Abstract: Chrysanthemums (Chrysanthemum morifolium R.) serve as a primary dual-purpose Chinese herbal medicine for both medicinal and edible applications, creating a pressing demand for mechanization throughout their production process. The harvesting process constitutes a critical stage that directly determines both the quality and yield of chrysanthemum flowers. To address the prevalent issues in existing "comb-brushing type" harvesters - including significant missed-picking rates, inadequate terrain adaptability, and flower damage, this study designed a comb-type coupled drive chrysanthemum harvesting device. Through systematic evaluation of chrysanthemum biomechanical properties using a universal testing machine, it was found that under tensile or shear action, chrysanthemums break first at the stem, and the tensile failure load of the stem is less than the shear failure load. Chrysanthemum picking machinery should minimize damage and impurities while maintaining a high picking rate. This study developed a biomimetic structure design based on the action of manual chrysanthemum picking. The device mainly consists of a multi-row comb picking mechanism with rotary-translational motion, a cylinder-driven gantry lifting system, and a rubber crawler chassis, which can adapt to chrysanthemum fields with high soil viscosity. By theoretical analysis and calculation, the structure and working parameters of key components such as the eccentric wheel transmission mechanism and picking comb teeth, as well as the required power for picking, were obtained. The rationality of the picking comb teeth structure size was verified through static simulation, and the relationship between picking working speed and forward speed, as well as the picking trajectory, was determined. It enables real-time remote control of forward speed and working rotation speed through pulse-width modulation signals, with its harvesting action decomposed into three phases: "plant separating and inserting-comb translational brushing-rotating flower throwing and collecting". The main advantages of this device are twofold: 1) Compared with existing comb tooth circular rotation and shearing chrysanthemum picking mechanisms, its comb teeth have less impact when inserted into chrysanthemum plants, effectively reducing collision damage to chrysanthemums; 2) Its picking trajectory has a larger longitudinal range, effectively reducing missed picking, and equipped with a lifting system to improve the adaptability of the picking mechanism. The device has adjustable picking height, which can adapt to differences in chrysanthemum picking height and effectively reduce missed harvesting; The forward thrust exerted by the picking component on the plant is minimal, and the impact force generated by the comb teeth penetrating the chrysanthemum plant is also low. The study used Ansys and Adams to simulate the interaction between chrysanthemums and machines, and investigated the damage mechanism of chrysanthemums. The critical acceleration for chrysanthemum picking and shedding was found to be 4.49×10⁶ mm/s², and the damage acceleration threshold was 1.125×10⁷ mm/s². The simulation shows that either too high or too low a working speed is not conducive to chrysanthemum picking, and the selection range of working speed has been determined. Through quadratic regression orthogonal field experiments, mathematical models were established between experimental factors and performance indicators. The optimal parameter combination was identified: comb tooth clearance of 8.0 mm, forward speed of 0.13 m/s, and picking speed of 21 r/min, achieving a picking rate of 73.55%, impurity content of 4.51%, and damage rate of 2.88%. This comb-type coupled drive chrysanthemum harvesting device demonstrates satisfactory performance, providing theoretical and technical support for mechanized chrysanthemum harvesting.