Abstract: Aiming at application problems of traditional rigid manipulator in fruit and vegetable picking process, such as too many driving motors and inconvenient air source to carry, an automatic fruit and vegetable picking executive device was designed, which was composed of three parts: driving module, fixed and switching module and grabbing module．Through combination of rotating motor of driving module and switching structure, switching between two modes of overall rotation of grasping module around rotating shaft and self-body rotation of grasping module was realized, and posture adjustment of execution device was completed．At the same time, linkage opening and closing of grasping claw was controlled by telescopic motor, which replaced traditional pneumatic clamping claw and realizes object grasping．