A planetary gearbox including a first sun gear; a first ring gear; a first set of planet gears meshing with the first sun gear and the first ring gear; a second sun gear; a second ring gear; a second plurality of planet gears meshing with the second ring gear and the second sun gear, wherein the i.sup.th gear in the first set of planet gears is fixed to the i.sup.th gear in the second set of planet gears so that the gears in the first set and the second set rotate together coaxially. The resulting planetary gearbox can be readily integrated into compact robotic joints. Its few lightweight components can be manufactured with high accuracy with standard machining techniques.

A drive system for a vehicle includes a first electromagnetic device directly coupled to a first planetary gear set and a second electromagnetic device directly coupled to a second planetary gear set. In a first mode of operation, a clutch is engaged to couple the second planetary gear set to the first planetary gear set and a brake is disengaged to allow rotation of the second planetary gear set and in a second mode of operation, the brake is engaged to limit rotation of the second planetary gear set and the clutch is disengaged.

An output mechanism for use in a transmission includes an output shaft, a sun gear assembly, a planetary assembly, an outer gear, and an output gear. The sun gear assembly includes: a sun gear around the output shaft and a sun gear sleeve extending from the sun gear. The planetary assembly includes: one or more planetary gears around and meshed with the sun gear; and a casing surrounding the sun gear, joined to the one or more planetary gears, and configured to rotate around the sun gear when the one or more planetary gears rotate around the sun gear. The outer gear has inner teeth meshed with the one or more planetary gears and outer teeth being configured to be selectively meshed with a first external gear. The output gear is rotatably locked to the sun gear sleeve and is configured to be selectively meshed with a second external gear.

A drive system includes a first gear set and a second gear set, each including a sun gear, a ring gear, a plurality of planetary gears coupling the sun gear to the ring gear, and a carrier rotationally supporting the plurality of planetary gears, a first electrical machine coupled to the sun gear of the first gear set, a second electrical machine coupled to the sun gear of the second gear set, a connecting shaft coupled to the ring gear of the first gear set, a driveshaft that transports power from the electrical machines to a tractive element, a first clutch selectively rotationally coupling the first carrier and the second carrier to the driveshaft, and at least one of a second clutch selectively rotationally coupling the second electrical machine to the connecting shaft and a third clutch selectively rotationally coupling the second gear set to the driveshaft.

A vehicle includes an engine, a drive axle, a multi-mode transmission, and a controller. The multi-mode transmission includes a first gear set having a first planetary gear carrier and a second gear set having a second planetary gear carrier, a first motor/generator coupled to the first gear set, a second motor/generator electrically coupled to the first motor/generator and coupled to the second gear set, a brake selectively limiting movement of a portion of the second gear set, and a clutch selectively rotationally coupling the second motor/generator to the engine. The first gear set is coupled to the engine, and the planetary gear carriers are rotatably coupled. The controller is configured to selectively configure the multi-mode transmission into an active neutral startup mode of operation by engaging the clutch and the brake such that at least one of the first motor/generator and the second motor/generator produces a voltage.

A drive system includes a first gear set and a second gear set, each including a sun gear, a ring gear, a plurality of planetary gears coupling the sun gear to the ring gear, and a carrier rotationally supporting the plurality of planetary gears, a first electrical machine directly coupled to the sun gear of the first gear set, a second electrical machine directly coupled to the sun gear of the second gear set, a connecting shaft directly coupling an engine to the ring gear of the first gear set, a driveshaft configured to transport power from the first electrical machine, the second electrical machine, and the engine to a tractive element of the vehicle, and a clutch selectively rotationally coupling the first carrier and the second carrier to the driveshaft when engaged.

A driveline for an electrified vehicle includes an engine, a pump, a first electric motor, a second electric motor configured to drive a tractive assembly of the electrified vehicle, a first clutch positioned between the engine and the first electric motor, and a second clutch positioned between the first electric motor and the pump. With the first clutch engaged and the second clutch disengaged, the engine is configured to drive the first electric motor to generate electricity to charge a battery of the electrified vehicle. With the first clutch disengaged and the second clutch engaged, the first electric motor is configured to drive the pump. With the first clutch engaged and the second clutch engaged, the engine is configured to drive the pump.

A drive system includes a first gear set and a second gear set, each including a sun gear, a ring gear, a plurality of planetary gears coupling the sun gear to the ring gear, and a carrier rotationally supporting the plurality of planetary gears, a first electrical machine directly coupled to the sun gear of the first gear set, a second electrical machine directly coupled to the sun gear of the second gear set, a connecting shaft directly coupling an engine to the ring gear of the first gear set, a driveshaft configured to transport power from the first electrical machine, the second electrical machine, and the engine to a tractive element of the vehicle, and a clutch selectively rotationally coupling the first carrier and the second carrier to the driveshaft when engaged.

A vehicle includes an engine, a drive axle, a multi-mode transmission, and a controller. The multi-mode transmission includes a first gear set having a first planetary gear carrier and a second gear set having a second planetary gear carrier, a first motor/generator coupled to the first gear set, a second motor/generator electrically coupled to the first motor/generator and coupled to the second gear set, a brake selectively limiting movement of a portion of the second gear set, and a clutch selectively rotationally coupling the second motor/generator to the engine. The first gear set is coupled to the engine, and the planetary gear carriers are rotatably coupled. The controller is configured to selectively configure the multi-mode transmission into an active neutral startup mode of operation by engaging the clutch and the brake such that at least one of the first motor/generator and the second motor/generator produces a voltage.

An electrified vehicle includes a front axle, a rear axle, an engine, a pump, a battery, a first electric motor electrically coupled to the battery, a second electric motor electrically coupled to the battery and configured to drive at least one of the front axle or the rear axle, a first clutch positioned between the engine and the first electric motor, and a second clutch positioned between the first electric motor and the pump. With the first clutch engaged and the second clutch disengaged, the engine is configured to drive the first electric motor to generate electricity to charge the battery. With the first clutch disengaged and the second clutch engaged, the first electric motor is configured to drive the pump. With the first clutch engaged and the second clutch engaged, the engine is configured to drive the pump.