In order to improve the , a new harvesting robot system for cherry tomato was designed and tested, which mainly consisted of a railed-type vehicle, a visual servo unit, a manipulator, a picking end-effector, and other accessories. According to the greenhouse environment and the standard planting mode, the robot configuration was determined, whose operating space could be adjusted horizontally and vertically in order to enlarge the harvesting range. Besides, a harvested fruits automatic transport device was to decrease the time cost spent on the manipulator’s transporting movement, so as to improve the harvesting efficiency and range. In view of the multi-fruits’ clustering in a bunch, a dynamical visual servo unit was adopted to locate the single fruit and measure the fruit bunch, and a laser sensor of the visual unit was aimed at the target fruit to detect the rang information through visual servo method based on the dynamic image. A railed-style vehicle was used for carrying the robot system moving along the plant row, and a DENSO VS-6556 operated a stem-cutting end-effector to approach the bunch stem. A field test showed that the harvesting robot averagely spent 12 sec on picking one bunch tomato, and the successful rate is 83%.