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In view of the trouble of high cost of manual harvesting and the difficulty of large-scale machinery harvesting of Coffea arabica L. in the hilly areas of Yunnan, a hand-held vibrating comb-type Coffea arabica L. harvester was designed. Through establishing the harvest dynamic model of tree-machine and ADAMS simulation, the steady-state response expression of amplitude was obtained, and the structural parameters of the key components of the device were determined. The rigid-flexible coupling model of tree-machine was established in ADAMS, and the single-factor simulation experiment of the harvester was carried out by using the methods of generalized force and sensor function control. Through this method, the effects of frequency, comb spacing and the angle between the eccentric blocks on the harvest effect of Coffea arabica L. were analyzed. Then the quadratic regression orthogonal rotation combination test was done,，with the frequency, comb spacing and eccentric block angle as the test factors，and the harvesting rate of ripe coffee, the harvesting rate of unripe coffee and the breaking rate of ripe coffee as test indexes. The results of the experiments showed that the importance of the factors affecting the harvesting rate of ripe coffee and the harvesting rate of unripe coffee were frequency, comb spacing and the angle between the eccentric blocks in turn. The importance of the factors affecting the damage rate were comb spacing, frequency and the angle between the eccentric blocks in turn. When the frequency was 26Hz, the comb spacing was 32mm and the angle between the eccentric blocks was 22.5°, the working performance of the harvester was the best. Verified by the experiments, the results showed that the harvesting rate of ripe coffee was 9135%, the harvesting rate of unripe coffee was 8.46%, and the damage rate was 4.15%, which met the technical requirements of Coffea arabica L. harvest.