This paper was carried on a strawberry harvesting robot which can precisely harvest the fruit without damage through cutting and holding the peduncle for strawberries grown on annual hill tops. This second study proposed an image processing method for the ripeness judgment of fruits and the recognition of the peduncle, and described the fabrication of the picking hand. The ripeness judgment of fruits was based on the fruit's coloring rate to determine their proper harvesting timing. The peduncle recognition involves extraction of the display line of peduncle, as well as determination of its cutting position and direction angle. Results confirmed that the harvestable fruits having at least 50 to 60% coloring were able to be determined, while the cutting position and direction angle of the peduncles can be obtained. From the information provided by the image processing method, the picking hand's ability to cut and hold the harvestable fruits through their peduncle was confirmed.