Abstract:
A step less, infinitely variable transmission converting rotational input power to rotational output power using positively engaged mechanics without relying on friction to transmit power and having minimal intermittent motion. The transmission includes a plurality of input chains with drive pins and a rotatable output chain with engagement slots meshing with input pins. The input chains have a plurality of horizontal tracks that control the pins&#39; horizontal position. Precise pin horizontal positions are controlled by another track—a synchronizing track. The synchronizing track is controlled by any combination of high speed electronics, computers, linear actuators, and servo motors. In another embodiment, mechanical gears and mechanical calculators can govern the synchronizing tracks. The constant need to synchronize elements with intermittent motion, and not relying on friction to transmit power place the transmission most closely with the ratcheting type of continuously variable transmissions, despite the use of ratchets.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    Not Applicable 
       FEDERALLY SPONSORED RESEARCH 
       [0002]    Not Applicable 
       SEQUENCE LISTING OR PROGRAM 
       [0003]    Not Applicable 
       BACKGROUND-FIELD 
       [0004]    This application relates to mechanical transmissions, specifically to infinitely variable transmissions. 
       BACKGROUND-PRIOR ART 
       [0005]    A mechanical transmission device is needed to select optimal mechanical advantage and gear reduction between a rotary input power, such as a motor, to an output power application, such as a wheel. Power developing devices have optimal efficiency rotation speeds, maximum power speeds, and limited operating ranges for angular speed. This will differ greatly from applications, such as wheels forcing vehicles along ground. In order to accommodate a mechanical power device for optimum efficiency, speed range, torque and power requirements, the transmission is required to adjust gear ratios between the engine and mechanical load, such as a wheel. 
         [0006]    Infinitely variable transmissions using friction to transmit power are typically useful in limited scope. Their applications are found in very few instances where any combinations of torque, power, and speed would not prohibit their use. The need for any of the following: high speed, torque or power would necessitate a positively engaged transmission, that is, a transmission that does not rely on friction to transmit power, with a predetermined small set of fixed gears. For example in earth moving equipment, the torque requirements are very high and would eliminate possibilities of using variable transmissions where power is transmitted through friction using belts and pulleys. An infinitely variable transmission with positive mechanical engagement that can operate at higher torque, speed and power compared with transmissions that use friction to transmit power would be highly desirable. 
       SUMMARY 
       [0007]    The invention provides a solution to the above requirements, by converting input rotary power to output rotary power with infinitely variable gear ratios that can deliver high speed, torque, and power. The input axle has a rotation sensor attached to allow an electronic or mechanical computer to determine the rotational position of the input axle. The rotational position of the input axle is required to determine exactly when resynchronization of the input chains is required. The input axle&#39;s power is split through a gear assembly to a plurality of axles that drive the input chains. A plurality of input assemblies is required in order to keep continuous power to the output, as the drive pins engage and disengage with the output chain engagement slots. The input chains power the drive pins. The drive pins have a degree of freedom with respect to the input chains, as they can slide horizontally with little friction in slots. The horizontal position of the drive pin is governed with a synchronizing track. The drive pins ride along the synchronizing track much like a roller coaster car on a track, with low friction movement using bearings. As the input chain advances the drive pins along the output chain slots, the synchronizing track forces the drive pins to move along a very precise straight line, along the path of the chain. The synchronizing track and the input chain work together to precisely position the drive pin. The synchronizing track&#39;s position is precisely controlled in one embodiment using a high speed robotics servo motor, capable of accurately and quickly positioning the track to the desired location to allow precision meshing with the output chain engagement slots. In another embodiment, the synchronizing position can be governed with a mechanical means that can perform analog computations such as multiplication, addition, etc. 
         [0008]    The output chain has equally, closely, spaced engagement slots that the drive pins run through. The engagement slots attached to the output chain also ride in a track using low friction bearings in order to govern precise movement around the chain path. As the input chain advances, powered ultimately from the input axle, and driving the drive pin in a straight line, this motion will force an advancement of the output chain as the drive pin glides along the output chain engagement slot. The output chain can rotate. The plane of rotation (ie x-z plane) is the same as the plane for the input chains (ie x-z plane). The precise angle of rotation of the output chain is determined through mechanical means, in one embodiment, a highly precise servo (herein called the gear ratio servo) driven worm gear drives a rotatable housing, or parallelogram setup of levers, that house the output chain. The gear ratio servo&#39;s actions are determined preferably by computer control, to allow for human operator attention on operating the vehicle or machinery. However, more precise control can be acquired by the operator if needed. 
         [0009]    The ratio of the speed from input chain to output chain depends on the angle of the output chain with respect to the input chain. For example when the output chain engagement slots are precisely parallel with the input chain motion, the effective gear reduction is infinite, as any movement from the drive pin will result in the output chain not moving. This would be equivalent to the ‘park’ gear on an automatic transmission. As the angle of the output chain is increased from 0 with respect to the input chain, the gear ratio from input to output will also increase, up until the maximum angle for the output chain is set. 
         [0010]    The output chain&#39;s axle rotates with the output chain assembly. A mechanical means is necessary to connect the output chain&#39;s axle to a fixed axle. In one embodiment, the output axle is connected to a constant velocity joint, with bend center exactly in line with the output assembly&#39;s axis of rotation, with the other side of the constant velocity joint connected to an axle held rotatable. In another embodiment, the output chain&#39;s axle is connected with a series levers on pivots and either gears or gears and chains that will allow the output chain to rotate freely and also be connected to a fixed axle. Another embodiment uses a large planetary gear that rotates on the same plane as the output chain assembly, and the output chain&#39;s axle will drive the planetary gear through a system of gears and axles, with another fixed axle meshing with the planetary gear. 
         [0011]    As with most all transmissions, this invention requires particular attention to accuracy of components fitting together and moving very accurately with no undesired degrees of freedom. Most all parts must move in a perfect line, circle, or track. Computer controlled servo motors must be fast, accurate, and in some circumstances power the output briefly. In addition, sensors such as rotation sensors must be precise enough and have the required response time to accurately report axle speed and rotation to the transmission computer. 
         [0012]    The preferred embodiment makes use of an electronic transmission computer that can read sensor values, such as rotation sensors, and also control servo motors. The transmission computer described is capable of running a plurality of program threads, or loops, simultaneously, and is fast and accurate enough to perform mathematical operations to accurately control moving components. The servo motors described are robotics stepper motors, their capabilities include accurate axle positioning, speed control, and contain rotation sensors for internal position feedback. The robotics stepper motors have very flexible operation, including stepping tiny increments at a time, or free running at different speeds and directions. 
         [0013]    Different sets of modes can be applied for each application. For example, in a passenger automobile, a mode such as economy can be employed, where gear ratios are purposely kept as high as possible without stalling an internal combustion engine. Another mode such as an invisible mode, where the engine is kept as quiet as possible and gear shifting rates are kept low can be applied. Another mode, high power mode, where higher engine rpms at idle and cruise are maintained in anticipation of quickly increasing engine speed to maximum power rpms can be applied. A standard mode should be applied as a default, that is an optimal blend of characteristics that would suit an average driver well. These are a few examples of many different modes that can be applied for an application. An operator of a machine containing this transmission can start the machine in a default mode, or the last mode applied when the machine was turned off. The user could also choose from a palette of different modes depending on circumstances or mood. An advanced operator could specify a blend of several different modes, or perhaps even tweak each parameter for a set of custom modes. These modes could be kept within the transmission computer and adjusted with a control panel, or specified and or controlled through another computer within the vehicle, such as a main computer vehicle or a user interface computer. 
     
    
     
       DRAWINGS 
       Figures 
         [0014]      FIG. 1  is a ¾ perspective view of an embodiment of a continuously variable positively engaged transmission. 
           [0015]      FIG. 2  is a ¾ view of the output assembly without the engagement slots to expose inner parts. 
           [0016]      FIG. 3  is a front view of the input assembly. 
           [0017]      FIG. 4  is a ¾ perspective view of the detail of the input assembly. 
           [0018]      FIG. 5  is a detail of a servo assembly. 
           [0019]      FIG. 6  is a detail of a pin assembly. 
           [0020]      FIG. 7  is a front view showing the transmission in a forward gear. 
           [0021]      FIG. 8  is a front view showing the transmission in gear  0 . 
           [0022]      FIG. 9  is a front view showing the transmission in a reverse gear. 
           [0023]      FIG. 10  is a detail of a chain assembly. 
           [0024]      FIG. 11  is a detail of an embodiment showing 4 servo assemblies per track. 
           [0025]      FIG. 12  is a flowchart for the transmission computer gear ratio adjustment 
           [0026]      FIG. 13  is a flowchart for the track synchronization transmission computer logic 
           [0027]      FIG. 14  is a flowchart for the input rotation counting loop transmission computer logic 
           [0028]      FIG. 15  is a detail of an alternate embodiment of a chain assembly 
           [0029]      FIG. 16  is an electrical schematic for the transmission electrical power 
           [0030]      FIG. 17  is an electronic layout for the transmission components 
           [0031]      FIG. 18  is a diagram explaining track adjustments during gear ratio changes 
           [0032]      FIG. 19  is a front view showing an embodiment for gear ratio change components. 
       
    
    
     DETAILED DESCRIPTION 
       [0033]    Referring to the drawings, a preferred embodiment of the present invention is described. A single output assembly and a single input assembly is shown for simplicity. Another embodiment contains a plurality of input assemblies and a plurality of output assemblies. All moving parts are held rotatable or moveable with bearings to minimize friction unless stated otherwise, this includes but is not limited to: axles, worm gears, rotating rings, rotating flanges, moving guide rails and rollers in tracks. 
         [0034]    Referring particularly to  FIG. 1  and  FIG. 2 , an input assembly main support  14 , and an output assembly outer ring  12  are both fixed to the same rigid housing.  FIG. 1  shows an embodiment of the transmission, including the one output assembly and one input assembly.  FIG. 2  shows an output assembly without the engagement slots to expose inner parts. The output assembly includes a plurality of engagement slots. Engagement slots  31   a ,  31   b , and  31   c  in  FIG. 1  are labeled and shown attached to the chain assemblies  47   a  and  47   b . Each engagement slot is attached to the two chain assemblies  47   a  and  47   b . One end of each engagement slot attaches to a link on chain assembly  47   a , and the other end is attached to a link in chain assembly  47   b . Input axle  16  is the main transmission power input, and is held rotatable in the housing. Dynamo  25  is attached to axle  16 . Dynamo  25  is used to convert mechanical power from axle  16  to electrical power for operating servo assemblies at high power, and also for powering the transmission computer and rotation sensors and other electronics. Rotation sensor  24  is attached to axle  16 . Rotation sensor  24  is used to measure angular speed and rotation. Its measurements are sent directly to the transmission computer for controlling the transmission. Input power to axle  16  directly drives input assembly  22 . Input assembly  22 &#39;s input pins, shown in  FIGS. 3 and 4 , slide precisely and vertically within, and power the engagement slots  31   a ,  31   b  and  31   c  in output assembly  30 . 
         [0035]    Inner ring  28  is held rotatable in container ring  12 . Inner ring  28 &#39;s rotation is set using worm gear  40 . Worm gear  40  is attached to inner ring  28  and outer ring  12  through pivots attached to flanges  42   a  and  42   b . Worm gear  40  is also attached to constant velocity joint  38 , whose bend axis is in line with pivot for flange  42   b . The other side of constant velocity joint  38  is attached to servo motor  36 . The transmission computer directly controls servo motor  36  to set transmission gear ratios. The range of gear ratios, and the small increments of ratios between each, are dependent on precision of components. For example gear ratios in range of 2:1 (+2) forwards to park (0), and to reverse 2:1 (−2), with an increment of 1/1000 are possible with current technology. Thousands of gear ratios are possible, and even hundreds of thousands or many more are also possible with this type of transmission. 
         [0036]    Flange  48   a , flange  48   b  and flange  48   c  are rigidly connected to output assembly inner ring  28 . Axle  46   a  is held rotatable within flange  48   a  and flange  48   c . Axle  46   b  is held rotatable within flange  48   b  and flange  48   c . Chain assembly  47   a , and chain assembly  47   b , rotate around axle  46   a  and axle  46   b . Rotation sensor  62  is attached to axle  46   a.    
         [0037]    Referring particularly to  FIG. 2 , this embodiment shows output axle  50  is held rotatable within the transmission housing. Output axle  50  is connected to axle  46   a  through a system of a constant velocity joint  52 , axle  54 , gear  60 , gear  58  and gear  56 . Axle  54  is held rotatable within support member  61 . Gear  60  is attached to axle  54 . Gear  58  is held rotatable within support member  61 . Gear  56  is attached to axle  46   a . Gear  58  meshes with gear  56  and gear  60 . Output axle  50  is the transmission output. Output power can be taken directly from axle  50  or directed through any rotary mechanical means. Constant velocity joint  52  has a bend axis location identical to inner ring  28 &#39;s axis of rotation, allowing rotation of the output assembly to not interfere with power transmitted to axle  50 . 
         [0038]    Referring particularly to  FIG. 3  and  FIG. 4 , this embodiment shows servo assemblies  80   a ,  80   b ,  80   c , and  80   d  rigidly attached to support member  14 , and thus stationary to the transmission housing. Track  72   a  is attached to the output of servo assemblies  80   a  and  80   b . Track  72   a  is attached to the output of servo assemblies  80   c  and  80   d . Pin carriers  74   a  and  74   b  ride along track  72   a . Pin carriers  74   c  and  74   d  ride along track  72   b . Pin carriers also slide along bars attached to chain assemblies  78   a  and  78   b . Pin carrier  74   a  slides along bar set  76   a . Pin carrier  74   c  slides on bar set  76   c . Bar sets  76   a ,  76   b ,  76   c , and  76   d  are connected to chain assemblies  78   a  and  78   b . Using this arrangement servo motors control the horizontal position of pins for synchronization into the engagement slots, and the input axle  16  powers the pins vertically around the chain assemblies. 
         [0039]    Referring particularly to  FIG. 5 , servo motor  90  is attached to counterweight  96  through worm gear  94 , rigid slide bar  92   a  and rigid slide bar  92   b . The opposite side of the servo motor from the counterweight, another mechanical load is attached, for example a pin carrier track. As servo motor  90  rotates worm gear  94 , a ball screw mechanism between worm gear  94  and counterweight  96  will force counterweight  96  to move closer or further away from the servo motor in a straight line. Likewise, another ball screw mechanism between the worm gear and the mechanical load will force the mechanical load to move towards and further away from the servo motor as the worm gear rotates. The use of the counterweight is to minimize momentum forces as the servo controls the mechanical load. Rigid slide bars are used to prevent counterweights and mechanical loads from spinning and to move in a straight line only. 
         [0040]    Referring particularly to  FIG. 6 , roller pin  100  is mounted to housing  102  through bearings. Roller  106  and roller  108  are mounted to housing  102  through bearings. Bar  104   a  and bar  104   b  are attached to housing  102  through bearings. The purpose of using a plurality of bars is to ensure the pin assembly moves without rotation in a straight line in the direction of bars  104   a  and  104   b . The rollers  106  and  108  can force the pin assembly to precisely follow a track. The direction of the track in between rollers  106  and  108  and the direction of bars  104   a  and  104   b  are at 90 degree&#39;s angle. Using this arrangement, the precise 2 dimensional position of the pin assembly can be set by changing the track position (x dimension or horizontal) and by changing the bar position (y dimension or vertical). 
         [0041]    Referring to FIGS.  7 , 8  and  9 , various configurations of the transmission in different gear ratios are shown.  FIG. 7  shows the transmission in a forward gear.  FIG. 8  shows the transmission in gear  0 . Gear  0  would be similar to a ‘park’ gear in some automatic transmissions, where the wheels are locked to not move, and the engine is free to rotate, while the wheels are locked from rotation.  FIG. 9  shows the transmission in a reverse gear. In between the forward gear in  FIG. 7 , and the reverse gear in  FIG. 9 , an infinite number of gear ratios are possible from the forward ratio, down to 0, and past 0 to the negative gear ratios. The number of gear ratios possible is limited only to the resolution of servo motors, sensors, mechanical accuracy and computer accuracy. 
         [0042]    Referring to  FIG. 10 , a chain assembly is described. The chain consists of a plurality of chain link elements, such as link element  128 . A plurality of rollers rotate in each chain link element. The embodiment in  FIG. 10  shows 2 rollers per chain link element, one sprocket roller  124 , and one track roller  126 . Sprocket rollers, such as roller  124  mesh with sprockets  120   a , and  120   b  as the chain progresses. Track rollers, such as roller  126  roll between inner track  122   b  and outer track  122   a . Tracks  122   b  and  122   a  are fastened rigidly to the input main support member  14  in  FIG. 2 . Using this arrangement of sprockets, chain links, sprocket rollers, tracks and track rollers, an axle powering a sprocket will power the chain link elements around the track in a precise, smooth and low friction manner. 
         [0043]    As input power rotates input axle  16 , the transmission computer reads the speed and position of axle  16  through rotation sensor  24 . Axle  16  powers chain assemblies  78   a  and  78   b . And thus powers pin assemblies  74   a ,  74   b ,  74   c  and  74   d  vertically around the chain assemblies  78   a  and  78   b . The transmission computer calculates the location of all pin assemblies using the rotation sensor  24 . As pin assemblies move around the chain assemblies  78   a  and  78   b , they engage and disengage with engagement slots in the output assembly. As the pin assemblies disengage from the engagement slot, the computer calculates the horizontal position needed to synchronize for the next engagement when the pin assembly makes contact with the engagement slots again. After calculating the next horizontal position, the transmission computer controls the servo assemblies  70   a ,  70   b ,  70   c  and  70   d  to position the pin assemblies precisely. 
         [0044]    The pin assemblies are held horizontally fixed with the servo assemblies. The pin assemblies moving vertically thus force the engagement slots horizontally, progressing the output chain assemblies  47   a  and  47   b  smoothly and continuously. A plurality of pin assemblies are required to provide constant positive engagement from input axle  16  to output axle  50  since each pin assembly powers the engagement slots only momentarily. 
         [0045]    The range of horizontal movement for the tracks must be determined for the application. A minimum range should be first determined as being the distance between engagement slots, since this is the distance a pin assembly would need to move from one engagement slot to the next. Extra horizontal track distance range should be calculated as that needed during dynamic gear ratio change rates as described below. 
         [0046]    Using one output assembly, it can be deduced that at minimum, 3 pin assemblies must be used to ensure constant engagement. The number of pin assemblies should be optimized for each application, for example a light duty transmission could use 3 pin assemblies, however high power transmissions or high speed transmissions would benefit from using more to provide enough torque on the output axle. Most applications would benefit from using 2 pin assemblies per track, 180 degrees apart on the track, as this would balance the momentum forces of the pin assembly&#39;s mass moving around the track. Another application, requiring higher rpm input and output axle angular speed, may benefit from using only 1 pin assembly per track, and using a counterweight on the opposite link of the track to balance momentum forces. 
         [0047]    The speed ratio between the input pin assemblies and engagement slots is equal to the sin of the angle of the engagement slots. Since the engagement slots are ultimately connected to and have the same angle as inner ring  28 , the gear ratio for the transmission from input axle  16  to output axle  50  is a factor of sin(α), where α is the angle of rotation for inner ring  28 . The final gear ratio of axle  16  to axle  50  is also dependent on any other gear ratios such as gear ratios from chain links and sprocket teeth, and any connective gears such as gears  56 ,  58 , and  60 , etc. 
         [0048]    In high torque conditions on input axle  16  and output axle  50 , the transmission computer can use rotation sensor  62  to help measure the location of the output chain assemblies  47   a  and  47   b . In another embodiment, multiple rotation sensors can be attached near the point where chain assemblies  47   a  and  47   b  attach to axles  46   a  and  46   b.    
         [0049]    Referring to  FIG. 1  the specifications for gear ratio changing is entirely application dependent. A great variety of gear ratio changing implementations are possible. In some circumstances, the servo motors will add to the final output power of axle  50 . For this reason, a careful selection of servo motor speed and power, and the mechanical advantages of attached gears and other mechanical parts is necessary. A required rate of change for gear ratios for the application should be determined across torque and rpm graphs. Using this information, the proper selection of servo motors and connected mechanical parts can then be found. 
         [0050]    Referring to  FIG. 12 , an overview of the transmission computer logic for the gear changing loop is described. The transmission computer runs this loop at all times during operation. The transmission computer finds the absolute value of the difference of the desired ratio and current gear ratio with the gear ratio servo motors minimum increment. If the difference is greater, the transmission computer then calculates the new track positions required to change the gear ratio. If the tracks can be changed, then all servo motors changing gear ratios and track positions are adjusted. The speed of the adjustments would take in account any user mode applied to the transmission, such as high power or economy modes. Notice that this entire gear ratio loop runs forever along with the other loops running in the transmission computer. There is a nested loop that waits forever until the computer calculates a gear ratio servo adjustment is needed, and that the tracks can be adjusted to accommodate the new gear ratio change. If either of these conditions are not met, then the gear ratio change will not occur. A transmission designed with enough overhead for servo track horizontal range and well designed computer logic should be able to provide for tracks that can be changed as needed on a constant basis, or nearly constantly as a new gear ratio is requested. 
         [0051]    A simple gear ratio changing transmission will be described first. The simple implementation, uses two servo controlled tracks, with 4 pin assemblies, two pin assemblies per track. The transmission computer will step a servo motor controlled track only when it is not engaged with the engagement slots. The other track&#39;s position will be held constant. Since a speed increase on the output axle will occur during a change to a higher gear ratio occurs, the servo motor controlling inner ring  28 &#39;s position will be required to add its own power minutely to the output axle  50 , depending on the actual gear ratios of the servo motor, worm gear, etc. In this simple implementation, the gear ratio rate of change will not be constant, as actual changing will only occur while one input track is not engaged. While both tracks are momentarily engaged with the engagement slot, the gear ratio changing must pause until only one pin assembly is engaged with the engagement slot. When one pin moves beyond the engagement slot&#39;s range, the transmission computer can resume gear changing. And also at this time, the track that is not engaged can be adjusted for the next pass in the engagement slots. A simple model for the new position for a disengaged track can be calculated as the ‘Track Synchronization’ formula: 
         [0000]      servo position=Modulo(( f *sin(α)+(other servo position)),track horizontal range)
 
         [0000]    Where constant factor ‘f’ is dependent on the geometry of an application. In fact this relatively simple formula serves as the basis for all transmissions regardless of the particular implementation. It may be required to add other factors, and adjust original factors to accommodate gear ratio rate of change. The term ‘other servo position’ will have to be determined when more than two pin assembly tracks are present in the transmission. With more than two tracks are present in the system, the tracks may be viewed as elements along a circle, where each track has a neighbor to its left and right. Each track would use the track on its left as the previous track. Anticipation may be necessary as to the track position required for the future gear ratio of the transmission when the track becomes engaged. 
         [0052]    Referring to  FIG. 13 , the track synchronization flowchart loop is described. The transmission computer will run one of these loops for each track present in the transmission. The entire loop uses two smaller loops that wait until the track is engaged, and then disengaged. The reason for this is to program an edge activation, where a track synchronizes, or adjusts for the next engagement slot in one quick move immediately after the track is disengaged. This is to provide more control over the system, to quickly synchronize the track as soon as possible to provide for higher input and output axle rpms. Also, the computer will not try to adjust a track for synchronization many times while the track is disengaged, as only one synchronization is required during each revolution of the track. 
         [0053]    Now a more complex gear ratio changing will be described. A transmission with the capability of changing gear ratios without interruption requires that all computer controlled servo motors are adjusted simultaneously during the gear ratio change. As servo motor  36  changes the rotation of inner ring  28  and all attached components, all servo assemblies controlling track positions must be adjusted simultaneously to precisely fit all pins in the engagement slots. These requirements would be in addition to the simple gear ratio changing position described earlier. This more complex transmission with constant gear ratio change means the track servo assemblies now must meet higher power and speed requirements, as a factor of the gear ratio rate of change multiplied by the transmission power. Also since all tracks must be changed simultaneously, a new real time anticipation of all track positions, ranges, and predicted gear ratios must be calculated to provide the most uninterrupted gear ratio change possible. A transmission&#39;s control algorithms can become very complex as real time control of more dynamic parts is needed. 
         [0054]    Referring to  FIG. 14 , the input rotation counting loop is described. One loop per track can be used. All the loop elements are redundant, except the two elements: “Compare track phase with disengage range, and write the result to memory as boolean ‘disengaged’”, and “Calculate modulo (track phase multiple, track phase single) as track phase”. Using one loop can be used for all tracks, and duplicating the two non redundant elements once for each track. Most any type of rotation sensor can be used with this transmission, as long as it can respond quickly and accurately enough with a useful rotation value. The diagram describes a rotation sensor that responds with analog values when the transmission computer requests a reading. The values for this sensor will range from a low number to a high number, many times per revolution of an axle it is attached to, in this case axle  16 . The entire loop waits until the rotation sensor value is below a lower threshold, then waits until it is over an upper threshold value. Using these two inner loops, the computer can run an edge activated block of code, once per time as the rotation sensor value moves from low to high. On the rising sensor value edge, the computer increments the rotation counter. Using the counter value, a modulo of this counter is calculated, as the track phase multiple. It is crucial that this modulo results in an exact integer number of rotations for a track. The reason for this is that any approximation, however slight, will eventually result in the transmission computer losing the track phase over time. To avoid losing position information, therefor the track period least common multiple must be the smallest number that would result in no creeping errors resulting from an approximation. This can be determined by finding the least number of exact integer rotations of the input axle  16  that will result in an exact number of rotations of the tracks. This can also be verified by calculating all the gear ratios from input axle  16  all the way to and including the tracks, including the gear ratio of chain assemblies using the number of chain links and teeth on sprockets. 
         [0055]    There are many variations of the preceding description to accommodate different requirements. The variations typically encompass changing a few components, or changing the number of components to balance different amounts of economy, torque, speed and power. 
         [0056]    Referring to  FIG. 11 , an embodiment comprising input assemblies with 4 servo assemblies per track, versus  2  per track is possible to accommodate high torque. Four servo assemblies  70   e ,  70   f ,  70   g  and  70   h  are arranged in a rectangle, placed as far apart as possible on the track to ensure the track will not rotate or bend as the pin forces the engagement slot to move. Using four servo assemblies should minimize rotations in all 3 dimensions, controlling the track  72   a &#39;s only degree of freedom, horizontal movement. 
         [0057]    Another embodiment possible where instead of 2 pin assemblies per track, a single pin assembly and a counterweight at the opposite side are used. The purpose of using a single pin assembly would be to accommodate higher rpms for input axle  16  and output axle  50 , while using the same speed servo assemblies  80   a ,  80   b ,  80   c  and  80   d . Higher speed servo assemblies can also accommodate higher transmission rpms with axles  16  and  50 . 
         [0058]    Referring to  FIG. 15 , another embodiment for track assemblies is possible. Only one track  142  is used in this embodiment. A plurality of rollers, such as  144   a , mesh with sprockets  140   a  and  140   b . A plurality of rollers such as  144   b  rolls along the outside of track  142 . A plurality of rollers such as  144   c  rolls on the inside of track  142 . Using three rollers per chain link will further reduce friction and increase accuracy of the chain link movement. A plurality of chain links such as  146  have a ‘T’ shaped half where inner rollers such as  144   c  are attached. Viewing  FIG. 15 , a triangular pattern of rollers can be seen, where inner rollers are between the two outer rollers on each chain link. This triangular arrangement is very stable, and prevents unwanted movements of each link, keeping each link in a very straight line between each sprocket, providing for highly accurate motion required for the transmission. This embodiment will slightly increase the complexity and size of the transmission, but will improve the lifespan, efficiency, and accuracy of the transmission. The arrangement of rollers on each link will determine the shape of the tracks. The tracks must be made to fit the motion of the chain links, which are straight lines between sprockets, and circular around the sprockets. The inner and out edges of the tracks would not only differ in size but also in shape to guide the links with rollers in the motion described. 
         [0059]    Referring to  FIG. 16 , an electrical schematic for power distribution is described. Electric node  160   b  represents an external ground, such as a vehicle ground. Node  160   a  represents an external voltage source, such as a vehicle positive power connection. Dynamo  162  is attached to input axle  16 . Rectifier bridge  164  rectifies dynamo  162 &#39;s output. Capacitor  168  and regulator  166  provide a regulated dc voltage from rectifier  164 . Diode  170   a  provides power from regulator  166  to node  160   c . Regulator  172  and capacitor  174  provide for delivery of highly regulated power to the transmission computer. Diode  170   b  provides power to node  160   c  from node  160   a . Diodes  170   a  and  170   b  both provide power to  160   c  but at different times. The transmission computer can read voltage of node  160   c  to determine if powering a plurality of servo motors should be paused if necessary voltage levels are not present, as further current draw from servo motors may reduce node  160   c  to undesired levels. During initialization, such as a driver turning on a vehicle, battery power is ultimately used to pull diode  170   b  voltage high, and subsequently power node  160   c , the plurality of servos, the transmission computer, and regulator  172 . During initialization, the transmission computer checks that the transmission is in an idle state, such as gear ratio zero, or ‘park’ to prevent the vehicle lurching forward accidentally. If the transmission is not in gear zero, or some predetermined start gear, the computer will adjust all servos to set the gear ratio. The transmission computer will relay this information to an external computer, such as a main vehicle computer, that the gear ratio is correct, and that starting a vehicle main engine is now safe. As input axle  16  rotates from an external source, such as a vehicle engine, electric power transmission to diode  170   a  provides more voltage that the voltage from diode  170   b , effectively reducing current through diode  170   b  to zero. Using this setup described, as external power source, such as a vehicle main engine, rotates input axle  16 , the dynamo  162  takes over providing power to the servos and transmission computer, instead of an external source such as a vehicle battery. Electrical power generation from mechanical power of axle  16  can become necessary to provide more power to servo motors if needed. As servos are required to briefly and at high mechanical advantage power the vehicle, a great drain on an external power source, such as a vehicles main electrical system, could result in unwanted effects, such as a vehicle power electric system losing regulated power to other vehicle systems such as the main vehicle computer, ignition systems, environment comfort systems, etc. The size and power rating of dynamo  162  is dependent on application. A very high performance system where very fast gear ratio changes are required, may require a higher power dynamo and related components such as regulators and diodes. 
         [0060]    Another embodiment without dynamo  162  is possible. A low power, or economy system, or system requiring low gear ratio change speeds, may not need to convert mechanical power from axle  16  to electrical power. If careful design shows that external power, such as vehicle provided electric power is sufficient to provide peak power to servo motors and the transmission computer, then dynamo  162 , rectifier  164 , regulator  166 , diode  170   a , and capacitor  168  are not required. 
         [0061]    Referring particularly to  FIG. 17 , the electronic data layout of the transmission computer is described. Transmission computer  176  sends and receives data to and from a plurality of servos such as  178  and  180 , and a plurality of rotation sensors such as  184  and  182 . 
         [0062]    Referring particularly to  FIG. 18 , the adjustments for track horizontal positions during gear ratio changes is explained. Changing gear ratios with pins engaged requires great precision, servo motors and attached components must be capable of changing positions within a required tolerance, with required torque and speed as well. The formulas shown calculate the new pin position at time Δt, or after a certain time period. The formulas assume the servo motors and the main mechanical power input (a vehicles main motor for example) are powerful enough to change positions of transmission components within Δt. The transmission computer must be aware of the power limitations of all motors to find gear ratio speed change maximum values. If: 
         [0000]    constant acceleration=a
 
input axle  16  angular speed=r
 
distance (of vehicle, proportional to output assembly distance, or angular rotation of output axle)=d
 
time span=Δt
 
         [0000]      using distance formula:  d= 0.5 *a*Δt*Δtv*Δt    
         [0000]    (x0,y0)=current pin position, x0=track horizontal position, y0=pin vertical position along track
 
Angle R0=current gear ratio
 
(x1,y1)=pin position at new time delta t, y1=y0+Δt*c*r
 
Where c is a constant depending on internal gear ratios of input axle to track, including
 
Sprocket Teeth and number of chain links and any other gear ratios in between
 
Angle R1=new gear ratio, R1=R0+gear ratio rate of change*Δt
 
X1 can be found as:
 
         [0000]      Angle  P 0 =a  tan( x 0 /y 0) 
         [0000]    Use law of sines to find lengths for green rectangle 
         [0000]      Angle  P 1 =a  tan( x 1 ,y 1)=current gear ratio 
         [0000]      Angle  A 1=angle  P 0−angle  R 0
 
         [0000]      Angle  D 1=180−90− A 1=90− A 1
 
         [0000]        b 1=sqrt( x 0 *x 0 +y 0 *y 0) 
         [0000]        d 1/sin( D 1)= b 1/sin(90)= b 1 =a 1/sin( A 1), d 1=sin( D 1)* b 1 
         [0000]        d 2= d 1+ v*Δt+ 0.5 *aΔt*Δt    
         [0000]      ( x 2 ,y 2)=( d 2,0) rotated by  R 1=( d 2*cos( R 1), d 2*sin( R 1) 
         [0000]        R 2 =R 1+90 
         [0000]      Slope  M 2=tan  R 2=tan( R 1+90) 
         [0000]    Using point slope formula: y−y2=M2*(x−x2)
 
Finding the intercept of line yields x1:
 
         [0000]        y 1 −y 2 =M 2*( x 1 −x 2), x 1 −x 2=( y 1 −y 2)/ M 2 ,x 1 =x 2+( y 1− y 2)/ M 2
 
         [0000]        x 1 =d 2*cos( R 1)+( y 1 −d 2*sin( R 1)/tan( R 1+90) 
         [0000]    The new vertical pin position at Δt is: y1=y0+(Δt)*c*input axle speed. The new pin horizontal position is deduced as: x1=d2*cos(R1)+(y1−d2*sin(R1)/tan(R1+90). 
         [0063]    The transmission computer must calculate if x1 falls out of horizontal range for the track before changing gears for all tracks. If any out of range condition exists for any track, then gear ratio change must pause until tracks can be adjusted. Δt should be as close to 0 as possible, limitation to Δt being smaller being speed of the transmission computer, servo motor limitations, and precision of mechanical parts. 
         [0064]    Referring particularly to  FIG. 19 , another embodiment replacing the gear ratio controlling mechanical components flange  42   a , constant velocity joint  38 , flange  42   b  is possible. Worm gear  40  is attached to axle  194  on one end, and axle  192  on the other end. Axle  194  is held rotatable within flange  196 . Axle  192  is held rotatable within flange  190 . Servo motor  36  is attached recessed in outer ring  12 . Servo motor  36  is attached to axle  192  and controls rotations of axle  192 , worm gear  40  and axle  194 . A large ring gear  198  is rigidly attached to inner ring  28 . Gear  198  meshes with worm gear  40 . Using this setup, servo motor  36  controls the rotation of inner ring  28  against outer ring  12 , and thus controls the gear ratio of the transmission. The large amount of friction of worm gear  40  meshing with gear  198  will cause the gear ratio to lock, that is any rotational force of inner ring  28  will not cause worm gear  40  to rotate. Also due to this high amount of friction, servo motor  36  must work extra to overcome the added friction. The friction may be so great in large torque applications, that this embodiment would be impractical, and gear ratio change rates would be very low. Also, the high amount of friction would cause accelerated wear on worm gear  40  and gear  198 , such that regular maintenance of replacing or re machining would be required for worm gear  40  and gear  198 . Using the original embodiment may be required instead. However, this embodiment is particularly sturdy, more precise, and has fewer components. Therefor, a very powerful gear ratio changing servo motor may be required to use this embodiment. 
         [0065]    Another embodiment replacing all electrical components including the transmission electronic computer, rotation sensors and servo motors is possible. Mechanical components to replace the computer, servo motors and sensors are possible. The necessary mechanical components are not shown and would amount to a great increase in overall complexity. An all mechanical embodiment of the transmission would not be preferred or practical in a general application. Electronic calculations and sensors would be much more efficient, more reliable, considerably less massive and have longer life than a mechanical version. However an all mechanical version may be useful as a demonstration model or where electronics would be better replaced with mechanical parts due to environment or other factors. 
         [0066]    Another embodiment using a different number of simultaneous loops is also possible. A transmission computer can run all loops as one much larger loop instead, or any number of loops required to perform the necessary logic and calculations. The programming logic using several simultaneous loops described in  FIGS. 12 ,  13  and  14  are very simple, and programming them would be straightforward. Production, engineering, and modifications to the several loop approach would be simple and easy to modify. Actual performance of multiple loops would be robust and tolerant to introduction to errors in design. However, any number of loops, including just one loop, can also be used, as multiple loops are not required.