Henschel 36tonne  medium tank prototype, seen here testing with Hitler onboard...Henschel was later given orders to adapt their design to the heavy tank specifications, which later became the Tiger Tank...

Henschel 36tonne Tank Prototype

SS-Standartenjuncker Franz Staudegger. Photo taken in July 1943 after he won the Knight’s Cross.

SS-Standartenjuncker Franz Staudegger

On September 9 of 1938, Henschel received the permission to continue their work on new medium tank in continuation with DW development. Work on VK3001(H), which was further development of DW II, started. Two similar designs were created, lighter (32 tons) VK3001(H) and later on heavier (40 tons) VK3601(H). Both resembled Panzerkampfwagen IV in their hull design but their running gear was of a new design that consisted of overlapping road wheels. Medium VK3001(H) tank and heavy VK3601(H) tank had many common parts what would make their production and service much more easier. 
In the early 1942, one prototype VK3601(H) was built along with 5 prototype chassis. VK3601(H) was to be armed with 75mm KwK 42 L/70 (Gerat 725), 88mm KwK 36 L/56 (mounted in VK4501(P) turret) or 105mm L/20 or L/28 gun. 

Design was completed as a prototype but its further development was cancelled in 1942 in favour of the development of VK4501(H) - Tiger I. VK3601(H) prototypes were used as recovery and towing vehicles. VK3601(H)'s design led to the subsequent development of Henschel's Tiger I. 