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In order to further study the operational principle of all forms of peanut picker and picking component, explore the peanut pods damage mechanism, distribution regularity and peanut plant dynamics situation, and then optimize the structure and parameters of peanut picker, a multifunctional modular fullfeeding peanut picking testing device was designed. It mainly composed of frame, motor, transmission system, picking system, cleaning system, variable speed and control system as well as pod distribution test system. As a peanut picking testing device, it has the following functions: by changing and controlling the moving direction of the peanut plants, seven different kinds of feeding and picking program with tangential and axial cylinder could be achieved, which are tangential flow single cylinder, axial flow single cylinder, tangential flow doublecylinder, tangentialaxial flow doublecylinder, tangential flow doublecylinder, double tangentialhorizontal axial flow three cylinders and tangential double axial flow three cylinders. And the picking cylinders and the speed between them could be adjusted through the speed regulating of the inverter drive combined with mechanical transmission. In addition, the distribution of peanut pods in each picking mechanism would be studied with the divided material collection box. Besides, it showed that the device could be used to carry out the performance tests of picking with different picking parts and the combination of tangential and axial cylinders. And the main parameters were as follows, rotational speed of 200~800r/min, picking gap of 25~50mm, and the maximum feeding quality of 5kg/s.