How to assemble a DC gear motor with encoder

Hello guys, I have the next problem. For a proyect I have, I need to assemble a DC motor with an encoder to obtain useful information like movement speed, acceleration and position of two wheels, and I don't know how to assemble those. I'm using two DC gear motors and two encoders as are displayed below (12[V], 30 [RPM] and torque between 6.3[kg/cm] and 14[kg/cm]), which are OK because my project consists in a robotic platform that has to load a maximum of 15[kg] distributed on two wheels and an industrial caster one. There is a possibility I could assemble the DC gear motors with the encoders I have? or maybe I'd better buy an AB024 rotative encoder for arduino instead the encoders I have as an alternative way?

Thanks in advance.


https://gyazo.com/6b774cbf1a28345f6b58180535daa3de "DC gear motor"
https://gyazo.com/917d88281f739179eebb228b57782b43 "Incremental Encoder"
https://gyazo.com/384f4cfbafa71ed6006c23cd2d5c0609 "Incremental Encoder"
https://gyazo.com/08c9a55d03c8a10f27a8cb3b9657eac9 "DC gear motor and Incremental Encoder"
https://gyazo.com/eb50bf6baa452fa546ca8000e9b8d813 "DC gear motor and Incremental Encoder"
https://gyazo.com/ae0884c7a2b77b80cc58aa9602014da2 "DC gear motor and Incremental Encoder"

Can you post the pictures here as the pictures on that web site look awfull..

If you want to fasten the encoder to the motor shaft, ie not the gearbox output shaft, then thats going to be very tricky as the motor is a sealed assembly, even a model engineer with lathe & equipment would find that tricky.
You could however connect the encoder to the output shaft of the gearbox by adapting or making 2 pulleys and using an O ring or other drive belt between them.
If absolute accuracy isnt required you could use armature feedback to detect back emf pulses from the motor, but thats not that accurate.