Rocker - Bogie system / Wheel Colliders and Hinge Joints

Hi,

i am trying to setup the Rocker-Bogie suspension system like the curiosity Mars rover but i cannot set it up. The difficulty rises because the front wheels drive the rocker arm which in turn drives the bogie system ( that is the rear system that holds the middle and rear wheels). So when the rocker arm moves so must the bogie BUT bogie depends also by the Wheel collider physics. I tried to combine wheel collider with hinge joints but it does not work. Basically i could not find any way to attach the wheel collider to a moving arm so as the arm drives the wheel and vice versa.

Thank you