If you have a pair of small tweezers they really help, like the ones in a manicure kit. A good preventive measure is to run the vacuum over your floor periodically to prevent hair and fuzz and stuff from getting in your axles and gears. Who knows your mom might reward you for doing your chores well and buy you a new zipzaps or something. hahaha!
I know how it is to keep getting hair caught around my axles. My wife has long hair..hehe!
When mine gets like that you just have to be patient and try to unwind it or pull it off piece by piece with tweezers. The front wheels are a pain. Sometimes when my patience wears thin I have my wife fix mine.