This thesis deals with the creation of a device that will climb towering palms to harvest (primarily) coconuts. It will foster not only a love for engineering, designing, and inventing, but also a feeling of pride and accomplishment in helping people who live in coconut-harvesting countries. There are no 100% safe coconut-harvesting devices currently in the market. Although there have been efforts made by many inventors, the most similar contraption is a coconut-climbing assistance device that assures efficiency, but not necessarily safety. The proposed coconut-climbing device will attempt to address both efficiency and safety. The design of the device has to be simple and enough for villagers to operate, yet work efficiently to appeal to the majority. Other design obstacles include creating a multi-axis arm, allowing the villagers to observe what is happening at the top of the tree, and maintaining the friction between the device and the tree when the device ascends and descends. A coconut plucking robot is created in hopes of saving lives and improving the living standards of many coconut-climbers.