You must pull off the ends, yellow , that fit into the cut outs, Opposite the drive ends. They fill up with hair and lock the brass bushings under the yellow cap. I have disassembled many Roombas, Sharks, they are all pretty much the same. Hair and string are not their friends. I have two Roombas over five years old, no issues other than batteries and Hair. 9, 2 dogs, 7 cats can keep them busy. I have two cats that start them when they are bored! [br]