With the continuous advancement of technology, human exploration and excavation of the ocean have deepened. The use of Autonomous Underwater Vehicles (AUVs) to assist and replace human operations in complex marine environments is becoming increasingly popular. This paper presents the design and modeling of an octopus-like Autonomous Underwater Vehicle with multiple functions. Kinematics simulation of the vehicle is also conducted. The study begins by investigating the current research status of Unmanned Underwater Vehicles in various countries, followed by proposing an improvement plan based on an analysis of the advantages and disadvantages of different types of Unmanned Underwater Vehicles. Subsequently, inspired by the body structure of an octopus, a three dimensional model is created using SolidWorks. The model is then imported into Adams for dynamics simulation. Constraints, drives, and forces are applied to the vehicle to simulate the underwater environment. The Adams simulation results demonstrate that the designed octopus underwater robot can successfully perform various underwater tasks, including ascending, descending, harmonic motion, turning motion, and sample collection.