Introduction
The rear wheel assembly is what propels the roomba. If they become damaged the roomba will begin to move irregularly or not at all.
Tools
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            Unscrew the back plate using a Phillips #1 screwdriver. 
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            Carefully lift the panel up once the screws are removed. 
 
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            With both hands, grab the two black tabs on each end of the battery. 
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            Pull the tabs upwards to remove the battery. 
 
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            Unscrew the (2) 11.5mm screws using the Phillips #1 screwdriver. 
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            Carefully remove the plate by lifting it off of the device. 
 
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            Locate the (3) 15.8mm gold Phillips #1 screws and unscrew them. 
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            Lift the wheel module removing it from the vacuum. 
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            Remove the other wheel by repeating these steps. 
 
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                            Conclusion
                          
                          To reassemble your device, follow these instructions in reverse order.