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The development of intelligent agriculture is the future trend in the agricultural field,，and the development of intelligent harvesting equipment is a key issue in promoting the transformation and upgrading of the farming industry. Given the complexity of the tomato picking environment, small mobile space, and other issues, an autonomous tomato picking robot suitable for high-efficiency picking under the wide trench and narrow ridge greenhouse planting mode was designed. The actuator of the picking robot consisted of a four-degree-of-freedom telescopic robotic arm, a multi-positional wrist joint, and a three-finger twisting picking end hand. By analyzing the growth of tomatoes and the operating environment，a rope-row type of retractable mobile joint was designed to reduce the size of the retractable mechanism. For the actual tomato picking action, a three-finger twist picking end- effector was used, and a multi-position wrist joint was added to achieve multi-position multi- directional twist picking. The picking control system was based on ROS-integrated picking, planning, and other strategies to control the robotic arm to complete the picking function. Based on the movable space of tomato greenhouses under the planting mode of wide trench and narrow ridge, a four-rotation and four-wheel-drive mobile chassis was designed, which can realize the movement and steering between tomato planting rows. Finally, a prototype tomato-picking robot was developed, and a field picking test was carried out in a greenhouse, and the fruit-picking success rate reached more than 85%, and the picking cycle time was13.4s, which had a high picking operation efficiency and picking success rate, and met the requirements of tomato picking in greenhouses.