A mechanical system is disclosed to capture and/or deploy a device or vehicle having relative motion with respect to another vehicle. The mechanism includes an onboard controlled collapsible iris assembly located at the end of a controlled manipulator system carried by one moving vehicle. The iris assembly by means of the manipulator system encircles a probe located on the other moving vehicle whereupon the iris assembly is activated and one or more iris elements close around the probe, thus capturing, and axially aligning the other vehicle with the iris assembly. Additionally, a rotator assembly is included for spinning the iris assembly in a manner adapted to engage the probe of a spinning vehicle. Deployment of the other vehicle is accomplished by reversing the capture procedure
