Polaris VRX iQ+ Right Side Wheels not Turning.

[Jarhead6012]

After a couple of days de-tangling my badly twisted cable, I discovered that both right tires are not turning. I can turn the front wheel while out of the water, but I noticed that the wheel gear on the back side of the wheel assembly skips over the smaller drive gear, and that the wheel is somewhat loose.

I’m not sure how to take the wheel of or to tighten up the looseness of the right wheels.

Has anyone encountered this issue before?

The robot is about three years old.
I have a vinyl liner pool.

 

[Parac]

I haven't had this issue or had to take mine apart, but I bet the 1ish inch center hub on the wheel pops off with a screw under it to remove the wheel.
This picture is a completely different Polaris product, but the wheel of the VRX iQ+ probably comes off the same way.

 

[Parac]

Or the method they use here: