Abstract: Using robot technology to realize precise and intelligent fruit harvest is one of development directions of modern fruit production technology.A pineapple picking manipulator composed of clamping device，shearing device and support device was designed.Structural characteristics and design parameters of main components of manipulator were described in detail.Virtual prototype of picking manipulator was established by SolidWorks software，and field experiment was carried out.Research results could provide technical reference for whole mechanization research of Chinese modern orchard.