Multi-Speed Orbitless Drive

A multi-speed orbitless drive is disclosed comprising a plurality of central engaging members and one or more carriers. Each engaging member and all carriers rotate at a different rate to simultaneously provide multiple reduction or over-drive ratios. A self-aligning central carrier may be included to minimize cost, complexity and footprint, to reduce friction, and to improve load sharing. A second offset carrier may be included to provide inertial balancing and to reduce internal forces for higher load capacity and power density. The present invention is well suited to applications that require in-line axes and high torque density such as constant mesh automotive transmissions.