Abstract: Aiming at problems of low mechanization, high manual harvesting costs and low efficiency in fresh soybean harvesting, fresh soybean harvester was introduced and improved, and experimental analysis on fresh soybean harvesting device was conducted．Current development status of fresh soybean cultivation in Jiaxing City, Zhejiang Province and physical characteristics of five typical soybean varieties were analyzed．Overall structure and working principle of harvesting device were expounded, motion parameters were calculated and analyzed, and bench and field tests were carried out．Results showed that height difference between the lowest harvesting point of harvester and the lowest point of drum tooth tip was 4.39 cm．Pod stalk height was closely related to rate of pod leakage, when it was higher than 5 cm from bottom of drum tooth tip, rate of pod leakage significantly decreased during harvesting．As height of drum tooth tip above ground increased, harvesting loss showed an increasing trend, when height was higher than or equal to 5 cm, harvesting loss significantly increased．It was more appropriate to adjust the lowest point of drum tooth tip above ground to 4 cm during harvesting operations of fresh soybean in Jiaxing City．