A Robotic Stingray Sensor Platform, Featuring a Coaxial Magnetic Drivetrain

Researchers have been looking at biology to create a new generation of autonomous and unmanned underwater sensor platforms that can be used for a variety of applications. However, there is still room to design unique and more effective systems. In this article, the design of a robotic stingray platform that uses a novel drivetrain based on a coaxial magnetic coupler is presented and evaluated through the construction and evaluation of a prototype. The surface swimming ability and generated thrust for specific waveform parameters were assessed and compared to other robotic systems. The maintenance and range of motion benefits of the drivetrain design for sensor platforms were also discussed. These comparisons show that a magnetic coupler-based drivetrain is a viable option with a velocity trade-off for future robotic fin-based designs, such as stingrays, cuttlefish, and knifefish. The applications for this robot design include exploring unique waveforms specific to this drivetrain style as well as those that can be used on traditional stingray-based robots to improve their ability to be sensor platforms.