DESIGN, FABRICATION, AND TESTING OF A

MANUALLY DRIVEN RICE TRANSPLANTING

MACHINE

By:

Alfonso, Shane Axl B.

2012109440

Chu, Steven Alec D.G.

2012103320

Daya, Christian Y.
2012150128

de Guzman, Rica Mae B.

2012150312

Del Monte, Ronnel H.

2012105023

December 2016
SMME Journal

ABSTRACT

Transplanting by hand requires farmers to stoop for a long period of time. The stooping

posture has caused health problems to farmers. Hence, a high yielding manual rice transplanting

machine will reduce the risk of back problems to the farmers and will require less time in

transplanting the seedlings. The use of SolidWorks helped in designing and simulating an idealized

model of the machine and in verifying the interferences and discrepancies in the calculations. The

design uses a quick return 4-bar link mechanism to produce a teardrop motion of the picker. It

would then be operated by the cranking a lever, and pulling the machine. However, the ideal model

had to be modified after the first testing due to the miscalculated distance of the seedling tray from

the picker and other problems. The modified prototype has shown better results because it was

able to consistently plant seedlings. Overall, the machine is capable of transplanting rice in an

average area of 29 square meters. Series of simulations, using SolidWorks and Linkage, were done

to check its feasibility for fabrication. The sampling method used in testing was judgmental

sampling technique to rectify the general results. As for the field performance, the following

parameters were recorded: number of seedling planted, damaged and missed. Moreover, the depth

of the seedlings and the average distance between seedlings was also collected. Finally, the

efficiency of the machine is computed to have a maximum of 62.5%.

Keywords: Rice Transplanting Machine, Philippine Agricultural Engineering Standards, Four-

Bar Linkage Mechanism, Quick-Return Mechanism, Farming

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1 Introduction
Rice transplanting is a common method of growing rice in the Philippines (*IRRI, 2015).
However, the repetitive motion of bending and picking could cause back pain problems.
Mechanical transplanting eliminates this laborious and intense task. This study focused mainly on
the design, fabrication and testing of a manual rice transplanting machine. This chapter includes
the overview and background, statement of the problem, objectives of the study and its
significance, and the scope and limitations.

1.1. Overview and Background

Philippines is one of the largest rice importers in the world, in fact 14.33% of its land area is used
for rice production (*IRRI, 2015).

In the late 60s, high yielding varieties were introduced to Filipino farmers. Since then, the plant
breeding was centralized in research institutions. Along with the centralization is the use of
fertilizers and pesticides to increase development (*IRRI, 2015).

According to Galvez, in 1970s diversification of lands started as a result of developing

technologies and strategies for optimizing farm productivity. According to Shaalan et al., (1983),
effects of different methods of rice planting resulted in significant differences in technologies used
in the past years.

There are two methods of growing rice: direct seeding and transplanting. In direct seeding, seeds
are planted into the soil where it will grow. In transplanting, rice seedlings are grown in a nursery
mat. After 15 to 40 days, it is pulled and transplanted into puddled soil (*IRRI). In both methods,
farmers experience back problems due to the repetitive bending in manually transplanting or
planting rice. It requires extensive work to finish planting in a whole farm. Furthermore,
transplanting can be done manually or mechanically, but engine-driven machines are very
expensive ( 180,000) for our farmers to acquire.

The introduction of manual rice transplanting machines resolved these problems in labor costs by
decreasing its manpower from approximately 400 man-h/ha to 96 man-h/ha, as for the health of
the farmers, the mechanization of transplanting eliminated the difficulty of having to bend
repetitively to plant the seedlings (Seva, 2008).

1.2. Statement of the Problem

Transplanting of rice seedlings is a very strenuous operation in rice crop growing. It requires a lot
of physical work due a stooping posture in a muddy field for long hours under the sun. This in turn
makes rice production time consuming, while the major concern of farmers in engine-driven
transplanting machines is that are very expensive and are not affordable by the local farmers. A
simple manually operated transplanting machine would be a better solution because
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*IRRI is an abbreviation for International Rice Research Institute
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affordability and practicality. No fuel is needed and the less moving parts in a manually operated
transplanting machine means less maintenance. However, there are some problems such as its low
capacity output, normally 0.30 ha/day and the complexity of its operation. The researchers
designed a rice transplanting machine that could ease the job of the farmers that was then sought
after and designed by incorporating the functional requirements of a rice transplanting machine
with ergonomics as well as capacity of giving output.

1.3. Objectives of the Study

To design, fabricate and test the performance of a manual rice transplanting machine that can plant
seedlings at least 150 m2 per hour. Also to use SolidWorks to test the parameters of the mechanism
before the fabrication.

1.4. Scope and Limitations

This study is focused on the design, fabrication and testing of a rice transplanting machine. The
design was limited to certain amount of weight of seedlings that can be mounted on the machine
and seedlings must also be loosen before planting. Also, mature seedlings were used due to its
firmness and length that was very suitable for the machines operation. The research was directed
to farmers who practice manual labor of rice transplanting. The study was tested in Quezon
Province for two days, most likely in the planting season of rice, and in the morning when it is less
windy. It was beneficial to most farmers since the planting time will be shorter compared with
manual-labor planting.

For the stress analysis, it was used to satisfy the correct strength needed for the machine elements
in the design.

For the use of SolidWorks, the design parameters were simulated to determine the best dimensions
to use on the actual prototype. The design parameters included the length and width of the frame
and the dimensions of the other parts. For the linkages, the design was done using a software called
Linkage and simulated using SolidWorks.

For the prototype, there might be some differences to the simulated design due to lack of resources.
An example of this is in the dimensions of the chains and sprockets. The computer simulated
dimensions might not be available in the market for the sprockets and chains sold in the market
are in standard sizes.

The testing of the prototype was based on the **PAES standards but might slightly differ when it
comes to the actual testing. An example of this is the size and dimensions of the planting area. In
the PAES standards testing, there is a standard size and dimensions of the land to be used however,
the land that the researchers will use in Quezon Province might differ from the required land
dimensions.

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*IRRI is an abbreviation for International Rice Research Institute
** PAES is an abbreviation for Philippine Agricultural Engineering Standards
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Other considerations must also be satisfied. These considerations were: the machine only works
in wet field and the rice that was used was the same as what the farmers in Quezon Province are
using. It should only be operated by the same person for each trial.

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2 Review of Related Literatures

2.1 Related Studies

2.1.1 Development of a mechanism for transplanting rice seedlings (Thomas, 2000)

E. V. Thomas wrote a paper about the development of a mechanism for transplanting rice
seedlings. An operational mechanical transplanting machine must have these fundamentals: The
seedlings are stacked in a tray; a mechanical finger picks up seedlings from the tray to the soil,
placed at proper depth and posture; and the finger comes back and repeats the process as the
machine moves forward.

Figure 2.1. Schematic diagram of a mechanical rice transplanter

The design of the mechanism was carried out using analytical synthesis. A planar four-bar linkage
with coupler extension was selected as the basic design because of its simplicity, stress-free
maintenance, and may cost less to manufacture. Link dimensions were chosen following careful
analysis and selection. The link dimensions were varied and the path of motion of the finger was
calculated and plotted on a computer screen for every trial. The results show different paths of
output motion of the coupler. The potential link dimensions were identified based on a criterion.
The one with the best path was selected as the design and a four-row self-propelled transplanter
using the selected design was then developed as the output.

2.1.2 Rice seedling transplanters in the Philippines (Salazar et al., 1986)

The most common type of rice transplanting in agricultural Asian countries is by hand. This
method is good for small scale and non-precise land preparations however, it is not very efficient
in large scale and precision-required farming. Hand transplanting of rice requires 10 to 20 labor
days per hectare making it time consuming. This high labor requirement could be solved by adding
more labor force but due to labor shortage during planting seasons, this is not feasible.

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*ha/labor-day is a unit of work used by the farmers to mean 1 hectares per 8 hours per person
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The problems that hand transplanting face led to the development of a mechanized transplanting
machine which could aid farmers with their work. During its early years of development, the
traditional way of seedling preparation became a problem on how they could be transplanted
mechanically. This was eventually solved when Japanese engineers developed a new way of
growing rice seedlings in the late 1960s where the seedlings were grown in trays for them to grow
together in a way similar as a mat. This method of growing rice seedlings is called the mat type.

Mat type grown seedling made mechanized transplanting possible. This works by the mechanism
pulling enough amounts of seedlings from the holding tray to the soil. Two types of mechanized
rice transplanting machine were made: power-driven and manually operated. Power-driven
transplanting machines could finish work easier and at a faster rate. Their disadvantage is that they
are quite expensive, they need frequent reloading of seedlings and they have fuel and maintenance
costs. Manually operated transplanting machines, on the other hand, uses only human force and
will only have costs in terms of repairs. Also, the manually operated machines were easier to use
when compared with power-driven machines.

2.1.3 Predicting nursery growth and transplanting shock in rice (Salam et al 2001)

Diverse climates in different countries are the deciding factor on the type of rice growing area. The
types include irrigated, rain-fed lowland rain-fed upland and deep-water ecosystems. On all of
these growing areas two types of seeding techniques were made namely: direct seeding and
transplanting. In direct seeding, the seeds were sow directly in the soil. On the other hand,
transplanting requires initial growing and then transferring to the soil.

For the transplanting technique, the seeds are sown in nurseries and then transferred to the paddy
field. During the seedlings time in the nursery, they are raised in a dense manner (1000-20000
seedlings per square meter). When transferred to the paddy field, they are transplanted to a lesser
density, (100-400 seedlings per square meter) depending on the required number of seedlings per
hill and the hill density. Immediately after transplant, seedling growth stops for a while due to
transplanting shock. Transplanting shock remains for a while until the seedling recovers. After
recovery, the normal growth of the seedling resumes.

On the early days of rice modeling, initial growing in the nursery and transplanting shock were
neglected. This resulted from the lack of data from experiments. Experiments and studies from
Ahmed (1995), Kashem (1995), Khatoon (1995), Sattar (1995) were used as basis for succeeding
evaluations of nursery growth and transplanting shock in rice.

2.1.4 Rice seedling transplanters in China (D.Z. Qiang, nd)

This study mainly discussed the characteristics of rice transplanters in China, since most are
already developed. Manual transplanters has a capacity of 0.1 0.17 *ha/labor-day. While engine-
driven machines can work for 0.33-0.53 *ha/labor-d. Furthermore, transplanters in China use
prolate cycloid transplanting mechanism which allows the picker to smoothly recover after the
seedling has already been planted

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*ha/labor-day is a unit of work used by the farmers to mean 1 hectares per 8 hours per person
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The total weight of the transplanter is usually 500kg considering the weight of the seedlings and
operators. Floaters are relatively big enough to prevent unnecessary movement that might cause
uneven transplanting.

2.2 Related Literature

2.2.1 Mechanism

A rice transplanting machine consists of a kinematic chain which is a system of links that is rigid,
which are either joined together or are in contact with one another in a manner that permits them
to move relative to one another (George, 1982). Movements of linkages in a rice transplanting
machine mostly combine plane motion, translation and rotation. A link is a rigid body which
possesses at least two nodes which are points for attachment to other links. A joint (kinematic
pairs) is a connection between two or more links, which allows some motion, or potential motion,
between the connected links.

2.2.2 Linkage design parameters

2.2.3.1 Length of crank, coupler, follower, fixed link, extension of the coupler

Linkage design tackles these important parameters. This can be viewed as the specifying positions
that are to lie in the workspace of the linkage. Crank-arm mechanisms are used in many devices
to convert rotary motion into reciprocating linear motion or vice-versa, hence varying the length
of the crank has a critical importance in the output of the motion.

A coupler is a link that connects the driver and the follower. In rice transplanting machines, the
usual design of a Coupler arm is extended and at the end is where the picker is located. The
movement of the coupler dictates the motion of the transplanter. The follower is the link which is
pivoted in the machine body frame. All these parameters mentioned above plays an important role
when varied in length produces a different path of motion. In this study, these parameters will be
manipulated most often to enable the optimum path of motion for rice transplanting.

2.2.3.2 Equation of couple curve

Equation of coupler curves contains the different parameters discussed previously, when plotted
in a Cartesian plane the equation illustrates the path taken by the coupler as the driver link rotates.
Equation of coupler curves involves higher order algebraic equations that can be manipulated to
obtain the desired curve. Computer simulations are used for simpler methods to determine the
equation of coupler curve.

2.2.3.3 True size of the linkage

The true size of the linkage can be solved after the desired conditions are met; this eliminates all
the possible errors the link may encounter all throughout its cycle.

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2.2.3.4 Angle of fixed link with the horizontal

It is rather important to understand how the mechanism will function under loaded conditions in
practice while the kinematic characteristics of the mechanism is being considered. By the
performance of the mechanism, we mean the effective transmission of motion (and force) from the
input link to the output link. This also means that for a constant torque input in a well performing
mechanism, we must obtain the maximum torque output that is possible and the bearing forces
must be a minimum. Of course, torque and force are not the quantities that have been in the
kinematics and whatever kinematic quantity we use to define the performance of the mechanism,
this quantity will only approximate the static force characteristics of the mechanism.

The dynamic characteristics, which are a function of mass and moment of inertia of the rigid
bodies, may be several times more than the static forces and the behavior of the mechanism under
the dynamic forces cannot be predicted by kinematics. Still, some rule-of-thumb of the behavior
of the mechanism under load is better than none.

2.2.3.5 Speed of travel

The linkages are to be designed such that the coupler speed of travel allows the picker arm to touch
the soil at approximately 20cm far from where it last touches as the machine transplanter moves
in a constant speed. The speed of travel also affects the force of the transplanting motion hence the
depth of the seedling.

2.2.4 Transplanter designs

2.2.4.1 Root-washed seedling type

This type of transplanter is designed to deal with seedlings whose roots were washed and the soil
in them removed.

Figure 2.2. Root-washed seedling type transplanter

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2.2.4.2 Mat type

This type is designed to be used in seedling grown in mat-type nurseries. This transplanter is also
called the soil bearing type.

Figure 2.3. Mat type transplanter

2.2.4.3 Engine-driven transplanter

This type of transplanter uses the aid of an engine. This is also called the self-propelled
transplanter.

Figure 2.4. Riding type engine-driven transplanter

2.2.4.3.1 Riding type

An engine driven transplanter that allows the operator to ride the machine

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2.2.4.3.2 Walk-behind type

An engine driven transplanter where the operator walks while operating the machine (See Figure
2-9).

Figure 2.5. Walk-behind type engine-driven transplanter

2.2.5 PAES Testing

2.2.5.1 Hills

The points in the field where the seedlings are transplanted. Includes the planted, missed, and
damaged. Planted hills are hills with upright seedlings, missed hills are hills without seedlings, and
damaged hills are hills that are damaged by cutting, bending or crushing during transplanting.

2.2.5.2 Rows

The series of hills in a field. The sampling areas contain four rows.

2.2.5.3 Planting Efficiency

The ratio of the number of hills with seedlings, including the damaged hills, to the total number of
hills, expressed in percent (%).

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3 Methodology
START

Research the parameters needed to design a

manually operated rice transplanter

NO NO

Design and simulate a prototype using SolidWorks

Did the sprockets drive Did the 4-bar

Did the picker work?
the 4-bar linkage? linkage work?

YES

Fabricate the rice transplanting machine

Testing

END

Figure 3.1. Tabulated Steps followed by the researchers to complete the study

To conduct the design, simulation and testing of the prototype, the researchers studied the the
different parameters needed to innovate a manual rice transplanting machine. After the research,
the researchers started to design and simulate a rice transplanting machine using SolidWorks and
Linkages to design the 4-bar linkage and verify the measurements and proceeded with the
fabrication and testing. Finally, the data gathered from the testing was interpreted using PAES
Standards.

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3.1 Parameters Considered in Designing a Manual Rice Transplanter

3.1.2. Optimal Distance between to paddies

The optimal distance between two paddies set by IRRI is 30 cm by 30 cm. This will prevent the
paddies from deprivation of nutrients and provides ease for the farmers in the removal of weeds.

3.1.3. Kinematic and Dynamic Analysis

Kinematic and Dynamic analysis was done using SolidWorks to verify the measurements of the
machine.

3.1.4. Machine Elements

Machine elements that have important impact in the design of the rice transplanting machine are
the screws, linkages, and sprockets. The screws must be able to handle the stress in keeping frame
intact. The linkages are crucial to translate the rotary motion into a teardrop motion, which is need
in planting the seedlings. The sprockets and chains were used to transfer the motion from the
cranking lever to the linkages.

3.1.5 Properties of Material

Selection of the materials was done and verified using SolidWorks, keeping in mind that strength,
ductility, brittleness and tensile strength are essential.

3.2. Theoretical Considerations

3.2.1. Degree of Freedom

The systems DOF is equal to the number of independent parameters (measurement) which are
needed to uniquely define its position in space at any time. It is determined using Grueblers
equation shown in equation (3.1).
M = 3L - 2J - 3G (3.1)

Where:
M = Degree of freedom or mobility
L = Number of links
J = Number of joints
G = Number of grounded links

If more than one link is grounded, the net effect will be to create one larger, higher order ground
link. G is always one, as shown in equation (3.2).

M = 3(L - 1) - 2J (3.2)

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3.2.2 Grashof condition

Is a simple relationship that predicts the rotation behaviour or rotatability of a four linkages
inversion based only on the link lengths as shown in equation (3.3)

S+LP+Q (3.3)
Where:
S = length of shorter link
L = length of longest link
P = length of one remaining link
Q = length of the other remaining link

If the inequality is true, at least one link will be capable of making a full revolution with respect
to the ground plane (Class I). For the class I case, the Grashof condition is shown in equation (3.4).

S+L<P+Q (3.4)

Ground either adjacent to the shortest link and you get a crank-rocker. Ground the shortest link
and you will get a double-crank. Ground the link opposite the shortest and you will get a Grashof
double-rocker. If not true, then the linkage is non-Grashof and no link will be capable of a complete
revolution relative to any other link (Class II). For the Class II case the Grashof condition is shown
in equation (3.5). All inversion will be triple-rockers in which no link can fully rotate.

S+L>P+Q (3.5)

For Class III, all inversion will be either double-cranks, or crank-rocker. The Grashof condition
is shown in equation (3.6).

S+L=P+Q (3.6)

3.3 Design and Simulation of the prototype using SolidWorks

After gathering the parameters needed, the researchers proceeded to the designing and simulation.

3.3.1 Linkage

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Figure 3.2 Linkages

The figure above shows the verified measurements of the linkage designed a software called
Linkages.

3.2.2. Picker

Figure 3.3 Picker

3.3.3 Seedling Tray and Tray Frame

This held the seedlings before going through the picker. The frame held the tray in place and
supported the trays stability.

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Figure 3.4. Seedling tray and tray frame with dimensions in inches

3.3.4 Handle Bar

Handle bar helped the operator to pull the whole mechanism. Also, attached here was a sprocket
that was used to give motion for the four-bar linkage.

Figure 3.5. Handle bar with dimension in inches

3.3.5 Body Frame

The body frame is the skeleton of the whole mechanism. This part carried most of the weight of
the machine. Thus, stress analysis was made using this part of the mechanism.

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Figure 3.6. Body frame in all views with measurement in inches

3.3.6 Assembled body frame, skid, seedling tray and paddle wheel

The assembled frame, skid, tray and paddle wheel was designed using SolidWorks. The simulation
of the motion of the mechanism with the assembly was also done in Solid Works. The actual
prototypes dimensions were based on this software design.

Figure 3.7. Assembly

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3.4. Fabrication of the rice transplanting machine

The fabrication of the machine was based on the design and simulation from SolidWorks although
some adjustments were made by the fabricator. The figure below shows the assembly of the
linkages unto to body frame.
Next parameter was the assembly of the sprockets and chains shown on the figure below.
After the mechanism and the frame were connected, other parts were then assembled to the
transplanter such as the picker and the adjustment accessories such as nuts and bolts.

3.5. Testing
Preliminary testing was done using SolidWorks and Linkages for the verification of the parameter
and selection of materials. The actual testing of machines performance was based on the PAES
152 which requires at least three trials following Annex D of PAES 152.

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4 Results and Discussion

Testing of the manual rice transplanting machine consisted of two parts: the analysis of the
mechanism using SolidWorks, and the actual field performance of the mechanism. Some results
of the testing and its interpretations follow below.

4.1. Analysis of the Mechanism Using SolidWorks

4.1.1 Acceleration, Time, and Path of Motion

The analysis was conducted assuming 15rpm in the crank being operated. Results show that the
picker decelerates smoothly as it approaches the pick-up point of the seedling. This is designed to
prevent any damages to the seedling while picking it up from the tray. There is also a gradual
increase in acceleration from the pick-up point to the transplanting point. This is needed so that
the seedling will not be dragged by the wind and fall to the soil.

4.1.2. Stress Analysis

The *Von Mises stress analysis shows that the load is concentrated on the vertical supports (with
a greenish color). A factor of safety of 3 was used in the design. It indicates that the value is
acceptable because it is below the yield strength of the material (plain carbon steel). The frame
was designed for optimal strength with the least weight as possible. Ergonomics of the design was
also considered by strategically placing the center of mass at the lower end of the pulling bar.

Figure 4.1. Von Mises Stress Analysis

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*The von Mises yield criterion suggests that the yielding of materials begins when the second deviatoric stress
invariant reaches a critical value.
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The Von Mises stress analysis for the picker showed that it can withstand the loads of digging the
soil. The linkage design is safe because all the stresses simulated falls below the yield strength of
the material, therefore the picker can withstand the static loads of planting.

4.2. Performance of the Mechanism

Actual field performance of the mechanism was guided using Annex C of PAES 152. Three (3)
trials were conducted. Included in the testing were the counting of the number of seedlings planted,
missed and damaged, the percent error for the distance between hills, the mean depth, and the
planting efficiency.

4.2.1. Number of Planted, Missed and Damaged Hills

These are used to compute for the efficiency of the transplanting machine. Planted, missed and
damaged are the seedlings that were buried, were not planted, and uprooted during the testing
period, respectively. Result for trial 2 is shown below.

Figure 4.2. Number of Planted, Missed and Damaged hill per Sample Area (Trial 2)

4.2.2. Percent Error for Distance between Hills

The highest percent of error computed in the trials was 33.33% while the lowest percent of error
was 0. The only factor of having percent error in hill distance depends on the hill measurement of
the operator. The variation in percent error was also due the fact that the field is not a constant
plane.

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Figure 4.3. Percent Error for Distance Between Hills

4.2.3. Mean Depth

The highest value of mean depth reached was 40mm and the lowest is 25mm. The values are
varying because the land was not flat. The sudden decrease of mean depth can be accounted due
to the fact that the land was not level all throughout.

Figure 4.4. Mean Depth

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4.2.4. Planting Efficiency

There was a drastic change in planting efficiency for there were difference in weather on the testing
days, maturity of seedlings used and the status of the fabricated machine. Highest efficiency
achieved was 64.29% while lowest was 12.5%. The status of fabrication during the first trial was
not very accurate to what the researchers designed. There was some misalignment of parts that
caused too much error during the actual testing of the machine. Specially, the tray was not properly
placed. Since it was one of the important parts of the design there was a very low percent yield.

Figure 4.5. Planting Efficiency

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5 Conclusion and Recommendation

The group was able to design a manually operated rice transplanting machine that can plant
seedlings at a rate of 29 square meters per hour. The required planting rate of 150 square meters
per hour was not achieved due to different factors such as strong winds and design irregularities.
In terms of design irregularities, the prototype was found to be too heavy that pulling it was found
to be quite difficult. Another design irregularity was that when the picker came in contact with the
seedling, there was no guide that would make the seedling to be planted upright thus decreasing
the planted seedlings per row. There were also times when the skid damages the already planted
seedlings when changing rows because the skids clearance from the two middle pickers was small.

The distances between hills and between rows were also measured, which had an average of around
30cm to 40cm. This was a good value in comparison to the 30cm by 30cm planting distance
recommended by IRRI. Also, the transplanting depth per hill recorded was found to have an
average value of 35mm. However, the transplanting speed was not recorded. This was mostly due
to the wrong design of the tray. The picker picked a lot of seedlings in just one turn due to the
trays large hole and orientation. During testing, the seedlings were put one by one instead of being
stacked in the tray. Recording the speed will just give low value due to frequent non-productive
time such as reloading the seedling tray. The total testing time was 1 hour per trial with the non-
productive time included.

It recommended to improve the design of the machine in a way that the tray and the picker will be nearer
to the ground. It is to avoid the seedlings being swept by the wind as transplanting takes place. Furthermore,
using lighter materials might also be considered during the fabrication of the machine as it will aid the
problem of the machine being heavy. Lighter materials is way to make the operation smooth throughout
the whole transplanting process. Gliding a light-weight machine through the farm will be very beneficial to
farmers as most of the farmers are old.

REFERENCES

Jayasundara, R. L. K., M. H. M. A. Bandara, and G. V. T. V. Weerasooriya. "Design and

Development of a Motorized Transplanter." Rajarata University Journal 3 (2009).

Khurmi, R.S., and J.K. Gupta. "Chain Drives." In A Textbook of Machine Design, 762. 14th ed.
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Martin, George. 1982. "Linkages." In Kinematics and Dynamics of Machines, 56-63. 3rd ed.
Michigan: McGraw-Hill.

Pateriya, R.N., and Datta, R.K. 2012. Design and Modifications of Mat Type Rice Transplanter
International Journal of Advanced Technology & Engineering Research: 88-91.

Rao, Dukkipati, and J.S. Rao.1989. "Simple Mechanisms and Coupler Curves." In Mechanisms
and Machine Theory, 111-112. New York: Wiley.

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Wilson, Charles, and Peter Sadler.2002."Transmission of Mechanisms." Kinematics and

Dynamics of Machinery, 177-180. 3rd ed. Upper Saddle River, New Jersey: Pearson
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Guo, L.S., and W.J. Zhang. Kinematic Analysis of a Rice Transplanting Mechanism with
Eccentric Planetary Gear Trains. Mechanism and Machine Theory, November 2001,
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Kumar,U., and E. V. Thomas. 2015. Determination of force acting on the rice transplanter finger.

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