An end-effector for harvesting kiwifruit was developed. The compressibility properties and other related physical properties of the kiwifruit were measured. The body structure, perception system and control system of the end-effector were designed. The experiment of kiwifruit picking was finally conducted. The results showed that the success ratio of clamping and picking kiwifruit reached to 100% and 90%, respectively. Picking time of 9 s was needed to perform one action of harvesting. 