Forestry of Japan has problems such as deterioration of wood price, decreasing and aging forestry workers, and devastating artificial forest. Pruning is one of the effective means to solve these problems. Therefore, development of a efficient robot which prunes branches on behalf of forestry workers is desired. In our laboratory, we have been developing a pruning robot which takes advantage of its own weight to climb on a tree. One of the problems of our previous pruning robot is that the robot is inclined due to thinning of trees during pruning. Changes in the inclination of robot's inclination creates a negative impact on pruning work. So, in order to maintain the correct inclination of the pruning robot, we newly developed an orientation adjustment mechanism which is consist of motor, worm gears, and links, we show the evaluation results of the efficiency of our robot by experiments.
