In daily life, fruit has become an important source of vitamin intake. In particular, apples are rich in vitamins, minerals and zinc (Liu et al., A torsion type apple picking rod and apple picking device. Nanjing Institute of Technology, Nanjing, 2019), and the picking process of apples is an extremely labor-intensive project, and the cost paid by fruit farmers to labor will gradually increase, and the demand for picking machines will appear. Demand often coexists with the market, and the research and development of a new picking robot has great economic benefits and broad market prospects (Li, A self-triggered apple picking and collecting machine. Patent No. CN110800469A. Assignee: LI Changling, 2020). Aiming at the problem to be solved by the design, it is the design of the manipulator. According to the determined scheme, the structure of the picking robot manipulator is designed and calculated, and the three-dimensional model of the picking robot manipulator is established. SolidWorks2015 was used to assemble the constructed parts to obtain the final assembly.