There is disclosed a system (110) for manipulating a spatial object in space, the system comprising an articulated structure, characterized in that said articulated structure comprises a single actuator (117) configured to control both the deployment of said structure in space, gripping the spatial object and folding said articulated structure. Developments describe the use of a fixed carrier structure (111), a threaded rod (112), a threaded nut (113) guided by the threaded rod and a set of articulated bars (114) held by pivot connections at their interfaces on the threaded nut and on the fixed load-bearing structure. Various mechanical configurations are described, including grippers comprising rollers for locking and / or unlocking the spatial object by spacing the articulated bars. Method aspects are described including regulation, control and manipulation adjustment.
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