Due to the importance of space manipulators in on-orbit servicing tasks, capturing operations by using a space manipulator, which involves complicated contact has been widely studied. The complicated contact feature brings great challenges to the analysis of the capturing operations. A capturing dynamics model of an end-effector with snare capture and retract operations is developed in this work. The proposed model is validated by comparisons with experimental results of a hardware-in-the-loop facility. Validation results indicate that the presented model can be used in simulations for on-orbit capturing tasks. Therefore, simulation cases of tasks for capturing a floating target and a fixed one are conducted. Finally, practical suggestions for on-orbit operations are proposed according to the simulation results.

由于空间机械臂在在轨服务任务中的重要性，利用空间机械臂进行复杂接触的捕获操作得到了广泛研究。复杂的接触特征给捕获操作的分析带来了巨大的挑战。在这项工作中开发了具有圈套捕获和缩回操作的末端执行器的捕获动力学模型。所提出的模型通过与硬件在环设施的实验结果的比较得到验证。验证结果表明，所提出的模型可用于模拟在轨捕获任务。因此，进行了捕捉浮动目标和固定目标任务的仿真案例。最后根据仿真结果提出了在轨运行的实用建议。