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I just noticed that one of the back wheels is hitting the metal frame.
Does anyone know what part I should replace, or whether I need a whole new wheel?

Looks like the bushings in that wheel are toast.
need new bushings, or a new wheel if it wore into the rim it's self

Clean it off thoroughly & see how much is damaged & if the rim is involved in the damage.

Looks to me that the Yoke is bent?

Rickw said:

Looks to me that the Yoke is bent?

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Yes it sure does. Is the other side different ?

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Go tyo your local dealer. They usually have some parts machines out back. That is not a part that wears out

That's either part of the bearing, or it looks like a snap ring or retaining ring of some sort.

At the very least you will need 2 DP bearing assembly part #120048. Grasshoppers use an odd bearing. Clean all the grease off. Check the wheel hub and thru bolt for wear. Most likely it just needs new bearings. You need the center spacer and the thru bolt and nut. The rest is from the bearings.

They are part of the wheel bearings. See image below