Fruit branch clamping used in robot harvesting has advantages of universal use and little damage on fruit, but the clamping stability and reasonable clamping force are the bottlenecks of finger design. Firstly, the novel humanoid fingers were elaborated and the clamping force closure was analyzed. Clip-model in the condition of disturbance was developed, and a new clamping force calculation method was deduced. Secondly, the branch clamping test was operated on press machine. The relationships among clamping force, branch diameter, and maximum snatch force were built, and the quantitative description was also established. Finally, tests were performed to verify the clamp reliability by harvesting robot in the field. Results showed that the novel humanoid fingers can realize stable clamping on different sizes of branches and have little damage on them. The clamping force model was valid. The stable clamping can be achieved with disturbance. The success rate was 100% when clamping force was 15N.This will provide some theory evidences for harvesting method and universal fruit picking manipulator.