<p>The capture of cooperative target is crucial for accomplishing on-orbit service tasks such as space station assembly and satellite maintenance. Compared to other capture devices, the dual-layer snare rope has more advantages in capturing cooperative target with large inertia and high velocity. However, it faces challenges such as dynamic modeling and contact collision analysis. Thus, this paper develops a Variable Hertz-LuGre Model (VHLM) for the contact collision process of the dual-layer snare rope. First, an improved dynamic model of the dual-layer snare rope is established based on Lagrange multiplier method. Then, the variable contact stiffness coefficient of the virtual spring can be determined by employing Back Propagation Neural Network. Finally, an improved LuGre model is built to effectively solve the switching problem between viscous and non-viscous friction in contact collisions. The simulation and experimental results demonstrate that the VHLM is superior to the Hertz-Coulomb Model under different operating conditions.</p>