Abstract: It is necessary to replace manual working by machinery in fruit picking in our country because of the large planting areas and onerous task of harvesting. The current end-effectors were one-to-one picking, thus a new kind of end-effector of picking robot has been designed, which was suitable for picking two kinds of fruits and showed self\|adaptive ability. This end-effector used three fingers centering gripper jaws for apple and pear harvesting, and had the features of small size, simple operation, safe and reliable, adaptable, low cost and so on. The experiments showed that this end-effector could complete picking tasks well．

Key words: picking robot, end-effector, multi-use, wring