The subject matter of this specification can be embodied in, among other things, a grapple assembly that includes a grapple unit having a fixed assembly, an articulating assembly having a pivot point located at a proximal end of the articulating assembly, pivotably coupling the articulating assembly to the fixed assembly, and an articulation connection point distal to the pivot point along the articulating assembly, and a linear actuator having a first actuator end and a second actuator end configured to move linearly relative to the first actuator end, the first actuator end being pivotably coupled to the fixed assembly and the second actuator end being pivotably coupled to the articulation connection point, and configured to actuate the articulating assembly relative to the fixed assembly.