Abstract: Lifting branches is the key work link of Calcium humilis harvesting.In view of the problem of lodging of Calcium humilis branches during harvesting，a dynamics simulation model of lifting was designed and established to find the best working parameters of lifting device based on the growth characteristics of Calcium humilis branches.The elevation angle，lifting speed ratio and fingers distance were taken as influencing factors.The lifting height was taken as evaluation index.The results of orthogonal test showed that the order of main factors affecting height of lifting was elevation angle，lifting speed ratio and finger distance.The best combination of parameters was elevation angle at 50°，lifting speed ratio at 8 and fingers distance at 160 mm.According to simulation test and bench test，the lifting height was 591.4 mm and 570.9 mm，respectively，with a relative error of 3.5%.This study can provide reference for design and optimization of Calcium humilis harvesting machinery.