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In order to solve the problems of high labor intensity and low efficiency of manual feeding in the semi-automatic cuttage operation for willow cuttings in China, a kind of automatic feeding device for willow cuttings that can realize the functions of orderly discharging, picking and feeding willow cuttings was proposed. The optimization design of the picking mechanism and related tests of the device was conducted in laboratory. The kinematics model and optimization design model of the picking mechanism were established, the self-developed software was used to analyze and determine the parameter range of the picking mechanism, and then the genetic algorithm toolbox of Matlab software was used to realize the parameter optimization of the picking mechanism. The structure design of the picking mechanism was completed, and the virtual motion simulation verification of the picking mechanism was carried out. The prototype of the picking mechanism and the test bench of the automatic feeding device were developed, and the high-speed camera test of the picking mechanism and feeding test of the automatic feeding device were carried out. The movement characteristics of the picking mechanism were studied, and the working performance of the device was inspected. When the automatic feeding efficiency reached 55 plants per minute, the success ratio of willow cuttings feeding was about 83%, which showed that the device had the feasibility of being applied to the automatic cuttage machine for willow cuttings.