Rear arm

Arm mass

$m_r$

6 kg

Arm length

$L_r$

0.5 m

Front arm

Arm mass

$m_f$

5 kg

Arm length

$L_f$

0.5 m

Wheels

Wheel mass

$m_w$

10 kg

Wheel radius

$r_w$

0.25 m

Simulation duration

$t_f$

30 s