It can be a balancing act, and you don't need to give the artists storyboards. In fact you don't even need to say Panel 1 Panel 2. Maybe give them a bit more freedom by just explaing the key things you want to happen on each page and let them work how to do it. Kind of what's called the Marvel-method - where the writer does the plot, the artist draws, and the writer puts in the words that fit (they may not do that much anymore, but in the 60s and 70s it was very common).

Take page one, here's a take on your description that different artists could illustrate in many ways.

Page 1:

It's just after Coming of the Fuzors part 2 aboard the Axalon with Optimus Primal and Rhinox. Primal is still getting used to his new Transmetal form. Rhinox shows Optimus the device that was used to collect his spark, it's within a large chamber in the ship. Rattrap is present too (Transmetal form too) but we only notice him when appears and makes a snide remark to which Optimus tells him (friendly/angrily) to shut up.
You can include the dialogue too or if you're willing to be flexible with it, leave it out and fit it in once you see the art. Someone could make that a splash page, someone might make it a grid of 16 panels. It's more flexible.