Underactuation tail end tool of apple picking robot

The invention discloses an underactuation tail end tool of an apple picking robot. The underactuation tail end tool of the apple picking robot comprises a fruit posture self-adaption mechanism and a fruit separating and cutting mechanism, wherein the fruit separating and cutting mechanism is placed on the fruit posture self-adaption mechanism and the fruit posture self-adaption mechanism can be installed on a positioning mechanism of the apple picking robot. The fruit posture self-adaption mechanism of the tail end tool can adjust the fruit separating and cutting mechanism relative to the growing postures of fruit. The entirety of the fruit separating and cutting mechanism of the tail end tool is in an underactuation form, and the same set of action parts is adopted to achieve the order actions of fruit separating and fruit cutting in sequence. The underactuation tail end tool of the apple picking robot can be applied to the robot picking field, so that mechanical picking operation of spherical fruit like apples can be achieved.