Abstract: An autonomous omnidirectional drive unit including a drive chassis supported on two independent, parallel, and coaxial drive wheels, actuated by two drive motors; a transport chassis the central area of which is superimposed on and connected to the drive chassis through a rotary joint, the transport chassis being supported on multiple omnidirectional wheels. The drive unit further includes a rotating device, actuated by a rotary motor, integrated in the rotary joint between the transport chassis and the drive chassis, which determines the angular position of the drive chassis with respect to the transport chassis, and a control device configured for adjusting at least the two drive motors and the rotary motor in a coordinated manner to obtain omnidirectional movement of the transport chassis.

Abstract: Aspects of the present disclosure are directed to, for example, drive systems for transport devices. In one example embodiment, a drive system is disclosed including at least two drive wheels, at least one wheel bearing, at least one rim of the at least one of the drive wheels mounted by means of the at least one wheel bearing, at least one drive of the at least one of the drive wheels is arranged within the at least one wheel bearing, and at least one braking device coupled to at least one of the drive wheels. The at least two drive wheels are aligned on a common first axis, the drive wheel axis of rotation, which is angled relative to a second axis, the pendulum axis, and a third axis, a pivot axis, is likewise arranged at an angle relative to the first and second axes.

Abstract: A motor vehicle having a vehicle body with a passenger compartment, a chassis supporting the vehicle body, a vehicle axle which can be driven by a drive device, and a seat device which is arranged inside the passenger compartment and is rotatable relative to the passenger compartment about an axis of rotation. The chassis supporting the vehicle body has only one vehicle axle, about the axis of which, the vehicle body with the passenger compartment and the seat device arranged inside the passenger compartment are rotatable relative to each other.

Abstract: A powertrain for a pedal vehicle, such as a bicycle, which powertrain comprises a first and a second electric motor and a planetary gear set comprising a sun gear, a ring gear and a planet carrier, wherein the sun gear is connected to the first motor, the ring gear is connected to the crank axle receiving the user input, and the planet carrier is connected to an output of the powertrain for transmitting power to at least one output element, such as a wheel, of the vehicle, wherein the second motor is directly connected to the output of the powertrain.

Abstract: The present disclosure disclosed a control method of a movable device for controlling movement of the movable device between a first position and a second position, including: determining a position of a center of the movable device, a distance from the center to a left wheel of the movable device being equal to a distance from the center to a right wheel of the movable device; determining a traveling path of the movable device according to the position of the center of the movable device, the first position, and the second position; determining a difference between speeds of the left and right wheels and a center speed of the movable device according to the traveling path, the center speed, and geometric data of the movable device, the center speed being a speed of movement of the center of the movable device; determining the speeds of the left and right wheels of the movable device according to the difference; and controlling the movement of the movable device according to the speeds of the left and right w

Abstract: A powered wheelchair comprises a frame and an arm assembly that includes an arm that is pivotably coupled to the frame. The arm assembly includes a wheel coupled to the arm. A drive system is coupled to the arm assembly and configured to drive a drive wheel. An arm limiter is pivotably coupled to the suspension and coupled to one or more of the arm assembly and the drive system in an engaged position. The arm limiter is configured to limit movement of the arm assembly in the engaged position.

Abstract: An aircraft is presented. The aircraft comprises a tow point positioned on a body of the aircraft and forward of main landing gear of the aircraft, wherein the tow point is connected to an airframe of the aircraft to accept and distribute forces forward, aft, and normal to the aircraft.

Abstract: A method, apparatus and computer program for producing driver information, where at least some of the driver information is produced in the form of haptic driver information on a control means of a vehicle, includes ascertaining a measure of a haptic contact between the driver of the vehicle and the control means for controlling the vehicle and producing the driver information based on the ascertained measure of the haptic contact between the driver and the control means on the control means as haptic driver information and/or producing auxiliary driver information that corresponds to the driver information and that is perceptible to the driver via a different perception channel.

Abstract: A gearbox parking brake has a gearing assembly in which two or more interconnected gears can rotate at different directions or speeds. A first and second planetary gear assembly and a central gear are concentrically positioned about a central rotation axis, and the central gear is rotatably engaged with the two planetary gear assemblies. An input is engaged with the central gear in order to operate the planetary gear assemblies, which may function as outputs. A gear engagement block is provided with sets of gear teeth corresponding to the planetary gear assemblies and the central gear. An actuator mechanism is operatively connected to the gear engagement block in order to displace the gear engagement block between a disengaged position and an engaged position. The gear teeth of the gear engagement block are meshed with the gearing assembly in the engaged position, restricting any movement of the gearing assembly.

Abstract: A reducer, an electric vehicle drive system with the reducer, and a control method for the electric vehicle drive system with the reducer comprises, in a reducer, a first countershaft is transmittingly connected to a first input shaft, a second countershaft is transmittingly connected to a second input shaft, and a centralized driving piece is transmittingly connected to a power input end of a differential apparatus. A first transmission assembly and a second transmission assembly are respectively configured to connect or disconnect power transmission between the first countershaft and the centralized driving piece and connect or disconnect transmission assembly power transmission between the second countershaft and the centralized driving piece. A first output shaft and a second output shaft are transmittingly connected to two power output ends of the differential apparatus respectively.

Abstract: A powered wheelchair comprises a frame and an arm assembly that includes an arm that is pivotably coupled to the frame. The arm assembly includes a wheel coupled to the arm. A drive system is coupled to the arm assembly and configured to drive a drive wheel. An arm limiter is pivotably coupled to the suspension and coupled to one or more of the arm assembly and the drive system in an engaged position. The arm limiter is configured to limit movement of the arm assembly in the engaged position.

Abstract: A vehicle including a coupling device that includes (a) an engagement clutch mechanism for coupling an input side engagement member that is coupled to a drive power source of the vehicle and an output side engagement member that is coupled to a drive wheel of the vehicle; and (b) a cam mechanism for assisting engagement of the input and output side engagement members depending on a differential torque by which the input and output side engagement members are rotated differentially. The vehicle includes a control device configured, when the engagement of the input and output side engagement members is to be released, to cause a braking force to be applied to one of the input and output side engagement members such that the differential torque is reduced.

Abstract: A microcomputer includes a current command value setting unit configured to set a two-phase current command value in a two-phase rotating coordinate system for each of PWM cycles in a current control cycle, and an open-loop control unit configured to calculate a two-phase voltage command value for each of the PWM cycles, according to a motor voltage equation, based on the two-phase current command value for each of the PWM cycles that is set by the current command value setting unit and a rotation speed of an electric motor. The two-phase voltage command value is a command value of voltage that is to be applied to the electric motor.

Abstract: The disclosure relates to a wheel suspension of a device having an electrical drive of a wheel for supporting a manual movement impulse. The wheel suspension includes a connector piece movably or bendably arranged between a support element or support frame connected to the device and between an interior stator of an electrical drive, wherein the connector piece is held in a starting position due to the gravity of the device, without other influencing forces. The wheel suspension also includes at least one sensor that detects a deflection of the connector piece, and a control device designed such that the control device together with the electrical drive counteracts a deflection or bending of the connector piece.

Abstract: System for electrical energy generation from steam comprising at least one stage, each stage including: a steam-driven rotating toroidal ring; a housing comprising a toroidal cavity for containing the rotating toroidal ring, the housing further comprising at least one steam inlet, the housing further comprising a plurality of steam outlets for removing pressurized steam from the channels for at least a second portion of rotation of the rotating toroidal ring within the toroidal cavity; at least one bearing arrangement comprised by or attached to the housing within the toroidal cavity; and at least one pair of electrical coils, each electrical coil located on the outer surface of the housing at locations diagonally opposite from the other coil of each pair across the axis of the minor radius of the toroidal cavity and within the specific region where a time-varying magnetic field will occur as the rotating toroidal ring rotates.

Abstract: An aircraft tug apparatus for tugging an aircraft by an aircraft tire includes a turntable on a main base portion of the tug, capable of rotational movement relative to the main base portion. A tire cradle assembly on the turntable releasably holds the aircraft tire, and a latch mechanism holds the tire cradle assembly in a position that confines the aircraft tire. A pivoting arm coupled to the main base portion extends under the turntable. The pivoting arm includes a first plunger and a second plunger extending therefrom, with the first plunger coupled to the pivoting arm using a spring assembly allowing it to move up and down relative to the pivoting arm. The spring assembly is configured such that the pivoting arm may move the second plunger to engage the latch mechanism while the first plunger is impinged by the turntable.

Abstract: In an operational mode of a vehicle, a vehicle system can be influenced by a mix of autonomous control inputs and manual control inputs. A first weight can be assigned to manual control inputs, and a second weight can be assigned to autonomous control inputs. While the vehicle is being operated primarily by manual inputs from a human driver, it can be determined whether the human driver of the vehicle has made a driving error and whether a current driving environment of the vehicle is a low complexity driving environment. Responsive to determining that the human driver of the vehicle has made the driving error and to determining that the current driving environment of the vehicle is a low complexity driving environment, the second weight assigned to autonomous control inputs can be automatically increased. Autonomous control inputs can influence the vehicle system in an amount corresponding to the second weight.

Abstract: A robot includes a main casing, a first spherical cap and a second spherical cap, and a shaft linking the spherical caps. The robot further includes a display, a first driving mechanism causing the first and second spherical caps to be rotated by the shaft, and a second driving mechanism that causes the main casing to be rotated. The robot also includes a control circuit and an electric power source, charged by electric power from an external charger. If the remaining electric power of the electric power source is lower than or equal to a predetermined value, the second driving mechanism is controlled to stop rotation of the main casing, and the first driving mechanism is controlled to switch a rotational direction of the first spherical cap and the second spherical cap, causing the display to be reciprocally moved in a vertical direction.

Abstract: A track work vehicle includes an axle input shaft defining a first axis of rotation, and a differential gear case having at least one planetary gear set. The track work vehicle includes a track drive system contained, at least in part, in the differential gear case. The track drive system includes a first gear coupled to the axle input shaft and a second gear coupled to the first gear. The track drive system includes a bevel gear assembly coupled to the second gear and a bevel gear set coupled to the planetary gear set. The track work vehicle includes at least one drive axle coupled to the planetary gear set and a drive wheel for driving a continuous ground-engaging track. The drive axle has a second axis of rotation that is vertically offset from the first axis of rotation and substantially coaxial with a centerline of the drive wheel.

Abstract: A drive unit with an electric motor and a speed-transforming transmission connected in a rotationally driven manner to a power take-off shaft of the electric motor, in which the electric motor comprises a stator and a rotor comprising the power take-off shaft, is characterized in that the speed-transforming transmission is arranged inside the power take-off shaft constituted as a hollow shaft.

Abstract: A device for measuring an absolute angle includes first and second rotatable members having first and second radii and capable of rotating over first and second angles respectively, a first number of detectable elements mounted on the first rotatable member, a second number of detectable elements mounted on the second rotatable member, and at least one sensor for detecting rotation of the detectable elements. The second rotatable member is coupled with the first rotatable member such that the second angle is equal to the first angle times the ratio of the first radius and the second radius. The first radius is equal to a first integer times a factor, while the second radius is equal to a second integer times the factor. The product of the first number and the second integer, and the product of the second number and the first integer, are co-prime.

Abstract: The invention concerns a method for detecting a transition (4?) in a noisy signal, which involves submitting a noisy signal (?Signal) carrying an item of information used for managing the power steering, said method comprising a derivation sub-step (a1), which involves evaluating the time derivative of the noisy signal (?Signal/?t), following by a selective filtering sub-step (a2) which involves comparing said time derivative of the noisy signal (?Signal/?t) with a predefined variation threshold (Spic) in order to detect the appearance of a derivative peak (7), greater than said variation threshold (Spic), evaluating the holding time (dpic) of said derivative peak, during which the time derivative of the noisy signal (?Signal/?t) is held above said variation threshold (Spic), and checking if said peak holding time (Spic) reaches or exceeds a predefined minimum time threshold (d0).

Abstract: The present invention discloses an obstacle-adaptive mechanism of a moving device, which uses a driving wheel, a driving gear, a passive wheel, a passive gear and an intermediate gear as a transmission mechanism, wherein the driving gear is connected to one side of the driving wheel, the passive gear is connected to one side of the passive wheel, the intermediate gear is disposed between the driving gear and the passive gear to keep the driving wheel and the passive wheel rotating in the same direction to help crossing an obstacle, thereby preventing the obstacle-adaptive mechanism from being stuck by the obstacle and allowing the obstacle-adaptive mechanism to successfully crossing the obstacle. Therefore, the obstacle-adaptive mechanism of the moving device can provide the ability for crossing obstacles.

Abstract: A downhole motor (107) which comprises a stator housing (108), a rotor assembly (106) rotatable relative to said stator housing, and an arrangement for enabling, in use, a drill bit connected to the rotor assembly of said downhole motor to be rotated by rotating a drill string connected to said stator housing, wherein said arrangement comprises a unidirectional clutch (117) disposed between said rotor assembly and said stator housing and having at least one pawl which can be displaced between an inoperative position adjacent said stator housing and an operative position in which rotation of said stator housing by said drill string in one sense is transmitted to said rotor assembly via said at least one pawl, means biasing said at least one pawl towards said operative position, means retaining said at least one pawl in its inoperative position, and means which, when sufficient pulling force is applied to said drill string, will cause said means retaining said at least one pawl to release said at least one pawl

Abstract: A rear-wheel drive apparatus of an eco-friendly vehicle is capable of improving the longitudinal driving force and handling performance of a vehicle by independently driving both rear wheels of the vehicle using a plurality of drive motors.

Abstract: A control device for a crawler vehicle, comprising a control lever activated by an operator about a fulcrum and having a free end, the control lever being displaceable along a longitudinal direction of the vehicle between a proximal position closer to the operator and a distal position further from the operator in order to control a main clutch of the vehicle, the control device further comprising a support element suitable for being fixed to a body of the vehicle in order to support an operator's hand when the hand acts on the control lever, wherein the control lever has an intermediate portion interposed between the free end and the fulcrum, the intermediate portion being so shaped as to partially embrace the support element in the proximal position.

Abstract: A drive mechanism (10) for a tracked vehicle. The drive mechanism includes an electric drive motor (1) for supplying drive power and an electric steering motor (3) for supplying steering power. Mechanical drive elements (4, 5) transmit reactive power between a right-hand drive side (12) and a left-hand drive side (11) when driving around a curve or bend. An electric auxiliary motor (2) selectively assists either the drive motor (2) or the steering motor (3).

Abstract: A walking assist cart includes a cart body on which a load can be placed, a drive portion that drives a drive wheel, an inclination sensor that detects the inclination angle of the cart body, and a controller that acquires the weight of the load placed on the cart body based on the drive force of the drive portion and the inclination angle of the cart body and outputs assist drive force based on the weight of the load that is acquired.

Abstract: A brake arrangement for a vehicle having a cardan brake and separate left and right brakes. The left brake activated by movement of a first lever and the right brake is activated by movement of a second lever. The left brake, right brake and the cardan brake are activated together by movement of both levers together, characterized in that the cardan brake is connected to a fluid supply in a circuit which comprises a first and a second brake valve arranged in series and the first brake valve is operable by the first lever and the second brake valve is operable by the second lever.

Abstract: A chassis for a roof bolter includes a first plate positioned on a first side of the chassis and having a first mating surface, a second plate positioned opposite and substantially parallel to the first plate on a second side of the chassis and having a second mating surface substantially parallel to the first mating surface, and a plurality of openings positioned on the first plate and the second plate for receiving one or more fasteners, including wheel attachment openings for coupling the wheel assembly to at least one of the first plate or the second plate when the roof bolter is in a wheel configuration, and crawler attachment openings for coupling the crawler assembly to at least one of the first plate or the second plate when the roof bolter is in a crawler configuration.

Abstract: A brake system for a motor vehicle includes a first control module coupled to a first hydraulic brake circuit and a second hydraulic brake circuit. The first control module is configured to control fluid pressure within both the first hydraulic brake circuit and the second hydraulic brake circuit. A second control module coupled to the first hydraulic brake circuit and the second hydraulic brake circuit, wherein the second control module is configured to control fluid pressure within both the first hydraulic brake circuit and the second hydraulic brake circuit independent of the first control module. The first control module is disposed in series with the second control module in the first hydraulic brake circuit and the second hydraulic brake circuit.

Abstract: A mobile robot configured to be widely versatile in its use. For example, the mobile robot can be configured for being used on a wide assortment of surfaces, regardless of the orientation and/or shape of the surfaces. Alternatively or in combination, the mobile robot can be configured for effective and efficient movement on the surfaces it traverses. In some cases, the mobile robot is configured with two or more component units. In some cases, the component units are configured with magnets and a control system for orientating the magnets. In some cases, one or more component couplings join the component units. In some cases, the mobile unit is configured with Mecanum wheels.

Abstract: Method for controlling a vehicle that includes a support, at least one wheel, a platform coupled to the at least one wheel, a coupling structure having a support portion coupled to the support and a platform portion coupled to the platform that allows the support portion to move or slide fore and aft with respect to the platform portion, an actuator coupled to the coupling structure to control the position of the support portion relative to the platform portion, a drive coupled to the at least one wheel to deliver power to the at least one wheel to propel the vehicle and maintain the platform level, and a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator.

Abstract: The invention relates to power management of a off-highway vehicle. A power management apparatus is described as a vehicle control unit coupled to a vehicle and the vehicle control unit is in communication with an engine and a transmission controller. In response to power management input, the vehicle control unit sends a message to the transmission controller commanding a maximum torque limit based on the maximum drivetrain torque. The maximum torque limit is configured to optimize power to the vehicle implement.

Abstract: A mounting apparatus for positioning an actuator managing the pivotal position of rotatable pintel arms controlling the output of a pair of tandem-mounted hydraulic drive pumps providing motive power for an agricultural machine. The pumps are resiliently connected to the machine main frame, permitting relative movement to reduce vibration transmission to the main frame. A mounting bracket connected to the drive pumps provides a fixed connection for a first end of the actuator while the opposing second end is connected by an axially moveable linkage to the pintel arms. A common anchorage for the actuator and the pintel arms eliminates unintended pintel arm movement that occurs when anchoring the end of the actuator on the main frame.

Abstract: A self-propelled device includes a spherical housing and an internal drive system including one or more motors. The internal drive system acts to provide power to an interior surface of the spherical housing, thereby causing the self-propelled device to move. A biasing mechanism is coupled to the internal drive system and includes a spring and a spring end in contact with the inner surface of the spherical housing. An accessory component magnetically interacts with the biasing mechanism through the spherical housing such that as the self-propelled device rotates along, the accessory component remains stable with respect to the biasing mechanism.

Abstract: A self-propelled device includes a spherical housing and an internal drive system including one or more motors. The internal drive system acts to provide power to an interior surface of the spherical housing, thereby causing the self-propelled device to move. A biasing mechanism is coupled to the internal drive system and includes a spring and a spring end in contact with the inner surface of the spherical housing. An accessory component magnetically interacts with the biasing mechanism through the spherical housing such that as the self-propelled device rotates along, the accessory component remains stable with respect to the biasing mechanism.

Abstract: An apparatus and method are provided for operating a motor grader having steerable front wheels and a front and rear frame pivotally connected at an articulation joint. The method includes selecting an automatic articulation mode, and commanding front wheel steering to turn the motor grader, providing a plurality of front wheel steering corrections to an electronic controller, filtering the plurality of front wheel steering corrections using a method for filtering steering corrections based on the constant curve mode, wherein the method generates filtered front wheel steering corrections, and automatically commanding articulation of the front frame relative to the rear frame about the articulation joint in response to the filtered front wheel steering corrections.

Abstract: An inverted pendulum control type moving body is provided with: a first driving portion that moves a host moving body at least in a forward/backward direction; a supporting portion that supports the inverted pendulum control type moving body so that it stands independently in a state of being in contact with the ground; an operation portion that switches between the ground contact state and a ground separation state of the supporting portion; and a control portion that, when the operation portion switches the state of the supporting portion from the ground contact state to the ground separation state, controls operation of the first driving portion so that a forward/backward direction tilt angle of the inverted pendulum control type moving body approximates a target tilt angle in the ground contact state.

Abstract: A steering system for a differential steered self-propelled agricultural windrower, windrower speed and direction controlled by adjusting the pivotal position of rotatable pintel arms to control the output of a pair of tandem-mounted hydraulic drive pumps and provide motive power for the windrower. A control input shaft that is both rotatable and axially moveable manages the relative positioning of the pintel arms. A hydraulic steering motor is operably connected to the input shaft. Rotation of the hydraulic steering motor is managed by a steering control valve attached to a cab-mounted windrower steering wheel.

Abstract: A displaceable system is provided including at least one set of at least two wheels arranged in pairs for movement in a plane, the set being disposed on at least one wheel axle parallel to the plane. A single electric drive motor, a differential having variable torque distribution, and an electric servomotor are provided on the wheel axle for both wheels of a set. The electrical servomotor acts on the differential such that the torque generated by the single electric drive motor is distributed within the wheel axle individually to the wheels.

Abstract: A vehicle having a long track or wheel-trail wheel combination on one side and a smaller ground engaging member, such as a short track or wheel on the other. The vehicle has a work attachment on one end of its frame, which is provided clearance on the side of the vehicle with the short track or wheel. A control system is provided to allow an operator to properly control a direction of the vehicle despite the fact that different forces may be required to operate the long track and the short track or wheel.

Abstract: [Problem] An object of the present invention is to provide an electric power steering apparatus that realizes weight saving and downsizing of component parts by counting and controlling the number of times of end hitting and simultaneously calculating a current limit value depending on the number of times of end hitting to limit assist.

Abstract: Disclosed is a steering control device capable of adjusting reference points of a plurality of motions, which are used for a steering operation in a steering operating unit, with high precision. In the steering control device, a control unit performs N-point learning under the condition that the absolute value of an operating amount in operation systems other than a target is smaller than a predetermined value (or substantially 0). This makes it possible to suppress the influence of operation systems other than the target on the steering of a vehicle M during N-point learning, making it possible to learn the N point in the operation system of the target with high precision. With this N-point learning for each target, even in an operation system which can be steered through a plurality of motions, it is possible to learn the N point of each motion with high precision.

Abstract: A personal mobility vehicle comprising a platform (10) on which a user of the vehicle can stand, ground-engaging wheels (14, 15, 16) on which the platform (10) is supported, motor drive means, motor control means (20), a column (11) extending upwards from the platform (10) and a leg or thigh support rest (18) mounted on the column.

Abstract: In an inverted pendulum type vehicle no excessive load is exerted on a sub-wheel even in the case where some downward load is exerted on a sub-wheel arm. The inverted pendulum type vehicle includes a main wheel capable of moving forward, rearward, to the left and to the right with a vehicle body frame supported by the main wheel. The inverted pendulum type vehicle further includes the sub-wheel arm turnably supported on the vehicle body frame with the sub-wheel being supported by the sub-wheel arm and being grounded. The sub-wheel is supported through a deformable biasing device, and is biased into a predetermined position in relation to the sub-wheel arm. When a downward load is exerted on the sub-wheel arm, the biasing device deforms, whereby at least part of the sub-wheel arm is grounded.

Abstract: A lawnmower includes a chassis; a seat supported on the chassis for permitting an operator to sit or stand on the chassis; a pair of drive wheels for supporting the chassis above a ground surface; an engine and a pair of transmissions for driving the drive wheels; and a pair of manually-moveable handle assemblies for controlling the transmissions. Each handle assembly includes a substantially vertically-extending control handle, wherein the control handles are mounted outboard of opposite sides of the seat so as not to block the operator's ingress or egress from the seat.

Abstract: It is an object of the present invention to provide a controller for a steering apparatus having easy operation of an adjustment of a tilting angle. The steering apparatus comprises a tilting mechanism adjusting a tilting angle of a steering wheel, and an electrical motor driving the tilting mechanism. The controller for the steering apparatus 1 detects the tilting angle based on a rotational angle of the screw shaft. The controller defines the predetermined supplying current according to the detected amount of the tilting angle as the supplying current to the electrical motor.

Abstract: A method includes operating a wheeled vehicle including an articulated suspension system; and articulating the suspension system to skid steer the vehicle. A wheeled vehicle having an articulated suspension system includes a skid steering controller capable of articulating the suspension system to skid steer the vehicle. The skid steering controller may be implemented in software and may, but does not necessarily, include three stages for applying a differential torque, varying the traction of at least one wheel, and finely adjusting the wheel's suspension to approach a critical damped response of the vehicle turning rate with respect to its commanded rate, respectively.

Abstract: A non-zero caster angle for the rear axle swivel caster wheels on a self-propelled agricultural harvesting machine wherein steering is accomplished by varying speed and/or direction of forward drive wheels. The non-zero caster angle may be fixed or an adjuster mechanism may be provided to allow adjustment within a range of caster angles. The adjuster mechanism incorporates a fixed portion connected to the tractor frame and a pair of rotating portions, one connected to each caster wheel which allows rotation of the caster axis in a plane parallel to the machine longitudinal axis. Also disclosed is an actuator mechanism for providing powered adjustment of the caster angle, even including a control system for active caster angle adjustment.