Nowadays, along with the overall development of the country, the marine economy is playing an increasingly important role. The study on oceans and rivers requires the use of Autonomous Underwater Vehicles (AUVs) to enhance economic and social efficiency in both civilian and naval applications. Investigating the effects of the marine environment on economic and social life is crucial for our country, including disaster and tsunami warnings, underwater ecosystem surveys, and water environment sampling. These activities necessitate AUVs to achieve their objectives effectively. Therefore, researching and manufacturing these devices domestically will increase production autonomy and reduce dependence on costly imports. This study focuses on the calculation and design of a Twin AUV, defining the requirements for the design problem. Then, analyzing and selecting the best design approach, conducting kinematic and dynamic calculations for the AUV, and calculating the components involved in the chosen design. The findings of this study can serve as a basis for simulation and analysis aimed at optimizing the design for future practical manufacturing applications.