Suspension system for a tracked vehicle

An undercarriage for a tracked vehicle comprising:

• a rigid frame;
• a main drive wheel mounted to and extending outward from the rigid frame, the main drive wheel having a main drive wheel axis;
• a walking beam having a first section and a second section is pivotally coupled to the rigid frame by a walking beam pivot which defines a walking beam pivot axis;
• an angled first arm is pivotally coupled to the first section of the walking beam by an angled arm pivot which defines a angled arm pivot axis, the angled arm is provided with a first portion and a second portion with the angled pivot arm pivot being located between these two portions;
• a first idler is rotatably mounted to the first portion of the angled arm, the first idler defining a first idler axis;
• a second arm is pivotally coupled to the rigid frame at the walking beam pivot;
• a second idler rotatably mounted to the second arm, the second idler defining a second idler axis;
• a spring is located between the second section of the walking beam and the second arm;
• and
• a track surrounds the main drive wheel, the first idler and the second idler, a first portion of the track extends from the first idler to the main drive wheel and from the first idler to the second idler, the first portion of track defining an arc, the first idler axis and the angled arm pivot axis define a first imaginary line that bisects the first arc.

An undercarriage for a tracked vehicle comprising:

• a rigid frame;
• a main drive wheel mounted to and extending outward from the rigid frame, the main drive wheel having a main drive wheel axis;
• a walking beam having a first section and a second section is pivotally coupled to the rigid frame by a walking beam pivot which defines a walking beam pivot axis;
• an angled first arm is pivotally coupled to the first section of the walking beam by an angled arm pivot which defines a angled arm pivot axis, the angled arm is provided with a first portion and a second portion with the angled pivot arm pivot being located between these two portions;
• a first idler is rotatably mounted to the first portion of the angled arm, the first idler defining a first idler axis;
• a second arm is pivotally coupled to the rigid frame at the walking beam pivot;
• a second idler is rotatably mounted to the second arm, the second idler defining a second idler axis;
• a spring is located between the second section of the walking beam and the second arm;
• and
• a track surrounds the main drive wheel, the first idler and the second idler, a second portion of the track extends from the second idler to the main drive wheel and the second idler to the first idler, the second portion of track defining a second arc, the second idler axis and the walking beam pivot axis define a second imaginary line that bisects the second arc.