Abstract:【Objective】To design a prototype of wheeled intelligent mobile platform at the basis of a 3-DOF fruit picking robot hand. 【Method】According to the working environment of farmland, the steering structure and anti-collision beam structure of the platform were designed. The deformation of the platform frame under three working conditions were simulated using ANSYS, and simulation of the motor was carried out using Simulink module based on MPTA or ID=0. The motion control program and human computer interface were programmed with VC++. The prototype walking experiments were carried out in Jiangpu farm, Nanjing.【Result】The maximum deformation of the platform frame was 14.1 mm under the crankle working condition,and the value of stress was under the yield limit of material. The motor based on MPTA control achieved stability after 0.8 ms. The maximum climbing angle of the platform was 10°, and the tracking path lateral deviation was 0.22 m at a speed of 1.5 meter per second. 【Conclusion】This mobile platform has reasonable structure, with high strength, rigidity and motion accuracy, which meets the requirements of practical use.