The invention relates to a large-scale manipulator for space environment, and relates to a manipulator. The large-scale manipulator solves the problems of small capture quality, large capture impact, large body mass and low connection precision which exist in most of conventional manipulators. When the large-scale manipulator captures, a second direct-current brushless motor is started to drive apinion wheel to rotate through a second harmonic reducer; an internal gear drives a capture torque sensor to rotate so as to drive a rotating ring to rotate; three steel wire ropes tightly clamps a capture cone on a capture interface device under the drive of the rotating ring to complete the capture; a first direct-current brushless motor is started to drive a driving gear to rotate through a first harmonic reducer; a driven gear drives a ball screw to rotate; ball nuts move downwards along the ball screw; and a drag torque sensor drives a capture support tube on a capture device to move downwards, and the capture support tube drives an upper linear bearing and a lower linear bearing to move downwards along a guide rail to complete space dragging. The large-scale manipulator is used for capturing space payload capsules under the environment of large space tolerance and microgravity.