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Audi A6 3.0L actually uses a linked chain for transmission in its multitronic CVT that can withstand over 200 HP and 200 lbft torque with reliability and it is stated to be faster than a manual in performance.
We actually use a beltless CVT type device in some assembly plants which is known as CARTRAC or the spinning torque tube. The theory behind it is a rotating tube spinning perpendicular to the desired direction of movement. Wheels ride on the tube and change their angle to provide thrust. When the wheels match the orientation or the spinning tube the vehicle sits idle, as the angle increases toward 45 degrees thrust is applied to the vehicle
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