Then move up to the set point along the Z axis, and then move to the next fresh leaf position. Repeat the above process to complete fresh leaf picking. During the fresh leaf picking process, the control system makes the moving process of the manipulator and the fresh leaf collecting process proceed simultaneously. The collection process is carried out simultaneously with the process of advancing to the next picking area to further increase the picking rate. Chapter 2 introduces the system components of the tea picker. The design of picking manipulator is one of the main measures to improve the picking rate of famous tea, and it is also the main research content of this article. This chapter will determine the parameter values and the overall structure of each key part of the manipulator according to the pickup requirements.