This paper presents a new picking pattern for a flexible three-fingered end-effector used in apple harvesting robots. The authors propose two new three-finger grasping postures for wrapping apples horizontally and vertically on the inside of the fingers, and a new method of separating the stem with a circular-pull-down motion. The optimal angle for apple circular movement and the required force are determined through dynamic simulation experiments. The experiments show that the best angle for apple picking is 15° to 20° using the circular-pull-down movement separation method. The combination of the vertical holding posture of the inner finger and the circular-pull-down movement separation method is the best picking pattern, with an average peak force of about 8.52 N and a pressure of about 20.9 KPa. The study aims to improve the stability of the picking process, reduce the gripping force, and avoid apple dislodgement and damage.This paper presents a new picking pattern for a flexible three-fingered end-effector used in apple harvesting robots. The authors propose two new three-finger grasping postures for wrapping apples horizontally and vertically on the inside of the fingers, and a new method of separating the stem with a circular-pull-down motion. The optimal angle for apple circular movement and the required force are determined through dynamic simulation experiments. The experiments show that the best angle for apple picking is 15° to 20° using the circular-pull-down movement separation method. The combination of the vertical holding posture of the inner finger and the circular-pull-down movement separation method is the best picking pattern, with an average peak force of about 8.52 N and a pressure of about 20.9 KPa. The study aims to improve the stability of the picking process, reduce the gripping force, and avoid apple dislodgement and damage.