A method I used in a 2D solution a few years back was to make every fifth link in the tread a color: in this case red. [it was a cartoon tank] But the principle should work here. All I had to do move each red link forward five times, at which time Link B had caught up the starting point of Link A. Because the links were red, I had to show them going under the wheels. I'll assume here that you'll be going for a more realistic look.

You could make one Link look beat-up or slightly damaged. It could bounce a little up and down, jiggle side to side. If this tank is carrying a lot of armor over the treads, you might be able to get away with only animating the tread as in comes over the top of the forward sprocket and down under the wheels, If the bogey wheels are turning, the eye should be fooled into thinking that the whole tread is rotation.

In any event, I think that doing a realistic, "every link is moving" animation might be taking the long was 'round.