Bioinspired Swimming Robots with 3D Biomimetic Shark Denticle Structures for Controlled Marangoni Propulsion

Shark skin exhibits a well-defined multilayered architecture, consisting of three-dimensional denticles and an underlying dermal layer, which contributes to its passive drag reduction. However, the active drag reduction mechanisms of this interface remain largely unexplored. In this study, the Marangoni effect potentially arising from the active secretion of mucus on shark skin is investigated. A 3D-printed swimming robot with a porous substrate and a biomimetic shark denticle structure is developed. By introducing surfactants into the porous substrate and adjusting denticle arrangements, on-demand propulsion and controlled swimming trajectories are achieved. A superhydrophobic surface is fabricated on the swimming robot, which reduces water resistance and enhances propulsion. Moreover, denticles with a 30° attack angle demonstrate optimal propulsion performance in both Marangoni-driven hydrodynamics and aerodynamics. This study suggests that the secretion of mucus on shark skin may facilitate active drag reduction via the Marangoni effect, offering novel insights into the biomimetic structural design of autonomous swimming robots.