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In order to solve the problems of low net recovery rate and large bud damage rate during the picking process of camellia fruit, by studying the binding force and branch characteristics of different varieties of camellia fruit, a twist-comb type camellia fruit picking end effector was designed. It produced a variety of forces on the camellia fruit during operation. The structure and working principle of the end effector were described, the key components were designed, the operation process of the end effector was analyzed, and the factors that affected the shedding of the camellia fruit were obtained. By measuring the binding force of different varieties of camellia fruit, it was concluded that the tensile force was mainly concentrated between 10N and 25N, the shear resistance was mainly concentrated between 5N and 15N, and the torsion moment was mainly concentrated between 0.015N ·m and 0.030N ·m. The measured torsional modulus of different varieties of camellia branches was between 2MPa and 7MPa. The results of single factor test showed that the performance was better when the rotating speed of the torsion component was 25~35r/min, the rotating speed of the comb roller was 75~85r/min, and the working time was 8~12s. The results of test showed that the optimal working parameter combination was 35r/min of torsion component, 85r/min of comb roller, and 12s of operation time. Under this working condition, the average net recovery rate of camellia fruit was 93.37%, the average damage rate was 13.16%.