Torque required to move a wheeled weight

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Hello, I'm trying to use box2d (porting for dellphi) for kinematic and dynamic simulations of linkages, and it looks very powerful and nice to use. I've to treat linkages smaller then 1 m, with bodies often smaller than 0.05m, and because of the limitation from 0.1 to 10 m, there are very big errors in collision and joint evaluation. Is there a way for increasing the precision of the calculation for small objects, also accepting a very slow evaluation process? Any help will be apprecited. I didn't find the right solution from the Internet. References: http://box2d.org/forum/viewtopic.php?t=9360 Business video service Thank you.