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The end effector is an important part of the harvesting robot. A fresh-eating pepper harvesting end effector was designed by using the cutting-off harvesting method for the growth characteristics of the single-growing pepper fruit. Firstly, the biological characteristics of Capsicum frutescens were tested. The physical parameters such as fruit length, fruit maximum diameter, stem diameter and stem length were measured. The maximum cutting force of Capsicum frutescens stem under different cutting methods and different cutting angles was tested. Secondly, according to the biological characteristics of Capsicum frutescens, the design of the end effector was carried out, and the kinematics and dynamic static mathematical model of the end shearing mechanism was established. Based on the results of dynamic static analysis, the genetic algorithm was used to optimize the rod size of the end actuator shearing mechanism. The length of the crank was 33 mm, the length of the connecting rod was 60 mm, and the length of the connecting rod extension rod was 54 mm. In order to realize the stem cutting of Capsicum frutescens, the shearing mechanism needed 0.94 N·m external driving torque. Therefore, the power source selected the steering gear with a load of 10 kg. Experiments showed that the overall harvesting success rate of the end effector was 91.3%, which verified the harvesting performance of the end effector of the capsicum, and had good harvesting performance, which provided an option for agricultural robots to harvest capsicum.