Abstract: Traditional manual harvesting methods for fruit picking are not only inefficient and costly but also labor-intensive, often leading to health issues among workers．Solidworks software was utilized to complete structural design of bionic manipulator for fruit grasping, followed by an analyzes of manipulator mechanism．Flexible gripper design was inspired by fin effect bionic principle．Solidworks and ANSYS software were employed to conduct simulation tests of manipulator opening and closing motion, component strength testing, and actual operation process of grabbing columnar objects．Results indicated that finger movement throughout closing process was continuous and uniform, with no jamming or excessively rapid motions．In ANSYS transient analysis, the maximum total deformation value of manipulator structure reached 5.0726 mm, indicating that key areas maintained good rigidity and stability during opening and closing motions, with significant deformation occurring only at grasping part．Average damage rate of test fruits wrapped by bionic manipulator was less than 3.3%．By optimizing synchronization between visual recognition and motion trajectory（initiating claw closure 0.2 seconds earlier）, success rate could be increased to 94.1%．Manipulator designed excellent mechanical properties and deformation control capabilities during grasping process, exhibiting good adaptability, and meet needs for efficient grasping in modern agricultural production．