An intelligent end-effector for tomato-harvesting robot was developed based on multi-sensor information fusion and open control. The end-effector is composed of actuating system, perception system, control system and power-supply system. In actuating system, the vacuum suction pad device separates the fruit from the cluster, and then a gripper grasps the tomato fruit reliably, finally the peduncle-cutting device cuts the peduncle with laser. Design mass of this end-effector is 1.2 kg, which needs only 3 s to perform actions of harvesting. By changing a connecting plate, the end-effector can be mounted on different manipulators. 