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：电动汽车电池的拆卸是回收、再利用高价值电池材料的关键环节，但受限于标准化不足、设计复杂性，以及因电池寿命终止状态不同带来的不确定性和安全问题。远程机器人技术为应对这些挑战提供了一种半自主化机器人拆卸的途径。然而，研究表明，用户与环境之间触觉交互的质量与真实感对于需要高精度、接触密集且安全性要求极高的任务至关重要。为验证这一观点，我们以拆卸日产聆风2011款电池模组堆栈为基础，开展了一项对比研究：比较传统非对称触觉-协作机器人主从框架与完全对称主从协作机器人在任务完成时间和成功率指标上的差异。我们证明，在多种拆卸任务中，使用对称协作机器人可实现22%-57%的时间缩减，但这种改进主要源于更大的工作空间和1:1位置映射，同时首次尝试成功率降低了10%-30%。在螺栓拆卸和抓取任务中，力反馈的真实感相对不如交互中编码的方向信息重要；然而，1:1力映射增强了真空拾取放置和接触切割任务中的环境触觉线索。