US Patent 9522708 Deformable track support for tracked vehicles

The present application discloses a track support that includes a variable track frame comprising that includes four or more connector members, hinge joints that connect the connector members and configured to form a polygonal shape having sides each associated with one of the connector members, and a track varying mechanism that can actively change an angle between at least two of the connector members so as to change the polygonal shape of the variable track frame. Track engaging wheels mounted on the connector members can rotate around an axis that intercepts with or is adjacent to the hinge joints. The track engaging wheels can engage with a track belt wrapped around the track engaging wheels.