In　this　paper,　the　design　of　cucumber　harvesting　manipulator　is　completed　by　using　the　mechanism　instead　of　the　joint　type　design　on　the　basis　of　horizontal　cucumber　planting　mode.　For　the　harvesting　manipulator,　the　kinematics　simulation　of　the　mechanism　is　analyzed　carried　out　by　Adams.　Based　on　the　simulation　results,　stability　problem　in　the　mechanism　harvesting　manipulator　was　found.　In　order　to　improve　of　harvesting　manipulator,　this　paper　would　use　TRIZ　to　analysis　solve　the　problem　in　existing　design,　and　proposed　the　innovation　solution　to　optimize　it.