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On the backing plate for the brake drums, at the very bottom center of the plate is a small oblong rubber plug. Take this plug out and you should see/feel a small star shaped wheel. Loosen this wheel, which will release the brake shoes from the drum. Then take everything apart and clean/lube pivot points/check springs.
 

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I have a 316 onan, with a single brake pedal. So, not sure if this will work. When I use the parking brake it lowers a lever. I can reach or feel the lever through a slot in the frame that's adjacent to the brake pedal. If I push the brake pedal a little and reach in and push that lever up the brakes will release, might try that. Think the parking brake linkage need work, or by bending the linkage.
 
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