Abstract: The robotic hand plays a vital role in the harvesting process, which is the direct contact part between the fruit harvesting robot and the fruit. Its design is an important link in the research and development of picking robot. A multi-sensor underactuated picking manipulator is designed in this paper to deal with the problems of complex growth environment, irregular shape and easily damaged skin of most fruits. The underactuated system is driven by a tendon rope, in which a miniature color camera, a laser ranging sensor, a pressure film sensor and other modules are embedded. First of all, the data collected by the pressure film sensor is filtered and calibrated to achieve constant force picking of fruits in a complex environment and prevent damage to fruits. Finally, the prototype was made and the picking platform was built in the laboratory, which verified the reliability and stability of the picking manipulator design.