The moving trace equation of a track shoe which is a function of the track gauge , the shoe width,the velocities of either side tracks and the slip ratio was obt ained.

• 可以从两个方面来解释此图，第一种解释(逆时针方向看)是该图勾画了机器在转向过程中，某个履带板从刚接触地面到将要离开地面时，其运动轨迹的完成过程；