Idler Suspensions

In order for the wheels of the robot to properly engage with the ground you would need a suspension for contact.

The idlers on the omniwheels that support the wheels can have built in "spring" like mechanism in a single 3d printed design. To give a certain amount of springyness. We can adjust this using the spring constant and the cross section area to get a exact number.

There are many designs for 3D Printed Springs They will be embedded into the idler for better contact.