Abstract: To promote automatic fruit picking equipment development, an overview of domestic and international progress in automatic fruit picking equipment was briefly introduced．Key technologies for automatic fruit picking manipulator were analyzed, including free degree improvement technology, flexible gripping technology, and intelligent control technology．Many technical challenges faced by automatic fruit picking manipulators' were discussed, such as technological complexity challenges, fruit management structural variations, and fruit variety diversification．Finally, future development directions for automatic fruit picking manipulators were prospected, including customized manipulators, enhanced application reliability, low cost reduction, and biomimetic design．