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Abstract. The planting scale of oil-tea camellia tree is growing, but due to its flower and fruit grow synchronously, oil-tea camellia is still relying on manual harvesting. In view of the current situation of mechanical harvesting of oil-tea fruit, aiming at improving the harvesting efficiency and avoiding damaging the flower bud, a hand-held fruit harvesting machine was designed. The harvesting machine can generate three kinds of actuation to detach fruit when it runs. The main actuation is picking oil-tea fruit with variable spacing comb brush to make the flower bud pass through the finger gap. Through the analysis of the biological characteristics of oil-tea camellia fruit, using ADAMS to carry out the kinematics simulation of the picking machine, analyzed the acceleration of the front end of the brush finger and the distance between the two brush fingers, and designed the key parts of the picking machine. The simulation analysis based on ADAMS shows that the range of finger spacing between two comb fingers is 25.3～53.7mm. Use ANSYS Workbench to determine that nylon meets the design requirements. Finally, when revolving speed of comb brush was 480 rpm, the comb fingers can effectively detach the oil-tea fruit.