According to the requirement of the capture manipulation of free-floating target of large space manipulator

an end-effector prototype based on tendon-sheath transmission system is developed.The capture of target with small mass and inertia is difficult for space manipulator on orbit. Therefore

the geometry model and mathematical model of the capture for free-floating target are built based on the Newton-Euler equations.The parameters which play important role in the capture manipulation of free-floating target are obtained through the analysis.The mathematical simulation model of the capture manipulation is presented by Hertz contact model

and the simulations of freefloating target capture are implemented to verify the theory analysis.The simulations are vital to the implementation of capture strategy for large space manipulator.