Articulating-link turnable track drive

A single track drive for turning a direction of travel on a surface, comprising:

• a drive wheel;
• a drive motor adapted to be coupled to said drive wheel and configured for rotation of said drive wheel;
• an endless belt having a plurality of segments and configured for both engaging a portion of said drive wheel and yawing motion between adjacent segments of said plurality of segments and relative to said the direction of travel, wherein motion of said endless belt along the direction of travel is dictated by the rotation of said drive wheel, and wherein each segment of said plurality of segments has a leading edge with a central portion protruding tab having an hourglass sleeve with a center sleeve diameter intervening between two hourglass lateral diameters, and a trailing edge with a trailing receptacle, having two pin-supporting sleeves with pin-supporting sleeve diameters, with each central portion protruding tab configured to be fitted into each trailing receptacle such that said plurality of segments are joined by rotatably coupling each central portion protruding tab into each trailing receptacle that is adjacent along said plurality of segments of said endless belt, to enable and support yawing motion between adjacent segments to alter the direction of travel, wherein each coupling that supports yawing motion has a pin configured for pinning two adjacent segments to one another and the center sleeve diameter of the hourglass sleeve is equal to the pin-supporting sleeve diameters and narrower than the hourglass lateral diameters on each side of the protruding tab that are more proximal to the pin-supporting sleeves of the trailing receptacle, which while coupled by the pin, thereby allows the protruding tab to experience yaw motion about the center sleeve diameter when turned by engagement with said drive wheel of said track drive and maintains the center sleeve diameter of the hourglass sleeve aligned co-axially with the pin-supporting sleeves in travel in the direction of travel other than turning;
• a steering device coupled to said drive wheel, said steering device configured for turning said drive wheel relative to the direction of travel by no skid turn, wherein the yawing motion is generated for a portion of said plurality of segments such that only segments of said endless belt engaging the portion of said drive wheel experience the yawing motion in correspondence with turning relative to the direction of travel, while maintaining other segments of said endless belt that contact the surface aligned in the direction of travel;
• a free wheel engaging said endless belt wherein said free wheel rotates in correspondence with motion of said endless belt;
• and
• a tensioning device coupled to said free wheel, said tensioning device configured for moving said free wheel in one of towards and away from said drive wheel to maintain tension in said endless belt between said free wheel and said drive wheel when said drive wheel is turned by said steering device.