A Rigid-Compliant AUV Capture System with Hydraulic- Buffered Guidance and Endoskeleton-Reinforced Locking

Autonomous underwater vehicle (AUV) capture requires a mechanism to accommodate initial impact and then secure the hull through compliant contact. This study implements a rigid-compliant system that combines a hydraulic-buffered guidance dock with an endoskeleton-reinforced compliant locking mechanism. Building on an earlier numerical study of the guidance dock, the present work adds the locking mechanism, comparative component tests, and integrated water-tank experiments. Adams–AMESim co-simulation evaluates guidance and impact response, while Abaqus analysis and component tests assess the reinforcement effect. At 600 kPa, reinforcement increased the measured underwater vertical clamping force from 260 to 410 N, or 57.7%. Nine of ten tank trials established bow–dock contact at measured speeds of 0.76–0.85 m/s and completed guided buffering, pose adjustment, and locking; one trial missed the guidance region. The baseline simulation predicted a 94.8% reduction in peak contact force relative to a constrained unbuffered dock. The results demonstrate a staged capture system in which separate mechanisms accommodate initial impact and develop compliant clamping force, under fixed-platform, operator-supervised conditions.