Rev Robotics Printed Wheel Hub
A 24 tooth HTD 5mm pulley is integrated on the inside of the hub to allow for power transfer from the drive motor. 6 #4x0.75 button head plastite screws attach the hub flange to the hub. This flange retains the wheel.
Rev Robotics Wheels
Total weight is 290g per drive side. The wheel is quite heavy and may have some room to be lightened.