How to link Dynamixel actuator to Omni wheel

I am planning to make a Omni wheel robot with Dynamixel actuators, similar like the TB3 friend omni in the picture.

But I am very curious about how to link Dynamixel actuator with the Omni wheel, because Dynamixel side is screws but Omni wheel side is shaft.

Is the Omni wheel a special part? Or is there any ready part to connect Dynamixel actuator with wheel shaft?

Is there any reference of similar robot online (I checked the TB3 onshape design, but the design is different from this picture)?

Please advice.


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There’s a 3D model for 3D printing parts.