The optimal design is made on the parameters of the robot framework and structure according to the eggplant’s growth distribution space. The arthral transmissions are planed skillfully based AC servo drive system. The solid modeling of the picking robot is carried out and revised by Pro/Engineer

and then the prototype of picking robot is made. The error of kinematics forward solution is ±1.5mm according to repetitious test. The experiments on the complete machine show that the picking robot with 4 DOF the system can credibly work

and can meet the demand of the harvesting eggplant.