Design of an agricultural machine is a highly complex process due to interactions between the operator, machine, and environment. Mountain coffee plantations constitute an economic sector that requires huge investments for the development of agricultural machinery to improve the harvesting and post-harvesting processes and to overcome the scarcity of work forces in the fields. The aim of this study was to develop a preliminary design for a virtual prototype of a coffee fruit harvester. In this study, a project methodology was applied and adapted for the development of the following steps: project planning, informational design, conceptual design, and preliminary design. The construction of a morphological matrix made it possible to obtain a list of different mechanisms with specific functions. The union between these mechanisms resulted in variants, which were weighed to attribute scores for each selected criterion. From each designated proposal, two variants with the best scores were selected and this permitted the preparation of the preliminary design of both variants. The archetype was divided in two parts, namely the hydraulically articulated arms and the harvesting system that consisted of the vibration mechanism and the detachment mechanism. The proposed innovation involves the use of parallel rods, which were fixed in a plane and rectangular metal sheet. In this step, dimensions including a maximum length of 4.7 m, a minimum length of 3.3 m, and a total height of 2.15 m were identified based on the functioning of the harvester in relation to the coupling point of the tractor.