Abstract: Based on operation principle of track translation fruit and vegetable picking robot, operation quality test method of flexible fruit and vegetable picking robot was established．Determination methods of picking efficiency, fruit picking size range, maximum grasping output force, grasping success rate and fruit damage rate were determined．According to this method, FHR-2 type flexible fruit and vegetable harvesting robot was used to harvest large fruit tomatoes in greenhouse．Results showed that picking efficiency was 8 per minute, fruit picking size ranged from 30 to 92 mm, maximum gripping output force was 22.5 N, gripping success rate was 72.9%, and fruit damage rate was 0, which could meet picking requirements of large fruit tomatoes．This test method could be used to test working quality of tomato picking robot．Parameters of robot's image recognition system needed to be further optimized to improve working quality．