It is expected that unmanned on-orbit satellite servicing will soon become state-of-the-art operations. Such tasks will require new robotic tools. In this context, this paper presents the development of a grasping tool for the handling of satellitic thermal blankets. The mechanical design of the tool is first addressed. Mainly, actuated jaws adapted to grasp and lift a thermal blanket attached with velcros are developed. Also, passive compliance is included in order to cope with a position controlled robotic arm and a rigid surface. Then, sensing issues are discussed and included in the design. These features are integrated in a prototype mainly built of plastic by rapid prototyping. Finally, experimental results show that the tool developed in this work is capable of effectively removing thermal blankets.