Mechanical arm and end effector of fruit picking robot and fruit picking method

The invention discloses a mechanical arm and end effector of a fruit picking robot. The mechanical arm and end effector comprises a fruit picking mechanical device and a control system, wherein the fruit picking mechanical device comprises a primary mechanical arm, at least one secondary mechanical arm and the end effector; the primary mechanical arm comprises a primary arm Z axis, a primary arm r axis, a primary arm theta axis, a base, an end frame and a support; the secondary mechanical arm comprises a secondary arm Z axis, a secondary arm r shaft, a secondary arm theta axis and a secondary arm flange; the end effector comprises a fruit receiver, a basic part flange, a fruit tucking device, a blade, a fruit collecting barrel, a rotary bottom cover, a transmission wheel, a transmission belt, a driving gear, a driven gear, a stand, a cross bar, a fruit tucking device shaft, a blade shaft and a rotary bottom cover shaft; the control system comprises an industrial personal computer, a binocular camera, a switching-over card, a primary mechanical arm control system, a transverter, a secondary mechanical arm control system and an end effector control system. The invention also discloses the mechanical arm and end effector of a fruit picking robot and a fruit picking method.