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     · I frequently am involved in component design for track driven equipment. I am looking for some better formulas to obtain torque requirements for steering torques. Currently we use the torque required to slip the track in the direction parallel to the track direction, which is not the torque required to get the machine to rotate while slipping the track sideways.

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     · Next, calculate the speed, direction of turn with a different variation of the track (ceramic, asphalt, soil) and the maximum tilt angle that can be achieved by the excavator.