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.
翻译:出于回收、再利用高价值的电池材料目的,电动汽车电池的拆卸是一个关键阶段,但由于设计的复杂性和末端生活状况的不确定性和安全问题的限制,标准化的实现受到影响。遥控机器人技术提供了一种解决这些挑战的半自动化机器人拆卸方法。然而,对于精确、充满接触的、安全至关重要的任务,用户的触觉交互与环境的质量和真实性是很重要的。为了探讨这一命题,我们以日产叶2011年的模块堆叠为基础,进行了一个传统的非对称触觉-'cobot'主从框架和基于相同任务成功率和完成时间指标的主从Cobot进行比较研究的演示。我们通过一系列拆卸任务的展示,发现使用相同的Cobots可以减少22% -57%的时间,但这种改善主要来自于空间范围的扩展和1:1位置映射,并且任务完成时的首次尝试成功率降低10-30%。对于拆卸和抓握,力反馈的逼真程度相对较不重要,而是交互过程中编码的方向信息,但是1:1的力映射强化了真实的驱动触觉信号,适用于吸盘式拾取和接触切割任务。