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Aiming at the problems of low picking-up rate, high pods loss rate and low productivity in the process of picking and harvesting peanuts with full feeding, an axial-flow peanut picking-up combine harvester was designed. The whole machine was driven by self-propelled chassis with supporting power of 120kW. The picking speed, conveying speed, pods picking speed, cleaning frequency, cleaning fan speed and bucket lifting speed were controlled by chain and belt combined transmission. The machine was mainly composed of picking device, conveying device, pods picking device, cleaning device, chassis system, pods collecting device, etc. It could complete the tests of picking, conveying, pods vine separation, pods impurity cleaning, and pods collection in one time, which can reduce labor and cost. On the basis of analyzing the working principle of the whole machine, the structural design and parameter determination of the key parts were carried out. The collision energy model of separation process and the mechanical model of pod-handle separation were established by the principle of energy conservation. Based on this equation, quantitative analysis was carried out, and the main influencing factors were the elastic teeth speed, machine forward speed;and picked speed. The results showed that the significant order of picking-up rate was elastic teeth speed, machine forward speed and picked speed;the significant order of pods loss rate was elastic teeth speed, picked speed and machine forward speed;the significant order of productivity influence was machine forward speed, elastic teeth speed and picked speed;the optimal combination was 68r/min for elastic teeth, 447r/min for pods picking drum and 1.4m/s for machine forward speed. The corresponding picking-up rate was 98.62%, the pods loss rate was 2.11% and the productivity was 0.61hm2/h. The picking-up rate and productivity were 2.1 and 4.5 percentage points higher than that before, and the pods loss rate was 0.9 percentage poins lower than before. Comprehensive performance was obviously improved. It was worth noting that this test was based on the picking-up mechanism of axial peanut full feeding harvester, and the test object was only “Kainong 61”. It was suggested that the performance of different peanut varieties and harvesting equipment with different structures should be discussed in depth.