Vehicle drive transmission and electrically assisted steering system

A skid-steered vehicle comprising:

• a prime mover;
• a continuously variable transmission (CVT) coupled to prime mover;
• and
• a transmission, the transmission having:
• an input shaft rotatably coupled to the CVT, the input shaft having an input-high-gear and an input-low-gear rotatably selectably coupled thereto;
• an inter-shaft having rotatably coupled thereto an intermediate-high-gear and an intermediate-low-gear, wherein the intermediate-high-gear is intermeshed with the input-high-gear and the intermediate-low-gear is intermeshed with the input-low-gear.
• a wheel-ring having a wheel-drive-gear that is solid with the wheel-ring, the wheel-drive-gear being intermeshed with the intermediate-high gear, a steer shaft in parallel with the input shaft, the steer shaft rotatably driven by a steering motor, wherein the steer shaft carries a steer-gear and a steer-sprocket, the steer-gear and the steer-sprocket being rotatably coupled to the steer shaft, wherein the steer-gear is intermeshed with a drive-steer-gear, and wherein the steer-sprocket is connected to a drive-steer-sprocket via a steer-chain;
• and left and right drive shafts are epicyclically connected to both the wheel-ring and the steer shaft, wherein a drive-sun-gear is solid with and rotates with the drive-steer-gear.