In order to get the optimum design of a picking robot, the virtual prototype of picking robot is set up. With DenavitHartenberg method, a theoretical model was derived, and the relationship between all moving parts of the robot and end executor in space positions was ascertained to obtain forward solution for kinematics equations. By using A-1ito multiply left with matrix 0T4 for decoupling, the inverse kinematics solution was obtained with Matlab software. Three-dimensional (3-D) model of picking robot was set up by Pro/e, and imported to ADAMS simulation software with kinematics simulation analysis. The simulation results show that the Kinematics model set up by D-H method reflects real movement situation of the robot and the correctness of forward and inverse kinematics solution. The developed 4-D virtual prototype picking robot is rational in structural design, which can satisfy eggplant picking requirement under mode of room temperature planting. 