Abstract: Taking the fruit and vegetable picking manipulator as the research object, this paper designs a 4-DOF fruit and vegetable picking manipulator that can be used in a specific environment, establishes the kinematics analysis model of the manipulator by Lagrange method, and carries out numerical simulation. The results show that the movement process of the manipulator is stable, which can meet the accurate control and use of the picking process, and the maximum torque of each joint is within the reasonable design range, which can meet the operation requirements of the fruit and vegetable picking process.