Grapevine in usually planted in adopting a trellis training system in Japan. It is considered that this training system is more suitable for robot harvesting than the other training systems, since the bunches which hang down from the trellis are exposed and can be easily detected and harvested. Before developing a robot, it is necessary to investigate the physical properties of the grape plant. Accordingly, a harvesting robot was developed experimentally to harvest individual bunches. The robot consisted of a 5 DOF manipulator, an end-effector which could grasp and cut rachis and could push a bunch, a visual sensor in which a TV camera and optical filters were used, and a crawler type traveling device. Based on the experimental results, is was observed that the robot could perform harvesting operations satisfactorily, because the design was based on the physical properties of the grape plant for the development of the robot