Abstract: According to the features of the large space manipulator and its manipulation task of on-orbit-servicing,the basic requirements of large misalignment tolerance and soft capturing for the end-effector of large space manipulator are presented.And the ways to meet the above-mentioned requirements are proposed.A design scheme of end-effector with large misalignment tolerance capability is also presented based on these requirements and ways.And the elaborate design of the proposed end-effector scheme is completed to obtain the performance of this end-effector accurately,and to provide a precise 3-dimension model for the following performance analysis based on dynamics simulation.Finally the large misalignment tolerance capability of this end effector is verified via dynamics simulation and theoretical analyses,and the misalignment tolerance requirements for the large space manipulator end-effector are satisfied.