bearing may be positioned such that as the centerless rim may rotate in the first direction, the centerless flywheel may be caused to rotate in the first direction and as the centerless rim may rotate in the second direction, the centerless flywheel may not be caused to rotate.

A centerless wheel assembly may include a centerless rim configured to rotate about a point. The centerless wheel assembly may also include a centerless flywheel that may be configured to indirectly couple with the centerless rim and to rotate about a point. The centerless wheel assembly may additionally include a device for rotating the centerless rim in a first direction and in a second direction. The centerless wheel assembly may also include a one-way bearing that may be disposed between the centerless rim and the centerless flywheel. The one-way bearing may be positioned such that as the centerless rim may rotate in the first direction, the centerless flywheel may be caused to rotate in the first direction and as the centerless rim may rotate in the second direction, the centerless flywheel may not be caused to rotate.

Traction planets and traction rings can be operationally coupled to a planetary gearset to provide a continuously variable transmission (CVT). The CVT can be used in a bicycle. In one embodiment, the CVT is mounted on the frame of the bicycle at a location forward of the rear wheel hub of the bicycle. In one embodiment, the CVT is mounted on and supported by members of the bicycle frame such that the CVT is coaxial with the crankshaft of the bicycle. The crankshaft is configured to drive elements of the planetary gearset, which are configured to operationally drive the traction rings and the traction planets. Inventive component and subassemblies for such a CVT are disclosed. A shifting mechanism includes a plurality of pivot arms arranged to pivot about the centers of the traction planets as a shift pin hub moves axially.

Components, subassemblies, systems, and/or methods for continuously variable transmissions (CVT) having a control system adapted to facilitate a change in the ratio of a CVT are described. In one embodiment, a control system includes a stator plate configured to have a plurality of radially offset slots. Various traction planet assemblies and stator plates can be used to facilitate shifting the ratio of a CVT. In some embodiments, the traction planet assemblies include planet axles configured to cooperate with the stator plate. In one embodiment, the stator plate is configured to rotate and apply a skew condition to each of the planet axles. In some embodiments, a stator driver is operably coupled to the stator plate. Embodiments of a traction sun are adapted to cooperate with other components of the CVT to support operation and/or functionality of the CVT.

A radially inner race and a radially outer race for a continuously variable transmission includes a first inner race structure and a second inner race structure spaced along an axis wherein at least one of the first inner race structure or the second inner race structure is axially movable. A sun shaft is coupled to the radially inner race and planetary members in rolling contact with the radially inner race, and a torsion damping mechanism is coupled to the first inner race structure to apply torque between the first inner race structure and the sun shaft to reduce a transition amplitude during a torque impulse.

A radially inner race and a radially outer race for a continuously variable transmission includes a first inner race structure and a second inner race structure spaced along an axis wherein at least one of the first inner race structure or the second inner race structure is axially movable. A sun shaft is coupled to the radially inner race and planetary members in rolling contact with the radially inner race, and a torsion damping mechanism is coupled to the first inner race structure to apply torque between the first inner race structure and the sun shaft to reduce a transition amplitude during a torque impulse.

A variator unit of a power-split continuously variable transmission device is fixed to a rotationally fixed component and has a primary side rotationally fixed to an input shaft and a secondary side rotationally fixed to each respective first element of the first and a second planetary gear sets via a third shaft. A third element of the first planetary gear set is rotationally fixed to a third element of the second planetary gear set via a fourth shaft and is fixable to the rotationally fixed component via a first shift element. A fifth shaft is rotationally fixed to a second element of the second planetary gear set, which is fixable to the rotationally fixed component via the third shift element, and is connectable to the input shaft via the second shift element. A second element of the first planetary gear set is rotationally fixed to the output shaft.