Drive configurations for skid steered vehicles

1. An electric drive configuration for a skid steered vehicle comprising:

a respective drive member adapted to be located at each side of the vehicle, each drive member engaging with a track or a wheel of the vehicle;

at least one electric propulsion motor in operable communication with said drive members operable to drive the tracks or the wheels of the skid steered vehicle; and

at least one steer motor in driveable communication with a controlled differential, the controlled differential being positioned between and connecting two shafts and being in driveable communication with each shaft, the ends of each shaft remote from the controlled differential forming a transmission output and being in driveable communication with the drive members;

wherein at least part of an output of the controlled differential connects directly via each shaft to the transmission output, and

wherein the drive configuration further includes a gear reduction unit and a gear change unit, the propulsion motor, the gear reduction unit, and the gear change unit being connected in parallel with respect to the transmission output.

2. The drive configuration as claimed in claim 1 wherein a spline coupling connects a part of the controlled differential directly to each shaft.

3. A drive configuration as claimed in claim 1 , wherein the controlled differential comprises a pair of planetary gear sets, each comprising a sun gear, planet gears carried by a planet carrier and a ring gear, the sun gears being coupled to at least one steer motor whereby operation of the steer motor enables rotation of the sun gears in mutually opposite senses, the planet carriers being interconnected by a cross-shaft such that the carriers rotate in common, the shafts of the drive configuration being coupled to respective ring gears.

4. The drive configuration as claimed in claim 1 , wherein the controlled differential is adapted to couple the two shafts and a steer input from at least one steer motor, the controlled differential comprising: a pair of planet carriers arranged to turn with the respective shafts; a pair of ring gears interconnected by a cross-shaft such that the ring gears rotate in common; planet gears and a pair of sun gears, the sun gears being coupled to the at least one steer motor to enable rotation of the sun gears in mutually opposite senses upon input from the steer motor.

5. The drive configuration according to claim 1 incorporating the controlled differential adapted to couple the two shafts and a steer input, such as those provided in the drive configuration for the skid steered vehicle, the controlled differential comprising: a planet carrier arranged to turn with one of said shafts and being in direct communication with an output carrier of a first output gear reduction stage; a first controlled differential sun gear arranged to turn with the other of said shafts and being in direct operable communication with a second sun gear of a second output gear reduction stage; a ring gear being coupled to at least one steer motor through a series of gear reduction stages to enable a differential torque to be applied at the first sun gear and planet carrier.

6. The drive configuration as claimed in claim 1 , wherein the ends of each shaft remote from the controlled differential are in direct contact with the drive members.