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An intrarow brush weeding manipulator was designed for the crops with developed root system and compact soil condition. The manipulator is a part of intelligent weeding machine. Brush weeding with brush placed on a vertical rotating axis which is mounted on eccentric shank for avoiding crops is a new method for intrarow weeding. The principles of weeding and crop plants avoiding were studied. The mathematical model of device was established for kinematic analysis. In order to optimize the best structure parameter, the effect of three parameters (eccentricity of brush, diameter of brush, lateral offset) on crop row and trajectory of brush weeding device was analyzed based on Matlab. The results showed that 80mm eccentricity of brush and 20mm lateral offset which could acquire more than 80% coverage area of manipulator in the row were optimal parameters. Field trials showed that an average of 89.3% weeds could be removed and 3.5% crops were damaged when the transmission ratio of planetary gear was 3. Therefore, the intrarow weeding manipulator was able to meet the intrarow weeding requirements.