1997 Plymouth Grand Voyager 3.0 V6 auto tranny slipping

I have a 1997 Plymouth Grand Voyager. 3.0 V6 automatic transmission, P/B, P/W, AC.

I drove the van to work 32 miles, no problems ran great. I drove the van home 31 miles and then the van seemed to buck slightly and speed fell off from 50 to 45 I exited and drove at 30 mph for another mile then the van seemed to loose even more momentum. You hit the accelorator and the engine whines but does not move forward in any gear. Goes in reverse just fine. I parked the van and opened the hood and the transmission fluid level is fine but has some air bubbles and smelled like burning. I let the van sit for 20 minutes and started it up and drove fine for about 1/2 mile then same sequence of events.

Once it cools off it drives fine then same thing. Would that be a clog in filter or is module going out? Your advise and tips for repair are most appreciated.