Suspension design -- Wishbone or alternatives?

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Hi all, I wanted to seek the assistance of this community in identifying the design of the following design.

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What is used to connect the wheel to the motor? A universal coupling? Any recommendations for parts/shops online I could get this from?

To clarify, I’m looking to use a caster wheel (instead of pneumatic air wheels because those don’t serve well in our use-case) connected to a wishbone suspension. Anyone able to recommend a product for the wishbone arm? Would be great to get one off the shelf instead of having to design one from scratch.

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I saw a few self-designed wishbone suspensions (as above), that have these aluminum bars as replacements of the wishbone arm. Any advice for what type of aluminum (or other metal) to use & the specs of the arm?

Overall I am looking at designing a suspension system for a differential drive robot, 2 wheels along its center with 2 free wheels as support (1 at the back, 1 at the front). Thought of going with a wishbone suspension but not sure if there are better options. The max payload the robot is expected to carry is around 30kg.

Appreciate any responses!

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Can’t find any mention of how large you’d like this to be?

ServoCity has a very similar robot called the Mantis:

As you can see however, the motors are mounted directly to the wheels, without a pair of universal joints.
The design is modular, allowing you to add/remove compatible parts easily.

A-arms, suspension systems and universal joints can often be found in the RC car market in various sizes.
However, you’ll need to create the mounting points for it on the chassis.

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