With the rapid surge in the number of on-road Electric Vehicles (EVs), the amount of spent lithium-ion (Li-ion) batteries is also expected to explosively grow. The spent battery packs contain valuable metal and materials that should be recovered, recycled, and reused. However, only less than 5% of the Li-ion batteries are currently recycled, due to a multitude of challenges in technology, logistics and regulation. Existing battery recycling is performed manually, which can pose a series of risks to the human operator as a consequence of remaining high voltage and chemical hazards. Therefore, there is a critical need to develop an automated battery recycling system. In this paper, we present ABatRe-sim, an open-source robotic battery recycling simulator, to facilitate the research and development in efficient and effective battery recycling au-omation. Specifically, we develop a detailed CAD model of the battery pack (with screws, wires, and battery modules), which is imported into Gazebo to enable robot-object interaction in the robot operating system (ROS) environment. It also allows the simulation of battery packs of various aging conditions. Furthermore, perception, planning, and control algorithms are developed to establish the benchmark to demonstrate the interface and realize the basic functionalities for further user customization. Discussions on the utilization and future extensions of the simulator are also presented.

翻译：由于在公路上电动车辆(EV)数量迅速增加,使用过的锂离子(Li-ion)电池的数量预计也会爆炸性增长。用过的电池包含有宝贵的金属和材料,应当回收、再循环和再利用。然而,由于技术、物流和监管方面的诸多挑战,目前只有不到5%的利离电池被回收利用。现有的电池回收利用是手工进行的,可能对人类操作者造成一系列风险,因为仍然有高电压和化学危害。因此,迫切需要开发一个自动电池回收系统。在本文件中,我们介绍ABatRe-simm,一个公开源的机器人电池回收模拟器,以促进在高效和高效的电池回收利用方面进行研究和开发。具体地说,我们开发了一个详细的电池包(包括螺丝、电线和电池模块)的CAD模型,该模型被输入Gazebo,以便能够在机器人操作系统(ROS)环境中进行机器人-定位互动。它还允许对电池包进行模拟,在本文中,我们介绍一个开源的机器人回收模拟,一个开源电池回收模拟,一个开源回收模拟,并展示用户界面的升级。此外,我们将进一步了解和理解和理解。</s>