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Aiming at the difficulty of citrus automatic picking, a terminal actuator using spherical closure for occlusion and shearing of citrus fruit stalks was designed. Firstly, the shearing mechanical properties of citrus fruit stalks were studied, and the effects of five factors on the peak shear force were analyzed, i.e., stalk diameter (2~4 mm), shear speed (20~200 mm/min), stalk angle (0~75°), number of leaves blocked (0~3 pieces), and blade gap (0.5~2 mm). The test results showed that the peak shear force required to shear citrus fruit stalks was increased with the increase of stalk diameter. With the increase of shear speed, the peak shear force was decreased, but not significantly. The stalk angle was one of the factors affecting the peak shear force. Between 0° and 30°, the stalk angle had little effect on the peak shear force, but when it was between 30° and 70°, the peak shear force was increased significantly with the increase of the stalk angle. The blockage of a few leaves had little effect on the peak shear force. Blade clearance was one of the main factors affecting the peak shear force. Large blade clearance had a great impact on shearing thin stalks, which may be difficult to shear off. Controlling the blade clearance within 1 mm was critical for the success rate of the end effector picking. The geometry modeling of the end-effector was carried out, and the parameter optimization model was established with the main constraint condition of controlling the blade gap and the optimization goal of increasing the fruit positioning tolerance. The fruit positioning tolerance was increased from the original 9.2%~48.8% to 26.0%~71.7%. The static analysis of the model was carried out and the selection of the electric push rod was completed. At the same time, the finite element simulation of the model was carried out, and the influence results of the spherical shell deformation on the blade gap were obtained, and the strength of the structure was checked. Finally, the prototype of the citrus picking end-effector was developed, and the field picking and shearing performance test was carried out in the citrus orchard. For the fruit stalk with a diameter less than or equal to 4 mm, the success rate of the fruit stalk breaking was 95%, meeting the requirements of picking citrus.