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With the aim to realize the safe and stable picking of spherical fruit, a type of picking end-grasper was designed based on the flexible penumatic actuator (FPA). The end-grasper was mainly composed of a base and three fingers driven by FPAs. The kinematics of finger tips in the base coordinate was established. The force model of spherical fruit grasping under discretional orientation was analyzed and the grasping mathematic model was built. The experimental results showed that the designed spherical fruit end-grasper could pick and hold mature fruit under discretional orientation and the mathematic model could be adopted in fruit-picking practice control.