Abstract: In view of the low efficiency of artificial harvesting and the slow development of mechanized harvesting equipment, the lotus picking end-effector was designed. In order to determine the mechanical parameters of lotus stem, the mechanical properties of lotus stem in mature stage were tested by texture instrument. The experiment indicated that when the shear speed was within 500 mm/min, the shear speed and stem diameter had no significant impact on the shear strength of lotus stem, while the shear position had the greatest influence on it. The closer the shear position was to the lotus pods, the smaller the shear force was required. The shear force required for stem cutting of mature lotus was 10. 29-132. 17 N, and the shear stress was 0. 20-2. 71 MPa. Then, the optimal picking range and the required shearing force of the lotus picking end-effector were determined, and the lotus picking end-effector was designed according to the test results. The results showed that the cutting success rate of the device was 100%, but the whole picking success rate was 92% because of the falling from the end-effector.