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To replace the wheel module, turn the robot upside down. Loosen the side brush screw with a screw driver and remove the side brush. Loosen the 4 screws to remove the bottom cover. Remove the bottom cover. Loosen the 3 screws that retain the wheel module. Remove the wheel module. Position the new wheel module. Tighten the three wheel module screws. Replace the bottom cover and tighten the four screws. Replace the side brush and the side brush screw. Tighten the side brush screw.