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To reduce the inefficient of tomato harvester pickup mechanism and avoid the fruit injury and blockage, the movement trajectory of tomato harvester pickup mechanism was optimized. Firstly, the motion mathematical model of mechanism was established and parameterized in ADAMS. And then, the effect of main parameters on motion trajectory was analyzed. The jitter of pickup mechanism and tomato feeding stability in the process of harvesting were taken as optimization goal. The parameter optimization analysis was performed. Finally, a set of optimal parameter combination was obtained. In this combination, the mechanism had good movement characteristics, which could meet the agronomic requirements of tomato harvest.