An undercarriage configured to support a track chain and to be attached to a machine with an endless track drive, the undercarriage comprising: a plurality of bottom support rollers rotatably attached to the undercarriage including a front bottom support roller defining a front bottom support roller rotational axis and a rear bottom support roller defining a rear bottom support roller rotational axis , and further defining a bottom support roller platform distance measured from the front bottom support roller rotational axis to the rear bottom support roller rotational axis and a roller spacing distance measured from the centerline of one bottom support roller to the centerline of the adjacent bottom support roller ; a front wheel rotatably attached to the undercarriage , defining a front wheel rotational axis ; a rear wheel rotatably attached to the undercarriage , defining a rear wheel rotational axis ; and a track chain including sets of links , each set of links being joined to each other by a track pin or bushing , defining a track pin longitudinal axis or a bushing longitudinal axis and a link pitch distance equivalent to the overall length of one link ; wherein the front wheel rotational axis and the rear wheel rotational axis are positioned vertically above relative to the front bottom support roller rotational axis and the rear bottom support roller rotational axis , and the undercarriage further defines a wheel pitch distance measured from the front wheel rotational axis to the rear wheel rotational axis , and a ratio of the bottom support roller platform distance to the wheel pitch distance ranges from 0.70 to 0.95 and a ratio of the roller spacing distance to the link pitch distance ranges from 0.75 link pitch distance to 1.50 link pitch distances . a plurality of bottom support rollers rotatably attached to the undercarriage including a front bottom support roller defining a front bottom support roller rotational axis and a rear bottom support roller defining a rear bottom support roller rotational axis , and further defining a bottom support roller platform distance measured from the front bottom support roller rotational axis to the rear bottom support roller rotational axis and a roller spacing distance measured from the centerline of one bottom support roller to the centerline of the adjacent bottom support roller ; a front wheel rotatably attached to the undercarriage , defining a front wheel rotational axis ; a rear wheel rotatably attached to the undercarriage , defining a rear wheel rotational axis ; and a track chain including sets of links , each set of links being joined to each other by a track pin or bushing , defining a track pin longitudinal axis or a bushing longitudinal axis and a link pitch distance equivalent to the overall length of one link ; wherein the front wheel rotational axis and the rear wheel rotational axis are positioned vertically above relative to the front bottom support roller rotational axis and the rear bottom support roller rotational axis , and the undercarriage further defines a wheel pitch distance measured from the front wheel rotational axis to the rear wheel rotational axis , and a ratio of the bottom support roller platform distance to the wheel pitch distance ranges from 0.70 to 0.95 and a ratio of the roller spacing distance to the link pitch distance ranges from 0.75 link pitch distance to 1.50 link pitch distances . <EOS>