Abstract: A fruit harvesting machine for harvesting citrus fruit has a plurality of booms mounted to a vehicle. The booms are mounted to pass through fruit trees as the vehicle moves along for picking fruit on the trees. Each boom has fruit picking devices mounted thereon for collecting the fruit and conveying it to the vehicle and each boom has a breakaway mechanism allowing the boom to individually swing towards the vehicle responsive to contact with large tree limbs to allow individual booms to clear the tree limb and then be restored to its normal position to prevent damage to the larger limbs. Each boom has a plurality of fruit picking members and stationary discs mounted on a rotating shaft mounted to the boom for twisting fruit from limbs.