This paper presents a novel mechanism of tree climbing robotic system for tree pruning. The unique features of this system include the passive and active anti-falling mechanisms, which prevent the robot from falling to the ground under either static or dynamic situations, the capability to vertically or spirally climb up a tree trunk, and the flexibility to suit different trunk sizes. The computer-aided design (CAD) models of the robotic mechanism, static and kinematic analysis, climbing simulation, and testing of the physical model are stated in detail. This research work reveals that this novel tree climbing mechanism can be served as a platform for tree pruning robot.

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