A device is disclosed, carried by a first vehicle such as an orbiting space shuttle, having a plurality of contact members for engaging and holding an annular ring on a second vehicle such as an orbiting payload. The contact members are connected to manipulator arms which are mounted at a fulcrum point and which are moved by an iris type mechanism. Movement of the manipulator arms causes the contact members to grasp or release the annular ring. Bumper devices are provided to axially align the annular ring and draw the contact members into engagement therewith
