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Yes, I have the Discovery model(from ARS points actually) With the first one, a plastic linkage part had become stripped(probably more from leaving shoes out and the vacuum grabbing the laces. But they replaced the whole unit except for the battery.
Now I need a replacement battery.
I like it alot, the fact that it picks things before they get ground in is the best part for me- Just turn it on when I leave and come back to clean floors. I like it.
As posted above, the cleaning and maintenance is pretty important.
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