According to the tea cultivation conditions a 4 DOF gantry Cartesian coordinate tea-picking robot was designed.The picking gripper was used two fingers,droven by a servo to open and close. One finger was furnished a knife to cut the tea steer. The controlling system was based on TMS320F2812 DSP and was consisted of both C and assembly language. It was able to achieve serial communication, data processing and precise servo control. The tea picking robot work efficiency verification tests and linkage comparative test have been conducted in the indoor. The results show that the maximum operating frequency of motor drive system of X-axis,Y-axis and Z-axis were 173.61kHz, 58.59kHzand 24.40kHz respectively,and that two-axis linkage and three-axis linkage operation efficiency were 1957 times per hour and2517times per hour respectively.