A working machine includes a machine body, a steering device capable of changing an orientation of the machine body, a first wheel on the machine body, a second wheel on the machine body and separated from the first wheel in a machine-body width direction, a rotational difference generator to cause a rotational difference between the first and second wheels and that is a braking device, and a controller configured or programmed to include a first control unit to set a steering angle of the steering device based on a planned traveling route, and a second control unit to control the rotational difference generator based on the planned traveling route to cause a rotational difference between the first and second wheels. Based on the planned traveling route, the second control unit is configured or programmed to cause the braking device to perform setting about braking of either the first or second wheels by performing pumping control.

A working machine includes a machine body, a steering device capable of changing an orientation of the machine body, a first wheel on the machine body, a second wheel on the machine body and separated from the first wheel in a machine-body width direction, a rotational difference generator to cause a rotational difference between the first and second wheels and that is a braking device, and a controller configured or programmed to include a first control unit to set a steering angle of the steering device based on a planned traveling route, and a second control unit to control the rotational difference generator based on the planned traveling route to cause a rotational difference between the first and second wheels. Based on the planned traveling route, the second control unit is configured or programmed to cause the braking device to perform setting about braking of either the first or second wheels by performing pumping control.

In one aspect, the present disclosure is directed to an articulated vehicle. The vehicle may include a device processor and a non-transitory computer readable medium including instructions stored thereon and executable by the device processor for controlling articulation of the vehicle by performing the following steps: utilizing the front drive system to apply drive power to the pair of front wheels; actuating brakes associated with the second front wheel to counteract the application of drive power to the second front wheel; utilizing the rear drive system to apply drive power to the pair of rear wheels; and actuating brakes associated with the first rear wheel to counteract the application of drive power to the first rear wheel.

A track system includes an attachment assembly including at least one of a first pivot defining a roll pivot axis, a second pivot defining a pitch pivot axis, and a third pivot defining a yaw pivot axis of the track system. A frame assembly is disposed laterally outwardly from the attachment assembly and connected to the attachment assembly. The track system further includes at least one actuator for pivoting the frame assembly about at least one of the roll and yaw pivot axes, and at least one monitoring for determining, at least indirectly, at least one of a state of the track system and a ground surface condition. The at least one monitoring sensor is communicating with a track system controller to control the operation of the at least one actuator based on the at least one of the state of the track system and the ground surface condition.

A track system includes an attachment assembly including at least one of a first pivot defining a roll pivot axis, a second pivot defining a pitch pivot axis, and a third pivot defining a yaw pivot axis of the track system. A frame assembly is disposed laterally outwardly from the attachment assembly and connected to the attachment assembly. The track system further includes at least one actuator for pivoting the frame assembly about at least one of the roll and yaw pivot axes, and at least one monitoring for determining, at least indirectly, at least one of a state of the track system and a ground surface condition. The at least one monitoring sensor is communicating with a track system controller to control the operation of the at least one actuator based on the at least one of the state of the track system and the ground surface condition.

A track system includes an attachment assembly, a frame assembly connected to the attachment assembly including at least one wheel-bearing frame member. The track system further has leading and trailing idler wheel assemblies at least indirectly connected to the at least one wheel-bearing frame member, at least one support wheel assembly at least indirectly connected to the at least one wheel-bearing frame member, an endless track extending around the leading idler wheel assembly, the trailing idler wheel assembly, and the at least one support wheel assembly. At least one monitoring sensor connected to the endless track and including an array of sensing devices communicates with a track system controller for determining, at least indirectly, at least one of a state of the track system and a ground surface condition.

A slew drive includes a bushing interfacing with a drive gear. The bushing resists a load from the drive gear. The bushing includes an aluminum bronze alloy with a high strength. A paving machine includes multiple of the slew drives. The slew drives control an angle of a pivot arm and steering of a track. A method of reducing component failure in the paving machine includes determining an angular position error of the slew drive of the track. If the angular position exceeds a tolerance, a rate-of-change of the angular position is found to determine whether the slew drive is rotating. Where the slew drive is not rotating, the slew drive is driven in a reverse direction to unseize the slew drive. A track drive and the slew drive of the pivot are controlled by a control loop. The slew drive may be dithered to steer a trailing pivot.

A slew drive includes a bushing interfacing with a drive gear. The bushing resists a load from the drive gear. The bushing includes an aluminum bronze alloy with a high strength. A paving machine includes multiple of the slew drives. The slew drives control an angle of a pivot arm and steering of a track. A method of reducing component failure in the paving machine includes determining an angular position error of the slew drive of the track. If the angular position exceeds a tolerance, a rate-of-change of the angular position is found to determine whether the slew drive is rotating. Where the slew drive is not rotating, the slew drive is driven in a reverse direction to unseize the slew drive. A track drive and the slew drive of the pivot are controlled by a control loop. The slew drive may be dithered to steer a trailing pivot.

A steerable track system usable with a vehicle that has a chassis, an axle frame extending laterally outwardly from the chassis and having an attachment portion at an end thereof to which the steerable track system is connectable, and a driven shaft extending laterally outwardly from the chassis suitable for driving the steerable track system. The steerable track system has a frame having a cavity defined therein and being operatively connectable to the axle frame so as to be pivotable about a steering axis for steering the track system, and a gear train with components disposed in the cavity. The gear train transmits driving forces from the driven shaft to a driven wheel assembly of a plurality of track-supporting wheel assemblies. An endless track extends around the track-supporting wheel assemblies and is drivable by the driven wheel assembly.

A steerable track system usable with a vehicle that has a chassis, an axle frame extending laterally outwardly from the chassis and having an attachment portion at an end thereof to which the steerable track system is connectable, and a driven shaft extending laterally outwardly from the chassis suitable for driving the steerable track system. The steerable track system has a frame having a cavity defined therein and being operatively connectable to the axle frame so as to be pivotable about a steering axis for steering the track system, and a gear train with components disposed in the cavity. The gear train transmits driving forces from the driven shaft to a driven wheel assembly of a plurality of track-supporting wheel assemblies. An endless track extends around the track-supporting wheel assemblies and is drivable by the driven wheel assembly.