Abstract: Tapping is the key technical procedure for the extraction of the latex from rubber trees in the processing of natural rubber. However, there are some problems with current fixed rubber-tapping equipment, such as high production cost, high weight of the whole machine, and low tapping precision. In this study, a new fixed tapping robot was designed using advanced polymer materials. The tapping robot was mainly composed of the clamping mechanism, tapping table, combined roller screw pair, and the module of measuring limits. The weight of the main body in a robot was reduced, thereby making it easier to assemble than before. It is conducive to mass processing and production of tapping robots made of polymer materials, due mainly to the processing cost was also reduced. Specifically, the clamping component was utilized to hold on the tree trunk, when the tapping robot was attached to the rubber tree within the rubber cutting cycle. A tapping control system was selected to scan the tree rounds before tapping. In processing, the eccentric load can cause the bending behavior of the rubber trunk between the tapping robot and the tree trunk. A circumferential motor and an axial motor were set to control the trajectory of the cutter. The running speed of the two motors was controlled to move at a certain ratio during the cutting process, where the spiral secant in space was formed from the bottom right to the top left around the rubber tree. An ultrasonic sensor was used to scan the tree rounds, thereby determining the distance between the ultrasonic sensor and rubber trunk. A mathematical model of error predictive control was established to obtain the distance between the tip of the cutter and the bark. A PID control was also selected to control the cutter feed, thereby reducing the cutting error in rubber tapping. The range of cutting depth was determined, according to the structure of rubber bark, and the relevant technical regulations for tapping. The fixed cutting depth of 5.5 mm was expanded to the range of 5.2 to 5.8 mm, to reduce the counting of the cutter moving forward and backward, while reducing the power loss of the motors. Taking the rubber tree with the trunk diameter of 180 mm as a research material, a rubber cutting test was conducted to verify the simulation data, where the cutting helix angle was set as 25°-30° in tapping. The results showed that the cutter tip of a tapping robot was guaranteed to reach the target position through the control system. The tapping work was completed by one pass, where the effective cutting time was only 22 s. The tapping efficiency of a fixed tapping robot increased by 63%, compared with traditional manual tapping, where usually multiple passes were required and the effective cutting time was 1 min. The fixed tapping robot achieved a fast and accurate tapping. The bark consumption of cutting rubber was 1.1 mm, indicating suitable for the requirement of bark consumption in the technical specification of tapping. The counting of the cutter moving forward and backward was 36%, lower than that of the original scheme during tapping within the range of 5.2-5.8 mm cutting depth, and the maximum variation range of cutter current was reduced by 4.11%. The rubber tree was not damaged using the fixed tapping robot and tapping control. The fixed tapping robot can be expected to completely replace the manual tapping, and further widely popularize due to its reduced motor power, and improved tapping efficiency.