In order to adapt the parallel harvesting space of the multi-joint dual robotic arms to the kiwifruit scaffolding space, so that ensuring the maximum continuous harvesting area without fruit leakage, the method of theory and experiment was used to design the parallel harvesting platform of the dual robotic arms. Firstly, the spatial layout of the dual robotic arms was determined by combining the equivalent models of the manipulator workspace and the scaffolding space. Then, the design variables were determined by theoretical analysis of the parallel harvesting efficiency with the dual robotic arms, and the objective optimization function was established with the indicators of “maximum harvesting area” and “minimum common area”. A particle swarm algorithm was used to solve for an optimum relative mounting position of 870mm, an optimum mounting height of 1020mm for the dual robotic arms, and a maximum intermittent forward step distance of 450mm for the mobile platform. On this basis, the open-chain motion model of the arms and their position layer constraints was established. Finally, to verify the adaptability of the parallel harvesting space and the performance of the whole machine, a prototype of the dual manipulators parallel harvesting platform was built and the fruit positioning error test and the parallel harvesting test with dual robotic arms were carried out. The results showed that the average horizontal and depth positioning errors of the fruit were 5.0mm and 8.3mm respectively, which met the kiwifruit picking requirements, the average fruit position traversal success rate was 92.09%, the arms can traverse the required target fruit points except singular points, the average fruit harvesting success rate was 82.10% and the average single fruit harvesting time was 5.86s, the problem of motion conflict can be improved by adjusting the pose of the arms in the shared space, which verified the operational feasibility of the parallel harvesting platform with dual robotic arms for kiwifruit.