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I've built and used something like this: PVC Dog Cart

Partly it depends on where you will be positioned: leading the dog, behind the cart and steering/breaking if needed, or will the dog need to be independent - do the shafts need to be sturdy or can you get away with a pulling/sled line?

I normally use a line, but there have been a few occasions when I needed shafts (that needed more training - my dog was a bit weirded out, even though he had a loot of pulling experience (bikejoring, skijoring, canicross, pulling logs or tires or children's carts...) before I ever needed/introduced a harness/cart with shafts).
 
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