The present invention relates to picking robot technology, and is especially one kind of linear motor driven terminal executor of picking robot. The linear motor driven terminal executor consists of fingers, link rod and crank, gears, linear motor, air bag, push plate, casing, vacuum generator, sucking disc, fixing clip and other parts. The mover of the linear motor moves linearly to drive the sucking disc back and forth for sucking the fruit, to make the fingers open or close to hold the fruit via the transmission of the gears, crack and the four-rod mechanism, and to drive the push plate forwards for compressing the air bag to blow out leaves and facilitating picking. The present invention needs only one motor, and has compact structure, high precision and smooth and reliable motion.