Proceedings of the National Engineering Research Symposium 2021 (NERS 2021), pp [25-32],

©National Engineering Research and Development Centre of Sri Lanka.

Design and Development of a Paddy Transplanting Machine for

Small-scale Farmers
E M I D Bandara1, T N Fernando2, S A M A N S Senanayake3
1Department of Mechanical Engineering, Faculty of Engineering Technology, The Open University of
Sri Lanka, isurucreations072@gmail.com
2National Engineering Research and Development Centre of Sri Lanka, nilanthifernando45@yahoo.com
3Department of Mechanical Engineering, Faculty of Engineering Technology, The Open University of

Sri Lanka, nssen2010@gmail.com

Abstract
From ancient times to date, traditional wet paddy cultivation and management systems are
practiced in different parts of Sri Lanka. Transplanting systems are helped to maintain soil
physical properties. Therefore, farmers are considered to implement some crop
management and productivity activities properly. The traditional paddy transplanting
systems are labour-intensive and involve drudgery. There exists a need to mechanize the
process of paddy transplanting. Mechanical paddy transplanting is cost-effective and
operation-friendly. However, the use of mechanical transplanting, especially in emerging
economy countries like Sri Lanka, is low due to the high cost and the technological
complexities. Therefore, this research aimed to design a machine that can perform simple
functions of the transplanting process mechanically that is to take the seedlings from the
hoper, plant them in uniform spacing, and finally close the planting hole. The present
research study has produced a prototype machine. The machine consists of several combined
mechanisms such as a four-link bar mechanism to plant the paddy seedlings onto the puddled
soil that can move on a locus continuously, a planting picker pushrod mechanism and a lug
wheel drive system to move the machine in the field and to maintain the uniform planting
space.
Keywords: Guideline, Engineers, Template, Paddy, Transplanter

Feeding the growing population is a huge

1. Introduction
Agriculture is the most important sector of
the Sri Lankan economy. It is the main source
of employment for the majority of the
workforce in the country. Approximately
38% of the total labor force was engaged in
agriculture. Among that, the highest
percentage was in the paddy sector. Rice is
the major staple food of Sri Lanka. Releasing
the workforce to sectors other than
Agriculture is important to develop the
country. In the paddy cultivation sector,
mechanization plays a big role. Most of the
processes in paddy cultivation are highly
mechanized except crop establishment.
challenge. Importation of rice will lead to
draining out the economy of the country [1].
Paddy transplanting is traditionally done by
farmers in Sri Lanka with often resulting in
non-uniform spacing. In addition, this
requires a lot of manpower, and it is a time-
consuming process, sometimes incurring a
huge cost. Row spacing uniformity will also
have an impact on seed propagation delay,
difficulties for farmers while doing weeding,
fertilizing, and spraying. This will certainly
have an impact on the decline of rice yield
[1]. Varying types of paddy transplanting
machines have been successfully
implemented in some countries such as

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Proceedings of the National Engineering Research Symposium 2021 (NERS 2021), pp [25-32],
©National Engineering Research and Development Centre of Sri Lanka.

Japan, Korea, Thailand, and China, etc.  pushrod mechanism inside the pickers
However, some are could not be adopted in
 Lug wheel drive system
Sri Lanka due to limitations of farmer
economics ability and culture. The use of  Engine & power transmission system
paddy planting machines will allow farmers
to cultivate paddy seedlings. The reason is  Paddy seedlings feed tray system
that it can save time, reduce labor costs, and Figure 1, figure 2, figure 3 and figure 4
improve the process of planting paddy show fabricated machine, conceptual
seedlings. In the wet paddy transplanting design, 2D side views and 2D Front view of
process, the four-bar linkage mechanism is a the machine respectively.
suitable mechanism that is used in some
paddy transplanting machines. [2].
However, the use of this mechanism is very
complicated, and it requires a depth
kinematic analysis to ensure the desired
performance [3]. Therefore, it is necessary
to further study the implementation of the
four-link bar mechanism in paddy planting
machines.
The objective of the present study was to
design the mechanism and the operating
parameters of thefour-link bar mechanism Figure 1 - Fabricated Transplanting Machine
that can provide the paddy seedling-
transplanting locus that is appropriate for
wet paddy fields.
2. Design
The design of the transplanting machine in
the present study is based on a four-bar
mechanism, a cam pushrod mechanism
inside the pickers to prevent the miss
plantings, and a lug wheel drive system to
move the machine in the field to maintain
uniform spacing. The machine's picker arm Figure 2 - Conceptual Design
consists of four pickers. The conventional
manual paddy-transplanting machine
consists of two bar push-pull mechanism to
transplant paddy seedlings. However,
available conventional transplanting
machines cannot push the seedlings into the
puddled soil of the field.
The designed transplanting machine of the
present study consist of the following main
systems
 Four bar transplanting armmechanism

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Proceedings of the National Engineering Research Symposium 2021 (NERS 2021), pp [25-32],
©National Engineering Research and Development Centre of Sri Lanka.
Figure 3 - 2D Side View of the Machine
Figure 4 - 2D Front View of the Machine
The engine throttle leaver controls the
operating speed of the machine. The
planting pickers help to cut paddy seedlings
from the feeding tray and immediately plant
them on the ground. A special push rod is
moved inside the planting pickers to push
the seedlings from the picker tip to the
ground. This mechanism helps to prevent
the miss plantings happen due to picker tip
blocking. The push rod mechanism is
operated by a cam mechanism, which is
connected to the operating shaft of the
four-bar mechanism.
The four planting fingers (pickers) are
mounted on a horizontal bar moved by a four-
bar mechanism. The required moving path
of the planting pickers is obtained by the
four-bar mechanism. This mechanism was
powered by a transmission system
connected to the engine. All the hinges of
the four-bar mechanism are consist of
bearings to reduce friction and to obtain
smooth operation.
The lug wheel drive mechanism is linked to
the four-bar link drive shaft by a set of spur
gear wheels. These two lug wheels move
the machine forward maintaining an equal
gap between the planting rows.
Eight-inch mat-type paddy seedlings have to
load to the feed tray. Four mats have to load
to the feed tray. During each planting cycle,
the paddy seedlings' feed tray is moved
27
horizontally. Further, BG 328 small gasoline
engine supplies the power to the machine.
The engine throttle lever controlsthe speed
of the machine.
2.1 Design consideration
Initially, the model of the four-link bar
mechanism consists of a frame (link 1),
crank (link 2), connector (link 3), and
rocker (link 4). The length of each link bar
should be suitable and closely fitted. So
that it will give a smooth movement and it
must be ensured that the crank can rotate
360 degrees. Figure 5 shows the basic
conceptof the four-link bar linkage.
In a mechanical transplanter, the finger,
which is attached at the end of the
connector bar follows a desired path of
motion. A planar four-bar linkage with all
revolute pairs is chosen, as this is very
simple, a mechanism made that is easy to
maintain and the less cost to
manufacture. The input motion is applied
to the crank so that the motion is
continuous and rotary. The output motion
follows a suitable path to meet the
requirements of a transplant, which has a
specified motion.
The mechanism should have one degree
of freedom and a connector point that can
make a loop to be incorporated. The
planting finger will be attached at the end
of the connector point.
Figure 5 - Four-Bar Mechanism
Proceedings of the National Engineering Research Symposium 2021 (NERS 2021), pp [25-32],
©National Engineering Research and Development Centre of Sri Lanka.
The optimum design of four-link bar
mechanism from various alternative
dimensions tested on slid works software
& produce rice planting locus according to
the selected dimensions. The selected
mechanism has been tested and it can
move smoothly according to its
functionality for rice planting. The
selected mechanism hasbeen tested and it
can move smoothly according to its
functionality for rice planting.
2.2 The calculation for power requirement
2.2.1 Basic details and parameters about
the planting mechanism of the paddy-
transplanting machine
The maximum transplanting speed is 60
planting cycles per minute. The machine
has four pickers in the transplant arm and it
can plant four planting holes per one cycle.
The machine could be planted 3 to 5
seedlings in one hole and the planting
depth of the seedling is between 2- 4
centimetres. The depth can be adjusted.
The space between two pickers (between
two planting arms) is 8 inches. The planting
distance between two rowswas calculated
as follows according to the designed
specifications.
RPM of the machine wheels = 10
Planting cycles per minute = 60
Diameter of wheels = 0.3m
Distance travel during one minute
= π × diameter × RPM
= π×0.3×10 =9.42
Distance between two planted rows,
= 9.424/60
= 0.1570 m
The value is approximately 15cm.
However, this is not the practical space
value. The practical value is always below
the calculated value. The reason is the
wheels are rotated in the mud and due to
the slipping and etching of the wheels the
traveling distance of the machine is always
below 15cm. (The most suitable space is
10cm.)
2.2.2 Calculate the power required to
operate the planting arm drive assembly
As shown in figure 6, the arm assembly is
driven by the shaft at (E) and link (70mm)
connected to the planting arm assembly at
point B. The power is supplied to the shaft
by the gear wheelset connected between
the worm gearbox output shaft and the arm
assembly drive shaft (All dimensions in
mm). Thus, it can be simplified as follows
(Figure 7).
The following conditions and specifications
were considered for the calculations.
 The weight of the planting armassembly is
4kg and it is acting in the point D of the
arm
 The weight of the clean arm finger
assembly is 3kg and it is acting onpoint D
 The weight of the two solid discsis 0.5kg &
acting on point B
 The force needs to cut the seedlings from
the tray at point D is 10N
 The force needs to operate the paddy
seedling tray ( at point D ) as 50N
 The force needs to overcome the etching
(1) of the arm in mud as 50N
Figure 6 - Planting Arm Drive Assembly
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Proceedings of the National Engineering Research Symposium 2021 (NERS 2021), pp [25-32],
©National Engineering Research and Development Centre of Sri Lanka.
Figure 7 - Force-Acting Points of the Planting Bar
Practically these forces are act in different
time intervals in a single planting cycle.
However, the study is assumed all these
forces act at the same time. Therefore, the
force should be applied in point B to
overcome the all opposite forces (F)
Considering the moment of force on point
A
235×F= (235×5)+{450×(40+30+10+50+50)}
235×F=(235×5)+(450×180)
F=349.6 Say 350N
Therefore, the torque should provide to
rotate the arm. The distance of the drive is
70mm (Figure 8).
The torque acting on the point E (shaft)
Torque (T) =force (F) × distance (d)
T = 350N × 0.07m
= 24.5 Say 25Nm
RPM of the shaft 62. Therefore, power
needs to rotate the arm.
Power=Torque × angular speed (3)
P =T×ώ
(2×𝜋×62)
=25 × 60
=162.3w, Say (𝑃1=165w)
Figure 8 - Arm Drive Rocker
2.2.3 Calculate the power required
operating the picker finger cleaning
assembly arm rod
As shown in Figure 9, the planting picker
cleaning assembly is fixed to the main
planting arm. A cam disc centre at (W) and
a 170mm arm link operate the finger
cleaning assembly. When the planting arm
comes to the planting position, the cleaning
assembly pushes the seedlings into the soil.
Figure 9 - Cleaning Assembly Arm Rod
The above diagram can be simplified as
shown in Figure 10 as follows.
(2)
Figure 10 - Dimensions Push Rod Mechanism
The following assumptions and conditions
were followed.
Assume the force need to lift the cleaning
finger assembly is 30N. Assume the RPM of
the disc as 62. Therefore, the force act on
point X due to the load.
F ×105mm =165mm × 30N
F=47N
The force acting on the diameter of the solid
disc is 47N
The torque acting on the center of the disc
(or shaft) is due to the force.
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Proceedings of the National Engineering Research Symposium 2021 (NERS 2021), pp [25-32],
©National Engineering Research and Development Centre of Sri Lanka.

Torque=Force x Distance = 165w +12w + 71w = 248w

T= F × D Approximately 250w
= 47N × 0.035m = 1.7Nm 2.2.4 Calculate the power required moving
the machine (power need to rotate the lug
Therefore, power needs to rotate the solid
wheels)
disc (shaft).
The Lug wheel drive system as shown in
Power=Torque x Angular speed
figure 11. The machine consists of two lug
P=T×ώ wheels that help to move the machine in
(2×𝜋×62) the field. The lug wheels are connected to
=1.7 × 60 the drive shaft. The power is supplied to the
drive shaft by a set of spur gears connected
=11.037w, Say 12w between the planting arm shaft drive and
the lug wheel drive shaft. The power is
𝑃2= 12w
supplied by the engine to rotate the
Calculate the power required to overcome planting arm drive by there to lug wheels.
the moment of inertia of the whole planting
system
Consider the moment of inertia of moving
parts as I=8kg𝑚2 and it is acting on the
centerline of the operating shaft.
Assume the planting arm reaches its speed
within 5 seconds.
Angular velocity = angular acceleration x Figure 11 - Lug Wheel Drive System
time
ω = αt (4) The following details were selected for the
(2×𝜋×62) calculations. Considering the practical
α ×5= α =1.32 rad/s
60 situation
τ=I×α (5)  The diameter of the lug wheel is 30cm
2
τ = 8kg𝑚 × 1.32 rad/s  The RPM of the wheel is 10
τ = 10.4Nm, say 11Nm  The weight of the machine as 40kg
Therefore, the power need to overcome  The friction coefficient on the field
inertia surface is 0.9
Power= torque x angular velocity
 The maximum resisting force act on the
P=T×ώ circumference of the lug wheel

P= 11Nm×
(2×𝜋×62)
𝑃3 = 71w  Neglect the moment of inertia of the lug
60
wheel
Therefore, the total power needs to rotate
The resisting force
the planting arm assembly system.
Horizontal Force = friction coefficient x
𝑃𝑇 = 𝑃1 + 𝑃2 + 𝑃3
vertical force

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Proceedings of the National Engineering Research Symposium 2021 (NERS 2021), pp [25-32],
©National Engineering Research and Development Centre of Sri Lanka.

F= µ x R (6) inside the picker pushes the seedlings into

the soil. Afterward, the picker assembly
F= 0.9 x 400N = 360N
moves upwards in the path of planting loci.
The force act on the lug wheel can be Meanwhile, the machine moves on the
expressed as figure 12. ground backward maintaining equal gaps
between planted rows.
4. Performance Evaluation
The main objective of this project was to
replace tedious manual work with a
mechanized system. Due to the simple
design of the machine, it is very easy to
repair & maintain the paddy transplanting
Figure 12 - Force Act on a Lug-Wheel machine. Most of the spare parts of the
transplanting machine can be
Torque= Force x Distance manufactured locally. The production cost
of the machine is very low when compared
T= F ×D with the commercially available
T= 360N×0.15m T= 54Nm transplanting machines. However, future
(2×𝜋×10)
research will be continued to evaluate the
(Angular velocity) ω = performance of the fabricated transplanting
60
machine in the present study during field
= 1.04, approximately ω = 1
testings.
Therefore, power need to rotate the wheel
5. Conclusion
P=T×ώ
The combination of the four-bar mechanism
𝑃4 = 54Nm ×1 = 54W and plant finger cleaning mechanism gives
the same output performance as a
commercially available paddy transplanting
2.2.5 Minimum power required to operate
machine arm. The paddy seedling
the paddy transplanting machine
transplanting machines mechanism worked
= (power to rotate shaft + power to rotate satisfactorily. However, some
cam disc + power to overcome inertia + improvements could be implemented prior
power to rotate lug wheel) it to introduce to the farmers. The vibration
of the engine is high. The Engine could be a
P = 𝑃1 + 𝑃2 + 𝑃3 + 𝑃4
built-in speed reduction gearbox & low
= 165 + 12 + 71 + 54 vibration for better performance. The CAD
for the synthesis of a linkage mechanism is
= 302 watt
an elaborate but effective process to attain
Therefore, approximately minimum power a near-perfect simulation of a manual
required to operate the paddy transplanting transplanting system. It is very important to
machine is 302 W. calibrate the paddy-transplanting machine
according to the type of seedling mats used
3. Operation
and the plant density of the mats. The
The pickers cut the seedlings from the feed output of the machine could be further
tray & travel downwards. When the pickers improved by increasing the number of rows.
come to the planting position, the push rod

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Proceedings of the National Engineering Research Symposium 2021 (NERS 2021), pp [25-32],
©National Engineering Research and Development Centre of Sri Lanka.

References
[1] D. of A. S. Lanka, “Department of agriculture
Sri Lanka,” Department of agriculture Sri
Lanka, 2021.
https://doa.gov.lk/rrdi/index.php?option=c
om_sppagebuilder&view=page&id=42&lan
g=en (accessed Aug. 31, 2020).
[2] E. Vareed Thomas, “Development of a
mechanism for transplanting rice
seedlings,” in Mechanism and Machine
Theory, 2002, vol. 37, no. 4, doi:
10.1016/S0094-114X(01)00071-4.

[3] L. S. Guo and W. J. Zhang, “Kinematic

analysis of a rice transplanting mechanism
with eccentric planetary gear trains,” in
Mechanism and Machine Theory, 2001, vol.
36, no. 11–12, doi: 10.1016/S0094-
114X(01)00052-0.

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