Patent ID: 7493976

Claim:
A variable configuration articulated tracked vehicle comprising: a chassis; a pair of right drive pulleys and a pair of left drive pulleys rotatably attached to a right and left side of the chassis, respectively, each pair of right drive pulleys and left drive pulleys defining a right plane and left plane, respectively; a right and a left planetary wheel moveable relative to the chassis such that each of the right and left planetary wheels is in the same plane as the respective right and left planes of the pairs of right and left drive pulleys; a right and a left track belt, each belt extending around the pair of drive pulleys and the planetary wheel on the respective side of the chassis; a right and a left planetary wheel arm assembly operably connecting the respective planetary wheels to the respective sides of the chassis, each planetary wheel arm assembly including a cam attached to the chassis and defining a cam path, a cam follower movable along the cam path and having an end attached to the planetary wheel, and a crank rotatably attached to the chassis, the crank being attached to the cam follower such that the cam follower is moveable relative to the crank, whereby the planetary wheel moves along an elliptical path; a drive means for the right and left track belt; and a means for rotating the crank.