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the two epicyclic differentials. Brakes are used, instead of clutches, to slow down one or the other steering cross-shaft. The steering works much like braked differential steering mentioned above except that the resulting inefficiency from applying the steering brakes only affects the torque being transmitted via the steering input.
449:. Vehicles on which only one drive wheel on each side is rigidly aligned and all others are free to caster, such as wheelchairs and wheeled robots, require the least power to turn. Vehicles with long continuous tracks on each side which must slide on the ground in order to turn at all require more power.
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and a brake is applied to one side or the other. The slowing of one side causes the other side to speed up, because of the differential, and so the vehicle maintains a constant speed. A subsequent disadvantage is that changes in rolling resistance or traction from one side to the other automatically
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applied to tighten the turn. Note that there is no differential gearset in this design. The tracks on either side of the vehicle will always turn at the same speed unless one is declutched for steering. This method is simple to implement but inefficient and only suitable for light vehicles. Also,
371:
Triple-differential steering is similar to double-differential steering except that, rather than using a steering cross-shaft and an idler gear, it uses two steering cross-shafts connected to a steering differential. Part of the drive torque is always applied through the steering differential and
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to apply the opposite torque to the epicycle gear on other side of the turn. A pair of clutches is used to apply the steering transmission output, which only turns one direction, to the steering cross-shaft in either direction. This system was developed in 1928 by Major Wilson. Here, the steering
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final drive on each side. A different drive speed is caused by feeding torque, from a separate "steering" transmission, into one final drive or the other using a pair of clutches. Usually the steering input turns at a fixed ratio relative to the engine, which results in a different turn radius for
362:
Also note that, in any of the double- or triple-differential steering methods, the efficient turn radii (e.g., with no steering clutch or brake slipping) are determined by the ratio between the steering input speed and the main drive input speed into each epicyclic final drive. This means that
353:
In double-differential steering, as in the
Maybach double-differential system, power from a second transmission is fed into an epicycle gear in the final drive of one side or the other. In this design, however, the average drive speed of the tracks is maintained by adding an
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Electric differential steering consists of two or more electric motors—one for each side of the vehicle, or up to as many as one per wheel—that are driven at different speeds (or directions), depending on steering needs. It is often implemented in
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having multiple ratios in the steering transmission results in multiple turn radii for each main drive transmission ratio. The additional complexity in the mechanical systems and driving controls means that this capability is rarely implemented.
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during World War II. The drawback of this design compared to other multiple-differential designs is that applying the steering input to one track also increases the average speed of the two tracks, so the vehicle's speed is not constant.
319:
combination. The main disadvantage to this system is that it doubles the size and weight of the total transmission and therefore it has only been implemented experimentally.
279:
causes the vehicle to steer unless counteracted by the driver. Differential steering of this type was used in many half-track designs to assist with making tight turns.
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Depending on implementation, friction between drive mechanism and ground, and available power, a vehicle with differential steering may have a zero turning radius or a
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within the differential are locked causing one side to rotate faster than the other. An advantage is that no power is lost to braking. A disadvantage is that only one
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input is used not so much to apply torque to either side but rather to control the difference in torque and speed between the two sides.
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There are several mechanisms that have been developed to vary the torque applied to different sides of a vehicle. These include
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by applying more drive torque to one side of the vehicle than the other. Differential steering is the primary means of steering
83:
445:
equal to the length of the vehicle by driving each side at the same speed but in opposite directions. This is also called a
197:, developed a continuous track, which was patented in 1905. The Hornsby tractors featured a track-steer clutch arrangement.
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when traveling downslope under engine braking, declutching one side to turn can result in a turn in the other direction.
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Differential steering mechanism, either double-differential minus the clutches, or triple-differential minus the brakes
90:
735:
725:
476:
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275:
169:, to augment steering by changing wheel direction relative to the vehicle. Differential steering is distinct from
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In the
Maybach double-differential, power is transmitted through a single main transmission and then through an
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666:
545:
418:
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19:
This article is about differential torque for steering. For unintentional torque disequilibrium, see
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are used to provide power to either side, and one distinct turning radius can be derived from each
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In clutch-brake differential steering, power is disconnected to one side or the other with a
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173:, which is usually considered a negative side effect of drive-train design choices.
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In brake-differential steering, power is applied to both sides through a
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are maneuvered by differential steering when propelled by the occupant.
430:
316:
162:
641:"How Caterpillar Skid Steer Loaders & Multi Terrain Loaders Work"
511:
507:
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each main transmission ratio. This system was implemented on German
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35:
194:
142:
605:
667:"2022 Rivian R1T First Drive Review: Electric Off-Road Dominance"
519:
515:
312:
288:
146:
694:"A Review of Transmission Systems for Tracked Military Vehicles"
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can be performed efficiently. This method was developed by the
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165:, and even implemented in some automobiles, where it is called
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16:
The steering method used by tanks and similar tracked vehicles
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161:, is also used in certain wheeled vehicles commonly known as
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457:
408:
154:
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Transmission (foreground) and engine (background) of a
392:, one for each side. This system is often employed on
691:
McGuigan, Stuart J.; Moss, Peter J. (November 1998).
660:
658:
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749:
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380:Hydraulic differential steering consists of a
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311:In geared differential steering, two complete
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412:A three-wheeled differentially steered robot
62:introducing citations to additional sources
723:
664:
472:A Toro Z Master Commercial Zero-Turn mower
282:
249:, and the unpowered side may also have a
724:Green, Michael; Brown, James D. (2008).
606:"Differentials, the Theory and Practice"
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467:
456:
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344:
256:
180:
126:
52:Relevant discussion may be found on the
23:. For intentional torque targeting, see
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730:. MBI Publishing Company. p. 46.
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340:
269:
665:Moloughney, Tom (28 September 2021).
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287:In controlled-differential steering,
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301:Cletrac Regenerative Steering System
29:
604:Edwards, Phillip (September 1988).
502:self-propelled anti-aircraft weapon
13:
629:
14:
769:
699:Journal of Battlefield Technology
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436:
758:Automotive steering technologies
626:British Patent No. 16,345 (1904)
498:armoured vehicle-launched bridge
189:A British agricultural company,
45:relies largely or entirely on a
34:
504:, and similar military vehicles
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1:
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639:Nice, Karim (6 June 2001).
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546:Differential wheeled robots
526:, and other heavy equipment
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443:curb-to-curb turning circle
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323:Maybach double-differential
223:Maybach double-differential
10:
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494:armored personnel carriers
176:
18:
306:
297:Cleveland Tractor Company
608:. Constructor Quarterly
556:Self-balancing scooters
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299:in 1921 and called the
283:Controlled-differential
215:controlled-differential
73:"Differential steering"
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482:self-balancing scooter
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382:hydraulic drive system
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568:Tank steering systems
532:and their derivatives
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185:Hornsby tractor, 1909
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139:Differential steering
130:
58:improve this article
367:Triple-differential
341:Double-differential
270:Braked-differential
231:triple-differential
227:double-differential
211:braked-differential
727:Tiger Tanks at War
530:Skid-steer loaders
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394:skid-steer loaders
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643:. How Stuff Works
429:Most traditional
265:skid-steer loader
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541:Zero-turn mowers
398:zero-turn mowers
390:hydraulic motors
237:, and electric.
167:torque vectoring
151:tracked vehicles
141:is the means of
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25:torque vectoring
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133:Centurion tank
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56:. Please help
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114:November 2017
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75: –
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69:Find sources:
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59:
55:
49:
48:
47:single source
43:This article
41:
37:
32:
31:
26:
22:
726:
719:
707:. Retrieved
702:
698:
686:
674:. Retrieved
670:
645:. Retrieved
622:
610:. Retrieved
551:Wheel chairs
447:neutral turn
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442:
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428:
415:
379:
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361:
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276:differential
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241:Clutch-brake
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207:clutch-brake
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171:torque steer
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21:torque steer
709:23 November
647:23 November
612:13 November
461:The German
431:wheelchairs
574:References
512:excavators
508:Bulldozers
317:gear ratio
233:steering,
229:steering,
225:steering,
221:steering,
217:steering,
213:steering,
209:steering,
201:Mechanisms
163:skid-steer
159:bulldozers
153:, such as
84:newspapers
676:5 October
671:InsideEVs
524:trenchers
463:Solo 750
384:with one
376:Hydraulic
313:gearboxes
235:hydraulic
54:talk page
752:Category
562:See also
520:snowcats
516:tractors
453:Examples
404:Electric
388:and two
195:Grantham
143:steering
289:pinions
191:Hornsby
177:History
147:vehicle
145:a land
98:scholar
734:
307:Geared
247:clutch
219:geared
100:
93:
86:
79:
71:
490:Tanks
356:idler
251:brake
155:tanks
105:JSTOR
91:books
732:ISBN
711:2017
678:2021
649:2017
614:2017
425:Hand
396:and
263:Gehl
157:and
77:news
705:(3)
193:in
60:by
754::
701:.
697:.
669:.
657:^
631:^
582:^
522:,
518:,
514:,
510:,
500:,
496:,
492:,
480:A
421:.
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261:A
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703:1
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616:.
116:)
112:(
102:·
95:·
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50:.
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