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A prototype for intelligent fruit picking operation was developed. It mainly consisted of intelligent mobile platform, picking arm, end-effector, transverse sliding institution and control systems. The system control program and human-machine interface were programmed with VC++. The comprehensive experiments of the prototype were carried out in the orchard of Feng county in Jiangsu province. Results revealed that this robot could achieve autonomous navigation, independent picking and autonomous binning operation. The mobile platform, picking arm and end-effector can work coordinately, so the whole system performed very well. The correct rate of ripe fruit recognition and success rate of picking reached to 81.73% and 86.92%, respectively, whereas averagely 9.50 s were required for picking a single apple.