Facing the problem of appeared in the process of mushroom and sorting manual picking and packing with large amount of labor, low productivity and difficult to precise control classification indexes, a flexible drive five degree of freedom (5-DoF) manipulator is designed, used for high quality mushroom and sorting. The overall flexible transmission mechanism was designed, including the design of mechanical arm, steel wire rope fixed, the adjustment of pre-tightening force and the base of the motor configuration and fixing. The overall manipulator control system was designed, including hardware circuit and image processing. The robot was used of the precision flexible transmission technology, effective motivation mechanism and separation of the actuator, the structure of the mechanical arm counterweight was optimized. At the same time, using visual inspection system and the image processing technology, enhanced the movement of intelligent, the capture of high quality edible fungus was accurately realized. Closed loop control system was composed of sensors, improved the repositioning precision of the robot, which could realize the full range of close to 360 degrees fetching station materials. The product applicability is wide, and can not only be applied to sort of processing line of edible fungi, but also applied to other pre-packaged food sorting.