An increasing number of space debris in low Earth orbit has necessitated the implementation of On-Orbit Servicing (OOS) and Active Debris Removal (ADR). Unlike traditional methodologies that rely on astronauts for extravehicular activities, the unmanned satellite servicing mission by space robots presents a safer and more adaptable alternative. This paper analyzed rigid robots and soft robots intended for on-orbit servicing under planar conditions. Firstly, the workspace of the two robot types was evaluated in the presence of identical parameters. The soft robots presented a smaller workspace than rigid robots under planar conditions, but larger one under three-dimensional conditions. Subsequently, a dynamic coupling analysis was carried out on the chaser base in a free-floating model to assess their stability under equivalent conditions. The results showed that soft robots were superior to rigid ones in terms of performance. These findings underscore the potential advantages of soft robots in the context of space exploration missions.