Abstract: To address precise control issues in automatic tomato picking, with strengthening agriculture through science and technology concept deeply practiced．Based on robot with joint coordinate systems, a two-axis picking manipulator was designed and its structure was simplified．Simplified physical model was analyzed by using homogeneous coordinate transformation for kinematic calculations．A kinematic simulation model was established in ADAMS to obtain simulation motion curves of picking joint．Kinetic energy of arm was constructed using Lagrange equation, and virtual modeling verification and simulation research were carried out in Matlab Simulink to obtain joint torque curve needed for movement．