In order to study the mechanism of fruit orientation during transmission, this paper proposes the the theoretical basis for the optimization of structure and parameter design. For the movement of apricots at the orientation device, a quaternion was used to obtain the transform of the angular velocities between different coordinates, and the Euler dynamic equation was converted into the attitude error dynamic equation. A control torque matrix was designed and proven to make the attitude error dynamic equation reach stability, with the help of the Lyapunov function. The simulation results match the theoretical analysis, and the control torque was confirmed to be reasonable. The experimental data was shown to agree with the simulation results compared with the orthogonal experiment. Finally, the best cutting control torque of the apricot was shown to be 150 N·mm.