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Aiming at the problems of complex structure, low efficiency of single workstation work, or oxidation and redness of cut edges in the existing picking effector of famous tea, a simple structure, high work efficiency, and good picking quality rotary two workstations effector for harvesting and collection was designed. The two effectors of the soft picking fingers were in the picking and collecting station through a forward and reverse cycle, achieving the picking and collecting functions. By analyzing and pre-testing the effector harvesting action, the factors that affected the success rate of effector harvesting were obtained as follows: servo arm angle, installation plate speed, and silicone thickness. Using Box-Behnken to study the influence of various factors on the success rate of tea harvesting, a quadratic regression model was established with the success rate as the response value. The main and secondary order of significance was obtained as follows: installation plate speed, servo arm angle, and silicone thickness. Using Design-Expert software, with the goal of harvesting success rate, various factors were optimized to obtain the best parameters: installation plate angular velocity ω=265.329(°)/s, servo arm angle Δθ=40°, silicone thickness d=4.986 mm. The optimized parameters were rounded and experiments were conducted, with a relative error of less than 5% between the experimental and predicted values. The integrated effector of the rotary two workstations famous tea picking and collection system can achieve high-quality and efficient picking and collection.