pileofstuff | Roomba side brush gear replacement @pileofstuff | Uploaded March 2023 | Updated October 2024, 10 hours ago.
This is just a quick repair video showing the replacement of the side brush gears on a 600 series Roomba.

Here is the video where I initially diagnosed the problem: youtu.be/ZtkKvOB3Jb4
And the temporary 3D printed gear: youtu.be/XJyyWZbxe7M

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This isn't the only way to do it.
It's probably not the best way to do it.
But it's how I did it.