Designed a terminal actuator for picking the fruit of early kiwifruit, and analyzed the performance and technical indexes of the terminal actuator of kiwifruit picking manipulator in motion, grasping and picking. The mechanical picking terminal actuator using rotary plus pull together, can realize the thoroughness of kiwifruit picking. For the packaging a bag the outside of the kiwi fruit in picking, the fruit wear is reduced in the process of picking under the minimum pressure to ensure that the fruit is not crushed.