Abstract: A deployable wave energy harvesting device for autonomous underwater vehicles (AUVs) includes a deployable lifting platform and an energy harvesting mechanism. The deployable lifting platform includes two scissor-type lifting structures, which are supported by a double-end threaded rod. A first stepper motor is connected to a threaded rod passing through a threaded hole at a center of a slotted pin shaft, and drives the threaded rod to lift and lower the deployable lifting platform. A spindle on the energy harvesting mechanism is connected to a generator. A support frame is hung at the end of the spindle. A scissor-type single-pendulum structure is hung at the lower end of the support frame. A load is hung on the end of the scissor-type single-pendulum structure. Second and third stepper motors are installed on the support frame to lift and lower the load by rope drive.