The high-level and large-size characteristics of bananas bring great difficulty to picking.At present,the manual picking operation mainly needs to consume huge labor cost.A compound actuator for stalk clamping and cutting was presented.The compound actuator was mainly composed of clamping and swing cutting mechanism,electric chain saw,swing head base and hydraulic system.The driving power of clamping and swing cutting mechanism and crawler walking came from the hydraulic power system installed at the bottom of crawler truck.According to the clamping mechanical properties of banana stalk with a simulated diameter of 90~120 mm,the experiment results show that the banana stalk clamping and cutting composite actuator can be used to stably clamp the load weight of 60 kg.The heavier the load is,the greater the minimum clamping force requires,and the greater the regulating pressure of the corresponding pressure reducing valve is.Under the same load,the clamping force required for the larger diameter of banana stalk will also increase.The banana stalk clamping and cutting composite actuator is installed at the end of the adapted agricultural robot,then the clamping and cutting of the banana stalk and the hoisting of the whole string of bananas can be completed at one time.