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With the rapid surge in the number of on-road Electric Vehicles (EVs), theamount of spent lithium-ion (Li-ion) batteries is also expected to explosivelygrow. The spent battery packs contain valuable metal and materials that shouldbe recovered, recycled, and reused. However, only less than 5% of the Li-ionbatteries are currently recycled, due to a multitude of challenges intechnology, logistics and regulation. Existing battery recycling is performedmanually, which can pose a series of risks to the human operator as aconsequence of remaining high voltage and chemical hazards. Therefore, there isa critical need to develop an automated battery recycling system. In thispaper, we present ABatRe-sim, an open-source robotic battery recyclingsimulator, to facilitate the research and development in efficient andeffective battery recycling au-omation. Specifically, we develop a detailed CADmodel of the battery pack (with screws, wires, and battery modules), which isimported into Gazebo to enable robot-object interaction in the robot operatingsystem (ROS) environment. It also allows the simulation of battery packs ofvarious aging conditions. Furthermore, perception, planning, and controlalgorithms are developed to establish the benchmark to demonstrate theinterface and realize the basic functionalities for further user customization.Discussions on the utilization and future extensions of the simulator are alsopresented.

ABatRe-Sim: A Comprehensive Framework for Automated Battery Recycling Simulation