Making Robot Wheels
Rubber o-ring on pulley
close up of o-ring on pulley
axle clamp with set screw
motors attached to axle clamps press fitted into the 3D printed pulley
3D printed pulley
o-ring off and on the pulley
I always had a problem with small motors and wheels, finding a way to attach them.  I 3D printed a pulley from Thingiverse and put a tight fitting o-ring around it, then press-fitted it onto the wheel.