Motion Characteristics Analysis of a Novel Autonomous Underwater Vehicle Deployable Capture Mechanism

• A novel foldable and deployable capture mechanism for AUV launch and recovery is proposed, achieving both enveloping and grasping movements with a single actuation. • Screw theory analysis reveals the degrees of freedom for enveloping and grasping movements are 6 and 2, respectively, enabling versatile capture adaptability. • Kinematic simulation confirms smooth displacement and velocity curves without interference, and vibration tests validate the mechanism's reliability. • The design offers a valuable reference for developing efficient and adaptable AUV capture equipment, reducing manual dependence and improving operational safety.