Jonathan,
Yes at a basic level routers and Firewalls are interchangeable. BUT once you get into the features of each you see the need for each
for example a router has buffers that allow for the difference in speed between a Gigabit interface and a Wan serial interface where as a Firewall would not, also a Cisco ASA cannot do policy based routing whereas a router can For Firewalls the architecture is designed specifically for the purpose where as a Router the firewall function is an add on, so the Firewall performance is obviously better.
You just have to look at the Data sheets for each product to see the differences
HTH
Richard.