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Abstract: The current fruit shake mechanism uses a wide range of incentives. Different incentive methods have a great influence on the fruit harvesting efficiency and the fruit shaking mechanism itself. In order to determine the ideal vibration trajectory of the vibration recovery mechanism, In this paper, we study the influence of noncircular excitation trajectory parameters on the vibration response of fruit trees, clearly affect the significant main trajectory parameters, and find the optimal trajectories corresponding to different amplitudes. Designing a planar 2-DOF parallel robot and performing Adams motion simulation experiments, the terminal output acceleration can reach 25m/s2, which proves the feasibility of the 5R mechanism and provides a basis for subsequent prototype processing.