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Abstract: Based on the technical analysis of the end-effector of the existing picking robot, the eggplant is selected as the picking object, and the solution is designed for the problems of the end-effector. The main structure of the end-effector is designed and improved. The main structure includes end-effector, power transmission device and power output device. The motion mechanism of the key mechanism such as the actuator and the power transmission in the end of the actuator is analyzed, and compare the picking performance of physical proportion model of the structure. On the basis of this, using SolidWorks to complete structural modeling of the end-effector, the improved end effector device is tested and the data collected from the entity scale model is analyzed. The data error source is analyzed, and these experiments verified the feasibility of the picking device.