Presents a kind of bionic end-effector which can imitate the human hand to pluck tea flushes. The mechanical structure of the bionic plucking finger is designed. Dynamic and static analysis are carried out to improve the dexterity and compactness. Genetic algorithm is employed to optimize the geometric parameters. The transmission efficiency of driving force is increased by 26.6%. Then, the prototype of the bionic plucking fingers is made, and the design of pneumatic drive and control system is completed. The indoor tests show that the success rate of plucking is about 70%, which can realize the expected action.