**6. Conclusions**

(1) According to the physical characteristics of broccoli, a symmetrical double-finger underactuated manipulator was designed for picking operation by means of clamping and cutting.

(2) According to the surface pressure and stem-cutting force test of the broccoli flower ball and the analysis of kinematics and static mechanics of the underactuated manipulator, each connecting rod of the underactuated mechanism was determined to be 50 cm, 90 cm, and 50 cm, 90 cm, 50 cm, 60 cm, 65 cm, and the driving force of the manipulator was 598.66 N–702.88 N. The manipulator has the ability to pick broccoli with a diameter of 135 mm–185 mm. The reliability of the manipulator was verified by the simulation analysis of the manipulator motion.

(3) According to the requirements of broccoli planting and picking, picking test in a broccoli-picking test stand through the laboratory environment with 100 broccolis proved that the manipulator had a picking success rate of 84% and a lossless rate of 100% when the speed of the arm was 3.4 m/s, and the speed of the stepper motor was 60 r/min. The fastest single harvest time of the test stand was 11.37 s.

**Author Contributions:** Original draft, investigation, resources, validation, review and editing, H.X., C.N. and Y.C.; Supervision, review, and editing, funding acquisition, G.Y.; Methodology, data curation, software, visualization, conceptualization, C.N. and H.X.; Project administration, G.Y. and X.Z.; Formal analysis, Y.W. and H.X. All authors have read and agreed to the published version of the manuscript.

**Funding:** This research was funded by the Key Research and Development Project of the Science and Technology Department of Zhejiang Province, China, grant number 2021C02021; National key research and development program, China, (No. 2022YFD2001800).

**Institutional Review Board Statement:** Not applicable.

**Informed Consent Statement:** Not applicable.

**Data Availability Statement:** Not applicable.

**Acknowledgments:** Key Research and Development Project of the Science and Technology Department of Zhejiang Province, China, (No. 2021C02021); National key research and development program, China, (No. 2022YFD2001800).

**Conflicts of Interest:** The authors declare no conflict of interest.
