The invention discloses a self-adaptive space manipulator suitable for capturing various non-cooperative satellites, and belongs to the technical field of space robots. The problem that a manipulatorcannot adapt to catching of various satellite-rocket butt joint rings is solved. The manipulator comprises a fixed supporting shell, a driving mechanism, a ball screw shaft, a screw nut, two capturing fingers, a guide mechanism, a deep groove ball bearing assembly, an angular contact ball bearing assembly, a swing mechanism and a self-adaptive supporting mechanism, the deep groove ball bearing assembly is fixedly installed on an upper cover plate, and the driving mechanism is fixedly installed in the supporting shell; the ball screw shaft is installed in the supporting shell, one end of the ball screw shaft is fixedly connected with the driving mechanism, the other end of the ball screw shaft is connected with the deep groove ball bearing assembly, the ball screw nut is sleeved on the ball screw shaft, and the angular contact ball bearing assembly is sleeved at the lower end of the ball screw shaft; and the guide mechanism is arranged in the supporting shell, the swing mechanism is arranged on the lead screw nut in a sleeving mode, the bottom ends of the two capturing fingers are installed on the two sides of the swing mechanism, and the self-adaptive supporting mechanism is arranged on the upper cover plate. The manipulatoris used for capturing the satellite-rocket docking ring.