Towards Reuse and Recycling of Lithium-ion Batteries: Tele-robotics for Disassembly of Electric Vehicle Batteries
| Autor: | Hathaway, Jamie, Shaarawy, Abdelaziz, Akdeniz, Cansu, Aflakian, Ali, Stolkin, Rustam, Rastegarpanah, Alireza |
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| Rok vydání: | 2023 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| Popis: | Disassembly of electric vehicle batteries is a critical stage in recovery, recycling and re-use of high-value battery materials, but is complicated by limited standardisation, design complexity, compounded by uncertainty and safety issues from varying end-of-life condition. Telerobotics presents an avenue for semi-autonomous robotic disassembly that addresses these challenges. However, it is suggested that quality and realism of the user's haptic interactions with the environment is important for precise, contact-rich and safety-critical tasks. To investigate this proposition, we demonstrate the disassembly of a Nissan Leaf 2011 module stack as a basis for a comparative study between a traditional asymmetric haptic-'cobot' master-slave framework and identical master and slave cobots based on task completion time and success rate metrics. We demonstrate across a range of disassembly tasks a time reduction of 22%-57% is achieved using identical cobots, yet this improvement arises chiefly from an expanded workspace and 1:1 positional mapping, and suffers a 10-30% reduction in first attempt success rate. For unbolting and grasping, the realism of force feedback was comparatively less important than directional information encoded in the interaction, however, 1:1 force mapping strengthened environmental tactile cues for vacuum pick-and-place and contact cutting tasks. Comment: 21 pages, 12 figures, Submitted to Frontiers in Robotics and AI; Human-Robot Interaction |
| Databáze: | arXiv |
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