Abstract: A track unit includes a belt track guided by guide wheels and support rollers. The belt track includes a core with drive lugs on the inner surface thereof, and ground-engaging lugs arranged in two parallel rows on the outer surface of the core. Each ground-engaging lug includes a load-bearing portion defined as a portion of the lug lying within a contact strip of the core, wherein the contact strips are lateral parts directly contacted by the guide wheels and/or support rollers when the belt track is moving. In one aspect, the ground-engaging lugs have uniform resilience and do not overlap or do not substantially overlap the central portion of the core between the contact strips. In another aspect, the ground-engaging lugs include a non load-bearing portion overlapping the central portion, wherein the non load-bearing portion is at least partially thinner or more resilient than the load-bearing portion.

Abstract: An agricultural vehicle has a chassis with a drivetrain and at least one rubber track assembly with a rubber track belt. The rubber track assembly has at least one idler, each of which has two idler wheels spaced apart on an axle. The idler wheels each have a tapered outer surface that together define a tapered profile that causes the rubber track belt to self-center upon the rubber track assembly. The tapered profile may define a pair of straight lines at a shallow angle, a portion of a circle, a portion of an ellipse, a parabola, or a hyperbola.

Abstract: An agricultural vehicle has a chassis with a drivetrain and at least one rubber track assembly with a rubber track belt. The rubber track assembly has at least one idler, each of which has two idler wheels spaced apart on an axle. The idler wheels each have a tapered outer surface that together define a tapered profile that causes the rubber track belt to self-center upon the rubber track assembly. The tapered profile may define a pair of straight lines at a shallow angle, a portion of a circle, a portion of an ellipse, a parabola, or a hyperbola.