Consumption of tomatoes is popular among Iranian in all seasons. Tomato is a sensitive product to pressure and impact. For customers to receive a high quality product, tomatoes need an appropriate harvesting time and method. Out of season tomatoes are produced in greenhouses. Due to non-uniform distribution of fruits on each plant, having an intelligent and powerful system to increase the speed and quality of harvesting is essential. In this study, an articulated arm configuration with three degrees of freedoms was designed, constructed and controlled. Furthermore, physical and mechanical properties of the tomato were measured. Puncture and burst studies were conducted using an Instron universal testing machine. To design the arm, a geometrical definition along with kinematical description of the linkages, dynamics analysis, type and layout of the joints, geometry of the links, materials, weight and dimensions of the links were considered. After simulation and motor selection, the mechanical model of the arm was modeled using available computing tools. Finally, a mechanical prototype of the robotic arm was constructed and tested. Image processing system was used to detect the tomato. The controlled system was then designed such that the arm was directed toward the target point. The results showed that the arm accuracy at final point in x, y and z axes was 1.2, 1.1 and 1.4 mm, respectively. The accuracy of the joints’ angle was estimated to be 1°.