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In view of the problems in the current manufacturing methods of soft claws (such as soft offset printing, lost wax casting, etc.), such as complex forming process, unstable adhesion, easy tearing and so on. Stereo lithography apparatus (SLA) soft picking claw integrated structure was designed, which could realize the adaptive grasping of fruits and vegetables by positive and negative pressure drive. Firstly, based on the Yeoh model, the nonlinear mechanical properties of the bending deformation motion of the soft finger were studied, and the nonlinear relationship model between the internal pressure of the cavity and the bending angle of the finger was obtained. Then, the bending characteristics of the soft finger were analyzed by using Abaqus finite element software, and the influence law of the main structural parameters on the bending angle was obtained. And combined with the orthogonal experimental method, the optimum combination of the structural parameters was obtained as follows: the cavity height of the soft drive was 11mm, the channel height was 4mm, the cavity wall thickness was 1.6mm, the number of cavities was 7, the cavity spacing was 3mm, and the thickness of the bottom layer was 3mm. Finally, based on the optimal combination of structural parameters, a prototype of the soft picking claw was fabricated and installed on a test platform for fruit and vegetable grasping experiments, which verified the practicality of the SLA soft picking claw.