This thesis describes the development and improvement of a robotic hand and wrist designed for an autonomous grape-harvesting robot. The project builds on an existing robotic platform with the goal of increasing dexterity, reliability, and the ability to handle grapes gently and efficiently. The robotic hand uses linear actuators to move each finger independently, allowing precise control of motion and gripping force. A servo motor drives the palm to adapt the grasp to different grape clusters, while two additional servos control the wrist to provide the necessary orientation during harvesting. The control system is implemented on an NVIDIA Jetson, which manages motion coordination and communication with the motor control boards.