Simulation of Rocker bogie mechanism with differential in simmechanics Matlab

CAD of a planetary rover is made in Autodesk Inventor and the simulation is sun in Simmechanics Matlab. The rocker bogie structure was set at an angle to Y axis as initial position. The simulation was run with gravity acting in -Y direction. So the structure is oscillating demonstrating the working of differential 4 bar arrangement attached at one end of the chassis which is fixed to the ground.