Reversible variable drives and systems and methods for control in forward and reverse directions

A continuously variable transmission (CVT) having a central axis, the CVT comprising:

• first and second traction rings rotatable about the central axis;
• a sun rotatable about the central axis;
• a plurality of planet assemblies configured to transfer power between the first and second traction rings, each planet assembly coupled to the first and second traction rings and the sun, each planet assembly comprising a planet rotatable about a planet axle, the planet axle defining an axis of rotation of the planet, each planet axle capable of being skewed to form a skew angle in a first direction between the central axis and the planet axle and of tilting to form a tilt angle in a second direction between the central axis and the planet axle, the tilt angle defining a transmission ratio of the CVT;
• a first carrier half coaxial with and at least partially rotatable about the central axis, the first carrier half coupled by a plurality of first links to a first end of each of the planet axles;
• a second carrier half coaxial with and at least partially rotatable about the central axis, the second carrier half coupled by a plurality of second links to a second end of each of the planet axles, the first carrier half and second carrier half being rotatable with respect to each other to define an angular position, the first carrier half and the second carrier half being limited in relative rotation with respect to each other to a maximum angular position, a non-zero angular position of the relative rotation of the first and second carrier halves imparting a non-zero skew angle on each of the planet axles, the non-zero skew angle imparting an adjustment to the tilt angle of each of the planet axles, thereby resulting in a change in the transmission ratio of the CVT;
• a plurality of first couplings configured to couple the plurality of first links to the first carrier half;
• and
• a plurality of second couplings configured to couple the plurality of second links to the second carrier half, the plurality of first and second couplings configured to allow the plurality of first and second links to rotate out of plane with the first and second carrier halves to facilitate tilting of the planet axles.