Agricultural picking robot is one of the important equipment of precision agriculture in the 21st century. These has become the developing direction of the picking robot industry that the simulation robot movement and the reasonable planning of the robot trajectory. The D-H method was used to analyze three degrees of freedom (3-DOF) of the transformation matrix of navel orange picking robots, and the displacement of end manipulation of 3-DOF navel orange picking robots was obtained. The Jacobi matrix of the 3-DOF navel orange picking robots was solved by using differential transform method, and the angular and linear velocities of end manipulation were obtained. The trajectory and speed were simulated based on M language of MATLAB for self-programming to establish kinematic model of the robot. Through analysis of the theory of the structure of navel orange picking robots, the debugging and actual operation simulation model are provided.