Variable output transmission

A transmission comprising:

• an input component configured to rotate a main axle at a rate controlled by a motor of an apparatus;
• a reference control component coupled to the main axle by a floating bearing and configured to rotate at a rate that is independent of the rate at which the input component rotates the main axle;
• a mechanical feedback assembly configured to control the rate at which the reference control component rotates based on a current rotational rate of an output component of the apparatus;
• a reference carrier coupled to the main axle by a floating bearing and configured to rotate about the main axle at a rate controlled by the reference control component, the reference carrier carrying a plurality of planetary gear clusters, each planetary gear cluster being coupled to an input sun gear and an output gear by a planetary shaft that passes through the reference carrier, the input sun gear rotating at the same rate as the input component and the plurality of planetary gear clusters enabling the reference carrier to rotate about the main axle at a rate that differs from a rotational rate of the output gear;
• and
• the output gear configured to cause rotation of the output component of the apparatus.

A transmission comprising:

• an input component configured to rotate a main axle of an apparatus;
• a reference control component coupled to the main axle by a floating bearing and configured to rotate at a rate that is independent of a rate at which the input component rotates the main axle;
• a mechanical feedback assembly configured to control the rate at which the reference control component rotates based on a current rotational rate of an output component of the apparatus;
• a reference carrier coupled to the main axle by a floating bearing and configured to rotate about the main axle at a rate controlled by the reference control component, the reference carrier carrying a plurality of planetary gear clusters, each planetary gear cluster being coupled to an input sun gear and an output gear by a planetary shaft that passes through the reference carrier, the input sun gear rotating at the same rate as the input component and the plurality of planetary gear clusters enabling the reference carrier to rotate about the main axle at a rate that differs from a rotational rate of the output gear;
• and
• the output gear configured to cause rotation of the output component of the apparatus.