OpenRobotWheel 
A 3d printed self contain robot wheel with encoder

I am not aware of an open source driven wheel design for a robot that is universally used.

I will attempt to design and produce one that meets the following requirements:

- Open source

- As much as possible 3D printed (printing constrained to FDM only)

- Driven by a common DC motor (RS550)

- Allows for encoding (including direction) using commonly available parts

- Protected from dust and particle ingress as much as possible to allow use outdoors on grass, gravel, rock etc.

-Include use of common sized bearings for longevity

Out of Scope

- Using Omni wheels

- Use of motors with encoders built-in

- Using a purchased gearbox

Design

Initial designs include separate components working together, being:

- Motor mount

- Gearbox to reduce the RPM speed and to increase torque

- Wheel with encoder disk

- Encoder mounts

- 3d Printed tyre

OpenSCAD Script

For wheels, this OpenSCAD script is an amazing tool:

https://www.thingiverse.com/thing:21486

Details found at:

http://www.thefrankes.com/wp/?p=2674