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183.
3. Follow the procedure to remove the drive wheel. See: Replace the Drive Wheels on page
169. This provides easier access to the underside brush.
4. Use an 0.25 inch (7 mm) flat-blade offset screwdriver to remove the brush cover (A).
5. Insert a new replacement brush as shown by (B) in Figure 8-17.
6. Replace the brush cover. Do not over-tighten.
7. Repeat Step 3 through Step 6 for the underside brush (C).
8. Replace the drive wheel. See: Replace the Drive Wheels on page 169.
9. Replace the side and rear skins. See: Removing and Installing Skins on page 178.
10. Release the E-Stop and enable the drive motors. See: Releasing an E-Stop on page 31.
Replace the Drive Wheels
The LD-250 has solid aluminum wheels with polyurethane treads. Depending on the AMR
application, the wheel treads have a duration of 10,000 km (6200 miles) before replacement is
necessary. See: Distance Traveled by the AMR on page 162.
Inspect the wheels daily and remove any surface-embedded foreign material such as stones,
screws, or metal swarf.
Thoroughly inspect and clean wheels and treads every 3 months and replace any wheels that
show signs of excessive wear or damage.
Tread damage might be indicated by:
Abnormal or uneven wear patterns. Damage to the metal wheel or bearing can also
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cause abnormal wear.
Cracks, chips, or cuts in the polyurethane tread.
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Flat spots.
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Abraded rough surface.
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Delamination or debonding (separation) of the polyurethane tread.
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Metal wheel damage might be indicated by:
Binding or indications of metal-on-metal wear such as metal filings or a black powdery
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deposit.
Oil or grease leaking from bearings.
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Cracks in the metal part of the wheel.
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Replacing Drive Wheels
Replace both wheels at the same time. Differences in wear between drive wheels might affect
the repeatability and accuracy of navigation.
20472-000 Rev B
LD-250 Platform User's Guide
Chapter 8: Maintenance
169
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