A dynamically balanced, tracked robot, which can switch between dynamically balanced (wheeled) operation and tracked operation, can include a body and at least one wheel rotatably mounted to the body. At least one strut can also be mounted to the body so that it extends therefrom, and an idler wheel can be fixed to the distal end of the strut. A track can be slipped over the wheel and that idler wheel, so that the track frictionally engages both the wheel and the idler wheel. The robot can have a defined vertical reference vector and a processor. The processor can have non-transitory written instructions that, when accomplished, cause the vertical reference vector to be parallel with a vector defined by the robot axis and the revised post-installation center of gravity, to continue to allow for dynamic balancing of the newly-tracked robot.

In one aspect of the present invention is provided an attachment device (100) for attachment of a trailing arm (54a) to a track support beam (22) intended to be connected, via said trailing arm (54a), to a center beam (30, 32) or other structural element situated between two track assemblies (21) of a tracked vehicle (10). The attachment device (100) is secured to the track support beam (22) and configured to attach the trailing arm (54a) to the track support beam (22) via an axis (X2) running above and substantially centrally along an upper side of the track support beam (22), in the longitudinal direction of the track support beam. In this way, a robust, structurally strong, suspension-admitting attachment device that is easy to manufacture and assemble is achieved. In another aspect of the invention is provided a tracked vehicle (10) comprising such an attachment device (100) and in a further aspect of the invention a method of manufacturing a track support beam (22) comprising such an attachment device (100).

In one aspect of the present invention is provided an attachment device (100) for attachment of a trailing arm (54a) to a track support beam (22) intended to be connected, via said trailing arm (54a), to a center beam (30, 32) or other structural element situated between two track assemblies (21) of a tracked vehicle (10). The attachment device (100) is secured to the track support beam (22) and configured to attach the trailing arm (54a) to the track support beam (22) via an axis (X2) running above and substantially centrally along an upper side of the track support beam (22), in the longitudinal direction of the track support beam. In this way, a robust, structurally strong, suspension-admitting attachment device that is easy to manufacture and assemble is achieved. In another aspect of the invention is provided a tracked vehicle (10) comprising such an attachment device (100) and in a further aspect of the invention a method of manufacturing a track support beam (22) comprising such an attachment device (100).

A tractor includes a frame including an axle, the axle including an axle shaft and a beam member. A cab is mounted to the frame, the cab including controls for controlling the tractor. A ground-engaging mechanism coupled to the axle, the second ground-engaging mechanism including a track assembly. The track assembly includes an undercarriage assembly, a carrier housing, a ring gear, and a track, where the carrier housing includes a pivot arm for pivoting coupling to the undercarriage assembly. The ring gear defines an outer diameter, and the axle shaft and beam member are adjustably coupled to the carrier housing at a location inside the outer diameter.

A tractor includes a frame including an axle, the axle including an axle shaft and a beam member. A cab is mounted to the frame, the cab including controls for controlling the tractor. A ground-engaging mechanism coupled to the axle, the second ground-engaging mechanism including a track assembly. The track assembly includes an undercarriage assembly, a carrier housing, a ring gear, and a track, where the carrier housing includes a pivot arm for pivoting coupling to the undercarriage assembly. The ring gear defines an outer diameter, and the axle shaft and beam member are adjustably coupled to the carrier housing at a location inside the outer diameter.

A replacement mobility assembly for a walk-behind, powered device (10) may include first and second drivable components, a mobility assembly frame, and an adaptation assembly. The powered device may be provided with an original mobility assembly (40) that is to be removed from coupling with a drive assembly and a chassis (15) of the powered device prior to installation of the replacement mobility assembly. The first and second drivable components may each be of a different type than corresponding drivable components of the original mobility assembly. The first and second drivable components may be operably coupled to the mobility assembly frame. The adaptation assembly may be configured to enable the mobility assembly frame to be operably coupled to the chassis and the first and second drivable components to be operably coupled to the drive assembly.

A replacement mobility assembly for a walk-behind, powered device (10) may include first and second drivable components, a mobility assembly frame, and an adaptation assembly. The powered device may be provided with an original mobility assembly (40) that is to be removed from coupling with a drive assembly and a chassis (15) of the powered device prior to installation of the replacement mobility assembly. The first and second drivable components may each be of a different type than corresponding drivable components of the original mobility assembly. The first and second drivable components may be operably coupled to the mobility assembly frame. The adaptation assembly may be configured to enable the mobility assembly frame to be operably coupled to the chassis and the first and second drivable components to be operably coupled to the drive assembly.

A rotating assembly for a machine is disclosed herein. The rotating assembly includes an annular support structure and a shaft assembly. The annular support structure includes a bore therethrough and protrusion extending helically around a portion of the bore. The shaft assembly includes a shaft and a collar coupled to the shaft. The collar includes a plurality of grooves located at the outer surface of the collar. The collar is positioned within the bore of the annular support structure such that the plurality of grooves are adjacent to the protrusion. As the annular support structure rotates, the protrusion rotates and is configured to move debris and mud out of the rotating assembly.

A track system for a vehicle having a rear swing arm that is movable between a compressed suspension position and an extended suspension position. The track system has a frame and a dynamic traction device. The frame is pivotably attachable to the swing arm. The dynamic traction device has at least two elongate portions, one of which is movable relative to the other between a retracted position and an extended position and biased toward the retracted position. In use, the elongate portions interconnect the vehicle and the frame. When the vehicle is lifted off terrain, during at least a part of a movement of the swing arm from the compressed suspension position toward the extended suspension position, the dynamic traction device applies a torque to the frame and thereby changes a longitudinal angular position of the frame counter-clockwise relative to a left side of the vehicle.

A track system for a vehicle having a rear swing arm that is movable between a compressed suspension position and an extended suspension position. The track system has a frame and a dynamic traction device. The frame is pivotably attachable to the swing arm. The dynamic traction device has at least two elongate portions, one of which is movable relative to the other between a retracted position and an extended position and biased toward the retracted position. In use, the elongate portions interconnect the vehicle and the frame. When the vehicle is lifted off terrain, during at least a part of a movement of the swing arm from the compressed suspension position toward the extended suspension position, the dynamic traction device applies a torque to the frame and thereby changes a longitudinal angular position of the frame counter-clockwise relative to a left side of the vehicle.