空间抓捕机械手是针对太空碎片捕获而产生的一种新型航天装备，对抑制碎片数量增长、有效维护空间环境具有重要意义。面对日益复杂的太空任务需求，航天领域对具有大范围、多工况以及高适应性的机械手新构型提出了迫切需求，对此提出了一种具有折展功能与柔性特性的模块化仿章鱼抓捕机械手，并开展了运动性能研究。首先，通过对章鱼腕肌肉组织进行分析，探明其柔性弯曲动作机理，建立了聚焦于运动功能维度的章鱼-机械手仿生映射关系；其次，设计出与章鱼腕局部运动特性相似的拟肌肉性静水骨骼（Muscular-Hydrostats，M-H）单元，并基于螺旋理论与图论综合优化出具有折展功能和弯曲功能的n-PRP联动超冗余机构；接着，在常曲率假设下，运用齐次坐标变换建立了考虑复杂耦合影响的绳簇驱动多段式弯曲运动学模型，并对其工作空间进行了分析；最后，研制了仿生机械手原理样机，并进行了对多种尺寸类型与形状轮廓目标物的抓捕功能试验。研究结果表明：所提出的模块化仿章鱼腕机械手指具有可变尺度与多段式-欠驱动弯曲特性，具备变脊线与自适应功能，在满足星载发射基本需求的同时，可实现面向多种非合作目标物大范围、多样化。

The grasping manipulator is a novel aerospace equipment developed for space debris capture， playing a crucial role in mitigating the growth of debris and effectively maintaining the space environment. In response to increasingly complex space mission requirements， a pressing demand has been identified in the aerospace field for new configurations of grasping manipulators with large operational ranges， multi-working-condition adaptability， and high flexibility. To address this， a modular octopus-inspired grasping manipulator with deployable and flexible characteristics is proposed， and its kinematic performance is investigated. First， by analyzing the muscular structure of an octopus tentacle， the mechanism underlying its flexible bending motion is elucidated， and a bio-inspired mapping relationship between the octopus tentacle and the manipulator is established， focusing on the kinematic functional dimension. Second， a Muscular-Hydrostats （M-H） unit with local motion characteristics similar to those of octopus arms is designed， and an n-PRP interconnected hyper-redundant mechanism with both deployable and bending functions is synthesized and optimized based on screw theory and graph theory. Third， under the constant curvature assumption， a multi-segment bending kinematic model for cable-driven systems is established using homogeneous coordinate transformation， accounting for complex coupling effects， and its workspace is analyzed. Finally， a prototype of the bionic manipulator is developed， and functional grasping experiments are conducted on target objects of various sizes and shapes. The results demonstrate that the proposed modular octopus-inspired manipulator exhibits variable-scale and multi-segment underactuated bending characteristics， along with variable backbone and self-adaptive capabilities. While meeting the fundamental requirements for satellite-borne launch， this manipulator enables large-scale and diversified grasping of various non-cooperative targets.