Jestr Journal of Engineering Science and Technology Review 18 (4) (2025) 148-163

Research Article
JOURNAL OF
Engineering Science and
Technology Review

r
[Link]

Performance Assessment of Sagacious E- Powertrain Tiller for Smart Farming

Rajesh V. Patil*

School of Science and Technology, Örebro University, Orebro, Sweden

Department of Mechanical (Robotics & Automation) Engineering, Dr. Vishwanath Karad MIT World Peace University, Pune,
Maharashtra, India

Received 26 August 2024; Accepted 22 March 2025

___________________________________________________________________________________________

Abstract

A power tiller, as a hand tractor, is a tool used in agriculture for weeding, cultivating, and other tasks utilize by most farmers
who own small farms. Numerous problems with the sitting configuration of power tillers are already present in the market.
A detachable rear seating configuration that allows the farmer to sit and easily handle the tiller is one way to combat this.
The design and development of the parts for this rear-seating configuration is the primary focus of the effort. It is also
decided to add E-Powertrain to our tiller so that low-income farmers could afford power tillers more easily. Therefore, this
work contains the computations and simulations required to complete the E-Powertrain's primary components. The brake
system for the power tiller's rear seated position is designed in compliance with the requirements established by the Indian
ministry of road transport and highways. SolidWorks 2018 workbench is used to model the entire system after the
parameters are finalized to verify if any chassis interference. The brake and throttle pedal assembly design and analysis for
the backseat seating configuration. The wheel assembly design and analysis for rear seating configuration. This involves
simulating the assembly to look for interferences and ensure that it is safe to support any loads that might be applied to it.
The preparation of failure mode and effects analysis and design verification plan reports necessitate prior to starting the
design of the wheel assembly and brake subsystems. Finalizing the E Powertrain components through computations will
allow the tiller to run constantly for a hectare of land. Moreover, packing of each chosen component is required to attain
ideal weight distribution. This work successfully developed the smart E-Power tiller's rear seating configuration. The farmer
sits comfortably and perform all farming tasks with detachable rear seating arrangement and depending on their needs,
farmers can quickly install and disassemble this accessory.

Keywords: Agriculture machine, E- Powertrain tiller, Power tiller rear sitting, Brake system, Throttle pedal assembly
____________________________________________________________________________________________

1. Introduction motor, motor controller, accumulation, and gearbox reduction

parameters. The Indian Ministry of Road Transport and
A two-wheeled agricultural tool called a power tiller is used Highways has established recommendations for the brake
for weeding, planting, cultivation, and other tasks. A power system of the rear sitting arrangement of power tillers, which
tiller is sometimes referred to as a two-wheeler tractor or a must be adhered to. These parameters are considered when
hand tractor. The operator behind it controls its direction of building the brake system. The dimensions of the rear axle are
travel and field operations. Farmers can efficiently use it to decided upon taking packing restrictions into account. The
lessen their reliance on animal power. Power tillers have main loads coming on rear axle are during braking, cornering
become increasingly popular in Indian markets in recent and bump. Loads coming on rear axle during these conditions
times. Some of the reasons for such include a labour shortage, are calculated considering lateral and longitudinal load
growing pay rates, time savings, and a decrease in drudgery. transfers. Analysis of axle and its mounts are done for these
Small-scale farmers typically prefer tillers for their farming load conditions so that optimum weight to stiffness ratio could
operations. The farmers were not ergonomically supported by be achieved.
the current seating arrangement, which produced a lot of When building the brake system for a power tiller with a
vibrations. To combat this, a lot of farmers walk behind tillers rear-sitting position, some guidelines have been established
to carry out different farm tasks. However, they eventually by the Indian Ministry of Road Transport and Highways. The
grow weary from this process, which lowers their brake system's parameters were decided upon in accordance
productivity. Additionally, a lot of farmers wished to convey with these standards [1-2]. The main use of a power tiller or
certain basic farm products using power tillers, but the current hand tractor is to do rotary tilling on small farms. The operator
system makes it impossible. must perform the several farming tasks while walking behind
To counter this, this research introduced a detachable rear the tiller. For small farms where running a tractor is not
sitting arrangement with our power tiller. The ability to attach feasible, tillers are generally preferred [3-5]. Hydraulic
tools to the back of this attachment is included so that the actuators are typically utilized in commercial vehicles to
farmer could carry out all farming tasks while sitting operate disc brakes or externally contracting type brakes. The
comfortably. For this rear-sitting configuration, the job entails disc brakes are more effective than drum brakes in terms of
designing, modelling, and analysing the brake and wheel retarding torque during deceleration, they are utilized in front
assembly subsystem. Additionally, E-Powertrain axle vehicles [6-7]. Brake shoes are contained within a
computations and simulations are used to determine the final rotating brake drum with this design. When the brake pedal is
______________
depressed, the hydraulic cylinder or cam inside the brake
*E-mail address: patilraje@[Link]
ISSN: 1791-2377 © 2025 School of Science, DUTH. All rights reserved.
doi:10.25103/jestr.184.20
 Rajesh V. Patil/Journal of Engineering Science and Technology Review 18 (4) (2025) 148 – 163

drums is triggered, pressing the brake shoes on the drum to The comparison of several actuation systems for the rear-seat
stop the car. The rear axle is usually where drum brakes are brake system, mechanical drum brakes are chosen based on
mounted. Because weight is transferred while braking, the the literature review. High retarding torques are not required
back axle requires less retarding torque [8-10]. A mechanical when power tillers are positioned rearward. Additionally,
brake system uses springs, fulcrums, cylindrical rods, and farmers would only use the rear seating arrangement when
other components to transfer force from the brake pedal to the carrying out different field operations or when moving some
end drum or disc. In comparison to hydraulic brakes, commodities from one location to another because the system
mechanical brakes are less efficient. These days, hydraulic may be separated from the front tiller. High-performance
brakes are found on most new cars [10-11]. The ratio of the brakes will not be required for these tasks. As a result,
applied force or moment at the tip of the shoes to the overall mechanical brakes are used. Brake system design is required
friction force or moment on the shoes defines the since certain parameters needed to be adjusted. It is necessary
effectiveness of the brakes. It is sometimes referred to as to compute the maximum deceleration that the brake system
brake factor or brake shoe factor [12-13]. The coefficient of must do, which is 15 kmph to 0 kmph in 7.5 meters or fewer.
friction between the tire and the road is crucial for designing Determine the typical load on the rear axle during the stage
brakes. The amount of retarding torque needed to slow down that came before it. The necessary retarding torque for the rear
a vehicle can be computed based on the coefficient of friction axle can be calculated based on the weight on the axle and the
between the tire and the road [14-16]. There is a longitudinal coefficient of friction between the tire and the road. The
load transfer between the front and rear axles whenever a vehicle's specifications include a 2000 kg tiller mass, a 1800
vehicle accelerates or decelerates. A vehicle with a set weight mm wheelbase, a 0.2 coefficient of friction between the tire
distribution suspending a fixed weight will be in zero and the road, 600 mm center of gravity and weight
acceleration. The usual load on the front axle increases and distribution in the front and rear: 0.4:0.6.
the typical load on the rear axle falls when an automobile
decelerates. The frictional force between the road and the tires Deceleration necessary is calculated using (u = 15 kmph and
changes because of this change in the typical load on the tires. v = 0) in Eq. 1.
The necessary retarding torque at the front axle is therefore
greater than the needed retarding torque at the rear axle [17- v2 = u2 + 2as (1)
18]. When a vehicle is inclining, the higher normal on the
back axle is caused by the horizontal component of gravity. Table 1. Standard power tiller required deceleration
Thus, the longitudinal weight transfer formula is used to Parameter Value
determine the normal load on the rear axle [19-20]. Initial Speed (kmph) 15
Power tillers are expensive right now on the market. Also, Velocity (m/s) 4.167
these tillers have relatively expensive operating costs. We Distance travelled considering 7.5
could drastically reduce the operating costs with E- constant deceleration (m)
Powertrain, enabling low-income farmers to employ these Deceleration Required (m/s2) 1.157
tillers as well. The primary obstacle developing the E-
Powertrain is choosing the parts such that farmers could use 2.1.1 The static normal load on the rear axle calculates by
it continuously on a hectare of land. The motor's power need, Eq. 2.
and the battery capacity needed to run the tiller are determined
from there. The following tools are considered when Wr = (W×c) / L (2)
determining the necessary motor power: a trailer, a three-disc
plough, a rotavator, a spring tooth harrow, an S-Tine 2.1.2 The usual load on the rear axle under dynamic
cultivator, a chisel plough, and a cultivator. Upon completion conditions by applying the weight transfer equation using
of the E-Powertrain, all components needed to be packaged to Eq. 3.
guarantee that the desired trackwidth and CG height are
reached. Wr’ = (W×c) / L - (mdxh) / L (3)

The amount of traction available at the rear axle during

2. Design and Development of Rear Attachment and E- deceleration using friction (μN) calculate by parameters
Power Tiller Components which included in Table 2.

The components of the rear seating arrangement are the Table 2. Traction available at rear axle during maximal
important and it includes the computation and simulation of deceleration
the motor's power need, and the battery capacity needed to run Parameter Value
the tiller continuously over a hectare of land. According to the Mass of tiller (kg) 2000
Central Motor Vehicle Rules 1989 publication, a power tiller Wheelbase (mm) 1800
connected to a trailer must comply with the following Coefficient of friction 0.3
specifications (i) The power tiller connected to a trailer must Centre of gravity height (mm) 600
undergo the braking test with a gross combination weight of Load transfer at max deceleration (N) 1962
no more than 1.5 tons, as specified by the manufacturer. (ii) Static load on rear axle (N) 11772
The braking test must be performed at a speed of 15 km/h to Load on Rear axle after weight transfer 9810
meet the 7.5 m stopping distance requirement, with a (N)
maximum pedal effort of 600N. (iii) Parking brakes that can Maximum frictional force at rear tyre 1471.5
hold the combination on a 12% incline and decline must be
installed on the trailer that is connected to the power tiller. To determine the final brake system specifications for a
power tiller with rear seating, a mathematical model is
2.1 Design of Power Tiller Brake System created. According to the Central Motor Vehicle Rules, a

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brake test is to be performed where the rear seating

arrangement is coupled with a tiller and the system needs to
stop from 15 kmph to 7.5 meters away with a maximum pedal
effort of 600 N. When the braking test of the tiller is viewed
as a continuous deceleration motion, 1.15 m/s2 is the needed
deceleration. When the pedal force was no more than 600 N,
this deceleration accomplished. Fig. 1 shows brakes and
steering subsystem from a side perspective
To do this, a mathematical model, allowing for the
plotting of the deceleration attained for each increment of 1
kg of pedal power. Every kilogram of pedal force increment
resulted in a computed retarding torque generated by the
brake drum. The frictional torque and the retarding torque
produced by the brake drum should be infinitely decimal
equal while the wheels are not locked. By dividing the
Fig. 3. Rear-sitting arrangement's brake system
retarding torque supplied by the brake drum by the tire radius,
one may use the same one to determine the friction force
2.1.3 Design of Parking Brakes
slowing down the car. But this is not always the case. The
The rear seating configuration include a parking brake system
wheels lock up when the amount of friction needed to resist
that support the entire system at a 12% gradient both up and
the retarding torque is greater than the traction limit. This
down, under central motor vehicles rules. Drum brakes ought
situation results in the maximum and continuous frictional
to be able to withstand the torque produced by the rear axle's
force and deceleration. Fig. 2 shows Power take off (PTO)
shaft assembly, chassis, and brakes. friction for the same reason. To keep the tiller from slipping
when the vehicle is inclining, one must first determine the
normal at the rear axle. Then, based on that value, one can
determine the amount of torque and friction needed. When a
vehicle is inclining, the higher normal on the back axle is
caused by the horizontal component of gravity. As a result, the
longitudinal weight transfer formula.

Δ W = (m × gsinθ × Hcm)/L (4)

Table 3. Computations for parking brakes

Parameter Value
Slope (%) 12
Incline Angle (Degrees) 6.84
Fig. 1. Brakes and steering subsystem from a side perspective Gravitational Acceleration along slope 2337.62
(N)
Maximum Traction Available (N) 5884.07
The amount of deceleration attained for each kilogram of Frictional Force at one Rear wheel to 1168.81
pedal force are calculated by dividing the friction force total prevent tiller from rolling down along the
by the vehicle mass. Many brake system characteristics, slope (N)
including drum radius, linkage reduction, and pedal ratio, Required Retarding torque for Parking 178.82
tested based on requirements. The brake system's final Brakes (Nm)
settings are determined by analysing the results of a plot
showing the relationship between deceleration and pedal 2.2 Design of Rear Axle
force. Before the entire subsystem are modelled, failure mode The rear axle design is influenced by packaging restrictions
effect analysis and design verification plan sheet are created and operational demands. Key considerations include the
for the brake and rear wheel assemblies. SolidWorks 2018 is interference with the PTO shaft shown in Fig. 4 and the need
used to model the entire system and verify that no conflicts to withstand combined forces during tiller operation. Primary
with other subsystems. Rear seating configuration is achieved loading conditions involve braking, cornering, and bumping,
by implementing a mechanical drum brake unit shown in fig. which affect the rear axle's structural integrity and
3. performance.

2.2.1 Load Analysis

When a vehicle corners, it experiences centrifugal and
centripetal forces. These forces cause weight transfer from the
inner to the outer wheels, increasing stress on the axle. The
lateral load transfer (LLT) is computed using Eq.5.

LLT = (m×Ay×h)/t (5)

Table 4. Calculations of Rear Axle Load Transfer

Parameter Value
Mass of Tiller (kg) 2000
Fig. 2. Power take off (PTO) shaft assembly, chassis, and brakes Wheelbase (mm) 1800

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Trackwidth (mm) 800

Centre of Gravity Height (mm) 600
Radius of tyre (mm) 295
Longitudinal Coefficient of friction 0.4
Lateral Coefficient of Friction 0.3
longitudinal Acceleration (m/s2) 3.924
Lateral Acceleration (m/s2) 2.943
Rear Weight Distribution 0.6
Static weight on Rear Axle (N) 11772
longitudinal Weight Transfer (N) 2616
Lateral Weight Transfer (N) 2207.25
Normal on one wheel in Static Condition 5886
(N)
Normal on one wheel in Braking 4578
Fig. 6. Box portion cross section of axle
condition (N)
Braking Force (N) 1831.2
Normal on outer wheel in Cornering 8093.25
Condition (N)
Cornering Force (N) 2427.97
Normal on outer wheel in Braking + 6785.25
Cornering (N)
Braking Force (N) 2714.1
Cornering Force (N) 2035.57 Fig. 7. Circular cross section axle

2.2.2 Axle Geometry and Section Selection

Due to interference with the PTO shaft shown in Fig. 9, a bent
axle design is necessary. A comparison of cross-sectional
geometries reveals the following.
Box Section Axle: Less ideal under torsional loads and
complex to manufacture due to welding requirements shown
in Fig. 5 & Fig. 6.
Circular Section Axle: Preferable for torsional stiffness and
easier to bend using standard tube dies, making it more suited
for mass production shown in Fig. 7 & Fig. 8.
Thus, the circular cross-section is recommended for the rear
axle to optimize manufacturability and structural Fig. 8. Circular axle cross section
performance.
2.2.3 Modelling and Validation Approach
To validate the design under dynamic conditions, FMEA and
DVP were developed for the braking and rear wheel assembly.
Simulation was performed using SolidWorks 2018 for, 0.3g
cornering, 0.4g braking and 1g bump.
The mounting configuration of the axle to the chassis is
illustrated in Fig. 10, ensuring alignment and load transfer
integrity.

Fig. 4. Rear axle and PTO shaft interference

Proposed Solutions:

Fig. 5. Axle of the box section

Fig. 9. Assembly of PTO shaft and bent axle

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Fig. 10. The chassis mounts for the rear axle

2.3 Design of Pedal Box

A pedal box with a throttle and brake pedal built for the rear
seating layout. The farmer can sit in a rear-facing chair and
control the tiller at the same time. Aluminium and mild steel
materials under consideration for pedals. Since mild steel has
a greater fatigue life than aluminium chosen. While
aluminium’s endurance strength keeps declining as the
number of cycles increases, mild steel's endurance strength
stays constant for a significant number of cycles.

2.3.1 Foot Pedal

The brake pedal operated the brake system using cable. The
brake pedal's pedal ratio selected 4:1 and it is a bent piece of
metal. The system's overall weight is not increased by this
design, and punching is a simple method for producing such
a pedal in large quantities. An analysis is conducted on the
brake pedal under a perpendicular force of 2000 N on its face. Fig. 11. Side view of brake pedal
Using SolidWorks 2018, the brake pedal is modelled.
Buckling study is performed on the pedal to make sure it does
not buckle, since the pedal can also fail due to buckling. Fig.
11 shows side view of brake pedal and fig. 12 shows 3-
dimensional model of brake pedal.

2.3.2 Pedal Throttle Assembly

A final pedal ratio of 3:1 is determined based on driver
feedback and ergonomic considerations. Eight holes supplied
in the pedal mount, and slits with varying arc lengths is used
to integrate throttle positive stops into the throttle pedal. Bolts
is inserted through any two holes to offer 5% steps of throttle
restriction, ranging from 76% (full throttle) to 36%. 40 mm of
pedal stroke is used to achieve 25 degrees of pedal travel. To
alter the motor RPM in accordance with the driver's demands,
two Potel hall effect sensors are employed in fig. 13 shows
side view of throttle pedal assembly and in fig. 14 shows
throttle pedal assembly. The analysis of the pedals is done
using a 1000 N load perpendicular to it. Fig. 15 shows throttle
pedal slits and fig. 16 shows throttle pedal mounts.

2.4 Powertrain Computations

A Simulink model is created to determine how much
electricity the tiller will need overall. Additionally, model
provided required torque at the wheels, which is utilized to
determine when to reduce the gearbox. The power needed by
various implements is computed by the model, and this
information is utilized to determine the power tiller's overall
power need. The power needed to move a power tiller is first
determined by multiplying the total force needed to push a Fig. 12. 3D model of brake pedal
power tiller by the velocity needed by a conventional power
tiller. To determine the power needed by each tool, the
individual power requirements for each is computed. A
velocity vs. time plot of a conventional power tiller was
obtained using DAQ on the tiller shown in fig. 17.

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Fig. 16. Throttle pedal mounts

Fig. 13. Side view of throttle pedal assembly

Fig. 17. Power tiller velocity vs. time plot

The operational voltage and integration of electrical

components are optimized to achieve continuous operation
on a hectare of land.

v Operational Voltage Optimization

The operating voltage of the E-Powertrain system is carefully

chosen to balance energy efficiency, component
compatibility, and power output. The voltage of 72V is
chosen to provide sufficient power for the motor and other
electrical components. This improves motor-controller
system efficiency as higher voltage systems have lower
Fig. 14. Throttle pedal assembly current for the same power, minimizing energy loss owing to
resistive heating in cables. Compatible with commercial
batteries and controllers. Voltage matched to motor
specifications for consistent torque delivery and efficiency in
agricultural applications.

v Electrical Component Integration

§ Battery Pack Selection: The energy needed to till a

hectare of land is used to establish the needs for a
72V, 200Ah battery pack. To make sure the battery
could maintain power for the necessary amount of
time, the energy consumption for various tools and
terrains is simulated using a Simulink model.
§ Motor and Controller Pairing: To manage the
highest load scenarios, such towing tools or tilling
thick soil, a 15000W motor with a strong torque
capability is chosen. To maximize power transfer
and enable dynamic modifications for efficiency,
the motor controller was paired.
§ System Design and Weight Distribution: It is
Fig. 15. Throttle pedal slits essential that parts like the motor, battery, and

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controller are packaged correctly. The positioning 2.4.2 Power and force requirements for spring tooth
guaranteed an ideal center of gravity for operating harrow
stability and reduced resistance losses in the wiring.
§ Power Management: To ensure that the battery D= (Dd *No. of teeth* Width of harrow)/(0.258*50) (8)
discharged evenly and without undue strain, an
energy management system (EMS) is put in place to [Dd = Dh (d 2/ (0.0826)2)]
control power delivery. To recover energy while
operating, this system also managed regenerative The draft force (D) varies depending on the soil type and
braking, if it existed. working speed. The following equations are used for
different soils.
v Continuous Operation Simulation
To represent the power needs of the tiller in various jobs and Soil Type Draft Force Equation (D)
terrains, a Simulink model is created. This model which Loam Sand D = 520 + 49.2 × Working Speed
included the power and force required for towing, tilling, and Clay D = 480 + 48.1 × Working Speed
ploughing. The model assisted in determining the necessary Sand D = 527 + 36.1 × Working Speed
torque and energy at each operational step, optimizing the
motor's working point and guaranteeing continuous operation Where:
within the battery's capacity. Rolling resistance, frictional Number of teeth = 10, Width of harrow = 1 m, and Soil
losses, and implement power consumption. factor = 1.5
The power requirement for tillage operation using the
v Validation and Iteration harrow is calculated using the following formula.
Iterative testing of the design is conducted using varying Power = D × Working Speed × Soil Factor
implement loads and soil conditions. To guarantee that the
system could continue to operate consistently over a hectare, Fig. 19 shows Simulink model of spring tooth harrow.
various drive cycles are used. Modifications were made to
optimize the motor's torque-speed characteristics and the
battery pack's energy distribution. Careful voltage selection,
component integration, and simulation-driven optimization
made it possible for the E-Powertrain system to operate
continuously across a hectare of land while preserving
dependability and energy efficiency.

2.4.1 Power and force requirements for moving vehicle

Fout= (mgCR) + (ρACDAv2) + (mg SinӨ) + (m*a) (6)

[Traction force] + [Drag force] + [Gradeability force] +

[Inertia force] Fig. 19. Simulink model of spring tooth harrow

Pout = v Fout (7) 2.4.3 Power and force requirements for rotavator

The following parameters are considered for estimating Ftotal = FCut + FThrow +Fmf + Fpush (9)
the aerodynamic drag force acting on the system, Mass (m) ,
350 kg; Gravity (g), 9.81 (m/s²), Air Density(ρA) 1.225 [Cutting force] + [Throwing force] + [Metal Friction force]
kg/m³; Frontal Area (a) 0.48m² and Drag Coefficient (CD) + [Pushing force]
1.05.
Net Draft Force (N)= (1206.03 + W * d *(9252 – 2072.12*d))
Fig. 18 shows Simulink model for force calculation of
power tiller. Fcut = K*B*L (10)

Fmf = L* R* B* Sw * 1.09/(0.105RN) ^ 0.5 (11)

Fthrow = 0.219*R*N*L*w*Sw (3R – d) / g (12)

Fpush = 7161.96 *(pe)*0.675(sin(α+ϕ)) / R*N*cos(ϕ) (13)

The following parameters are used for dynamic

simulation and performance analysis of the tiller system. K -
7000 kg/m² , R - 0.26m, Sw -1700kg/m³, N – 210 RPM, g -
9.81m/s² , Pe - 13HP, α - 42deg. and ϕ - 27deg.

Power= Ftotal*Working speed* Soil factor

Fig. 18. Simulink model for force calculation of power tiller Fig. 20 shows Simulink model of rotavator.

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Draft Force = F*i [ A + B + C(S)2] W*T*100

Additional Parameters are F= 1; i= 1.5; A = 46; B= 28; C=

0; W = 1 m ; T = 0.24 m.

The power required is then calculated as: Power = Draft

Force × Speed
Fig. 20. Simulink model of Rotavator

Fig.23 shows Simulink model for cultivator.

2.4.4 Power and force requirements for s-tine cultivators

Net Draft force = (–7.23 – 46.36s + 233sd +13.96s2+1442d

+ 257d2 )*N (14)

Additional Parameters are d = 0.24 m, N = 5

Power= Net Draft Force * Forward speed * Soil factor

Fig. 21 shows Simulink model of S tine cultivator.

Fig. 23. Simulink model for cultivator

2.4.7 Power and Force Requirements for Chisel Plough

Fig. 21. Simulink model of S Tine Cultivator

Soil Resistance Force=(w) * (d*100) * (R*v*3.6) (16)

2.4.5 Power and force requirements for trailer
The soil resistance force varies with soil type and is
Fout= (mgCR) + (mg SinӨ) + (m*a) (15)
calculated per unit width per unit speed. The working width
and depth are w = 1 m, d = 0.24 m. The resistance per unit
[Traction force] + [Gradeability force] + [Inertia Force]
width (cm) per unit speed (km/h) for different soils are Clay -
25.15; Loamy- 21.5 and Sandy - 16.375. The power required
Pout= v Fout
is computed using Power = Soil Resistance Force × Working
Speed × Soil Factor, Where Soil Factor = 1.5.
Additional Parameters are m = 1750 kg; g = 9.81m/s2
Fig. 24 shows Simulink model for chisel plough
Table 5. Coefficient of rolling resistance Vs road
Type of Sand Wet Dry Gravel
road land Land
CR 0.2 0.04 0.03 0.02

Fig. 22. shows Simulink model for trailer

Fig. 24. Simulink model for Chisel Plough

2.4.8 Power and Force Requirements for Three Disc

Plough

Net Draft Force (N) = (2031.03 – 657.54s + 3291sd

+143.33s2– 1666d + 1213d2)*W (17)

[ d= 0.24 m ; W = 1m]

Power (W) = Net Draft Force * Forward speed * Soil factor

Fig. 22. Simulink model for trailer
Fig. 25 shows Simulink block diagram for three-disc
2.4.6 Power and Force Requirements for Cultivator plough.
The draft force is calculated using the following formula:

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Fig. 28. Simulink model for calculating battery pack capacity

The specification of motor electric drive system powering

Fig. 25. Simulink block diagram for three-disc plough the tiller is characterized by the following parameters Voltage
72 V; Battery Capacity 200Ah; Maximum Power 15,000W;
The total power needed to operate a tiller in various soil Continuous Power 7,500W; Maximum Torque 90Nm; and
conditions was provided using the Simulink model. Fig. 26 Maximum 6000 RPM.
shows torque Required at wheels for operating tiller. To
choose the motor and complete the gearbox reduction, the 2.4.9 E-Powertrain Packaging and Mounting
total torque needed at the wheels was also computed. Fig. 27 The packing and installation of the E-Powertrain components
shows total power required by motor. was an essential part of the tiller's design process after
component selection shown in fig. 29 and fig. 30. For the
tiller, the ideal weight distribution must be achieved. The tiller
should ideally be front biased, but if it is, the farmer won't be
able to handle it properly. The handle, motor, motor
controller, gearbox, battery pack, and rotavator or any other
device, depending on the application are the primary parts of
the front tiller.

Fig. 26. Torque Required at wheels for operating tiller

Fig. 29. Initial concept E-Powertrain packaging

Fig. 27. Total power required by motor

Using the same Simulink model shown in fig.28, the

battery pack specifications is finalized. The total power is
computed and then divided by the operational voltage of the
battery. One can obtain the necessary battery capacity to run
a tiller constantly over a hectare of land by gradually
integrating the electricity.

Fig. 30. E-Powertrain packaging

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In this instance, the assembly would have been 3. Result

excessively front biased after the battery pack and motor
controller were installed. The mounting location of the handle The outcomes of all the simulations and computations done to
was moved to the Gearbox's sidewall to combat this. As a complete the parts of the smart electric power tiller's E-
result, the tiller's motor and motor controller could be moved Powertrain and rear seating arrangement are included. A
to the back, resulting in the ideal distribution of weight shown mathematical model is created to make sure the rules
in fig. 31 and fig. 32. established by the Indian Ministry of Road Transport and
Highways are followed. The brake system's parameters are
established based on the results.

Fig. 34. Pedal Force Vs Deceleration plot

The mechanism can be shown, decelerate as much as 1.41

m/s2 at 39 kg of pedal power. Fig. 34 shows pedal force Vs
deceleration plot. This complies with the guidelines
established by India's Ministry of Road Transport and
Highways. The mathematical model is iterated several times
Fig. 31. Final E-Powertrain packaging
until the desired outcomes were not obtained. The following
are the finalized settings for the rear-seating arrangement's
brake system shown in table 6.

Table 6. Final parameters of brake system

Actuating mechanism Mechanical Drum Brakes
Drum Radius (mm) 100
Pedal Ratio 4
Linkage Ratio 2

3.1 Brake Pedal Analysis

Fig. 32. Final E-Powertrain packaging

The motor and motor controller are positioned to facilitate

easy component assembly and disassembly shown in fig. 33.
Additionally, HV wires should not have bend radiuses that are
excessively large since this could cause damage to the wires.

Fig. 35. Stress Plot of Brake Pedal

An average load of 2000 N on the pedal face is used to

analyse the brake pedal. Stress plot shown in fig. 35 and
displacement of brake pedal plot shown in fig. 36. Brake
Pedal buckling analysis sown in fig. 37.

Fig. 33. Motor and Motor Controller mounting

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Fig. 36. Displacement plot of Brake Pedal

Fig. 39. Displacement plot of throttle pedal assembly

3.3 Rear axle and mounting

Analysis of the rear axle's mounts are done for 0.3 g of
braking, 0.4g of cornering, and 1g of bump. A concerted
effort is made to minimize compliance. Fig. 40 shows
meshing of rear axle and its mounts. The deformation and
stresses for axle under cornering and braking Loads shown in
fig. 41 and fig. 42. The deformation and stresses for When
there is braking, cornering and bump load on axle shown in
fig. 43 and fig. 44.

Fig. 37. Buckling analysis results

3.2 Throttle Pedal Analysis

The throttle pedal assembly is examined under a 1000N
typical load. The ideal weight to stiffness ratio was sought
after. Fig. 38 shows stress plot of throttle pedal assembly and
fig. 39 Displacement plot of throttle pedal assembly.

Fig. 40. Meshing of rear axle and its mounts

Case 1: Axle under cornering and braking Loads

Fig. 38. Stress plot of Throttle Pedal Assembly

Fig. 41. Deformation during cornering and braking

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which includes the simulated usage scenarios are undertaken

to observe farmer posture during important tasks including
ploughing and towing. The Rapid Upper Limb Assessment
(RULA) and REBA (Rapid Entire Body Assessment) are
employed to assess posture. Sensors were mounted on the seat
to evaluate pressure distribution, reducing hotspots and
providing consistent weight support. The chair was evaluated
for vibration isolation using accelerometers under different
tilling and terrain situations. The results which include
adjustment to the seat cushion material and thickness for
better comfort based on pressure mapping results. The
backrest angle is designed for lumbar support, decreasing
strain during prolonged use. Padding is added to reduce
vibrations, which were found to significantly affect operator
Fig. 42. Stress during cornering and braking condition
fatigue during testing.

Case 2: When there is braking, cornering and bump load on

axle

Fig. 43. Deformation during braking, cornering and Fig. 45. Total power required by tiller
bump

Fig. 44. Stress on axle during Braking, cornering, and bump

3.4 E-Powertrain Simulation results Fig. 46. Torque Required at wheels

To determine the overall power needed and the battery
capacity needed to operate the tiller, a Simulink model is
created. Each implement's power and force requirements are 3.5.2 Farmer Feedback
determined, and the power needed to run the tiller is added to To gather real-world insights from farmers regarding
determine the total power needed by the engine. The Simulink usability, adjustability, and overall satisfaction. The
model's outcomes as total power required by tiller are shown methodology which includes the prototype systems are
in fig. 45 and torque required at wheels shown in Fig. 46. supplied to 10 farmers with diverse physical builds and
farming needs. Each farmer used the system for a week of
3.5 Ergonomic Tests everyday operations. Farmers completed prepared
The ergonomic considerations for the rear seating questionnaires to assess ease of adjustment, comfort, and
arrangement and feedback from user testing are discussed. manoeuvrability. Semi-structured interviews gathered
qualitative comments on how seating affected farming
3.5.1 Ergonomic Testing efficiency. The results which include farmers praised the
To ensure the seating arrangement minimizes fatigue and adjustable seat height for customers of various statures. The
maximizes comfort during prolonged use. The methodology quick detachment mechanism for moving between seated and
standing operations is highly valued. The areas for
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improvement which include some farmers advised installing (based on 2.65

a cupholder or a modest storage area for tools or water bottles. kg/liter diesel)
To meet requests for better weatherproofing, the seat material Particulate
is upgraded to a strong, waterproof cloth. 15 g 0g
matter (PM2.5)

3.5.3 Design modifications based on feedback 3.6.3 Cost Savings

Using the findings of ergonomic studies and farmer Operational cost savings include reduced maintenance
comments, the changes are made to the final design. Improved expenses due to the elimination of complex mechanical
seat adjustability by adding a lever-based mechanism for components like engines and fuel systems. A 78% decrease in
simple height and tilt changes. Integrated spring-dampened operational expenses, or around $1,070 in total annual savings
mounting mechanism to reduce vibrations beneath the seat. shown in Table 9.
Upgraded to a breathable, weather-resistant fabric for
increased durability and comfort. Improved safety features, Table 9. Comparison of Tillers Cost
including side grips for stability on uneven terrain. Parameter Combustion E-Powertrain
Tiller ($) Tiller ($)
3.5.4. Validation of Comfort and Usability Annual 400 150
Following the improvements, farmers reported a 35% maintenance
reduction in perceived weariness compared to the original costs
design. A follow-up poll indicated that 92% of respondents Fuel costs (200 960 140 (Electricity)
are satisfied with the seating design, noting better comfort and hectares)
simplicity of usage. These findings show that the iterative Fuel costs (200 1360 290
method of combining ergonomic testing with real-world hectares)
feedback successfully validated and enhanced the chair
design, ensuring that it fits the practical needs of farmers. 3.6.4 Broader Impact
§ Environmental Benefits:
3.6 Economic and Environmental Impact: By removing pollutants caused by fuel, it promotes
The comparative analysis of fuel savings, emissions sustainable farming methods.
reduction, and cost savings to highlight the system's broader Helps mitigate climate change by lowering farmers'
impact. carbon footprint.
§ Economic Benefits:
3.6.1 Fuel Savings Reduces the financial strain on small-scale farmers
Traditional combustion-engine tillers rely on diesel or petrol, by saving a substantial amount of money. Reduces
which results in recurring fuel costs. In contrast, the E- reliance on erratic fuel markets, improving
Powertrain tiller eliminates fuel dependency by utilizing a affordability over the long run.
battery-powered system shown in table 7. § Benefits to Operations:
Table 7. Comparison of Tillers Fuel Consumption Operators have better working conditions when there is
Parameter E-Powertrain Combustion less noise and vibration. The tiller's dependability and uptime
Tiller Tiller are increased via easier maintenance and fewer moving parts.
Fuel 0 lt(fully 4 lt of diesel
Consumptiom/hectare Electric The E-Powertrain tiller has numerous advantages in terms
Cost of fuel/hectare $4.8 0 (electric of cost effectiveness, emissions reduction, and fuel savings.
(at $1.2/lt charging) For small and medium-sized farmers, it offers a financially
diesel( and ecologically viable option by doing away with fuel
Energy cost/hectare - $0.7 (charging dependence and lowering maintenance costs. Its potential to
cost( promote more economical and environmentally friendly
farming methods worldwide is highlighted by this
The fuel savings per hectare, including power expenses, comparative study.
are about $4.10. This equates to $820 in gasoline cost savings
over a year (assuming 200 hectares of operation). 3.7 Extended Field Tests:
A thorough long-term field trial strategy is suggested to
3.6.2 Emissions Reduction guarantee the E-Powertrain tiller's dependability, versatility,
One important benefit of the electric system is its ability to and scalability in a range of farming conditions. These tests
reduce greenhouse gas (GHG) emissions. The E-Powertrain will assess the system in a range of climates, soil types, and
tiller achieves zero on-site emissions, whereas the combustion operational situations while gathering information to enhance
tiller generates substantial CO₂ and particle emissions. The and improve the tiller's design.
electric system enables adherence to new environmental rules
and is in line with global sustainability goals. The annual 3.7.1 Design of Trials
decrease in CO₂ emissions is 2,120 kg for 200 hectares shown Over the course of 12–18 months, the field trials will be
in Table 8. carried out in three stages.

Table 8. Comparison of tillers emission reduction Pilot Trials in Phase 1 (Months 1–6)
Parameter Combustion E-Powertrain § Sites: Five typical sites with different soil and crop
Tiller Tiller types (such as sandy, clayey, and loamy soils)
CO₂ emissions should be used for the trials.
10.6 Kg 0 Kg
per hectare

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§ Important metrics include tillage quality, motor § Refinement Opportunities: Finding areas where
efficiency, battery performance, and early farmer design, battery capacity, or functional aspects could
input. be improved.
§ Time frame: two to three weeks for preliminary § Scalability Strategy: Information to facilitate
validation per site. widespread implementation across many farming
§ Result: Determine early design enhancements and communities.
fix possible weak points.

Regional Trials in Phase 2 (Months 7–12) 3.8 Long-Term Vision

§ Locations: Increase to 15 locations, encompassing a
range of climatic and geographic areas. Tropical The following will be made possible by the knowledge
farms (humid conditions) are one example. gathered from the trials:
• Temperate regions (moderate conditions)
o Semi-arid farms (dry, sandy soils) § Commercialization: Expanding the E-Powertrain
§ Continuous operating time under various load tiller's reach for mass use.
circumstances is one of the key metrics. § Policy Advocacy: Convincing the government to
§ The ability to adjust to crop-specific tasks including provide subsidies or incentives by showcasing its
harrowing, ploughing, and planting. economic and environmental advantages.
§ Ongoing R&D: incorporating cutting-edge features
Extended Trials in Phase 3 (Months 13–18) like autonomous navigation or IoT-enabled
§ Sites: Five in-demand locations will be chosen for diagnostics and improving future models
lengthy trials that last three to six months each. considering trial results.
§ Important metrics include wear-and-tear analysis
and long-term dependability. The E-Powertrain tiller can be extensively tested and
Financial advantages including lower operating validated through demanding field testing, guaranteeing that
costs and fuel savings. it satisfies farmer needs and promotes effective and
Environmental advantages, such as monitoring soil sustainable farming methods.
health and lowering emissions.
§ Result: Verify the tiller's scalability for wider use.
4 Conclusion
3.7.2 Gathering and Analysing Data
IoT devices, manual observations, and farmer feedback This work covered the design and development of the Smart
surveys will all be used to gather data during the E-Power tiller's rear seating configuration as well as the
experiments. The data points which include completion of the E-Powertrain components for the same. The
§ Performance metrics include motor efficiency, farmer may sit comfortably and perform all farming tasks
energy usage, and battery runtime. with ease thanks to a detachable rear seating arrangement.
§ Tillage quality includes the consistency and Depending on their needs, farmers can quickly install and
depth of the soil preparation. disassemble this accessory. The rules established by the
§ Environmental information includes soil effect, Indian Ministry of Road Transport and Highways followed in
noise reduction, and emission levels. the construction of the brake system for the Smart Electric
§ User Experience include levels of happiness, Power Tiller's rear seating arrangement. This is accomplished
usability, and ergonomic feedback. by creating a mathematical model and calculating the pedal
force and the achieved deceleration. To complete the design
Analysis: of brakes system for the rear seating configuration, certain
Machine learning models will be used to forecast system criteria is iterated. Using the mechanical drum brake
behaviour in untested scenarios; data will be analysed to find assembly, which greatly reduced the number of components
patterns, correlations, and opportunities for improvement. and complexity of the brake system for rear-seating
configuration, allowed the work to achieve its aims. The pedal
3.7.3 Participation and Training of Farmers box for the back seating configuration is designed once the
necessary brake pedal ratio for the brake system and the
§ Farmers will actively participate in the trials to make requirements for the throttle pedal are determined. With its
sure the technology meets practical requirements. help, a farmer can effortlessly operate a tiller for a range of
§ To illustrate operation, maintenance, and safety agricultural tasks. Mild steel pedals are created with
procedures, training sessions will be held. ergonomics in mind, offering greater dependability and a
§ To incorporate user insights into subsequent lower price point than aluminium pedals. Analysis of the
iterations, feedback mechanisms such as pedals is conducted for different loads applied to them. The
questionnaires and interviews will be employed. rear axle's design called for it to be able to withstand all the
loads that come with cornering, braking, and bumping. The
3.7.4 Anticipated Results formulas for longitudinal and lateral load transfer are used to
§ Reliability validation: Verification of the tiller's determine the loads that would be applied on the axle in these
robustness and low downtime under various circumstances. Following an analysis, the axle and its mounts
circumstances. is made safe for these loads.
§ Adaptability Assessment: Proof of the system's The parts for the E-Powertrain chosen such that the tiller
adaptability to various crop and soil types. could wI ork nonstop on a hectare of land. To do this, a
MATLAB Simulink model is developed to determine the total
power needed by the tiller in various soil types. The amount

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of power needed for various tools is computed, and the is determined based on these findings. These parts are later
motor's power need is determined based on the worst-case packaged to attain the ideal weight distribution.
scenario. To determine the final torque required by the motor
and the reduction necessary by the gearbox, the torque
required at the wheels is computed. The battery pack capacity This is an Open Access article distributed under the terms of
needed to run a tiller continuously over a hectare of land is the Creative Commons Attribution License.
determined using the same model. The motor, motor
controller, gearbox reduction, and necessary battery capacity

______________________________
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Nomenclature
Wr W c L Wr’ m dx h
Static rear Weight of the Longitudinal Wheelbase of the Dynamic Mass of tiller Deceleration Height of
wheel load system distance of front vehicle load on the of vehicle centre of
wheel from rear wheel mass
system CG
ΔW g θ Hcm v CR ρA CD
Weight Gravitational Incline of the Height of centre of Velocity of Coefficient of Air density Coeff of
Transfer acceleration slope mass of vehicle vehicle rolling friction drag.
between two
axles
A Ө K B R N Sw T
Front area Angle of Specific soil Width of Radius of RPM Soil bulk Tillage
inclination resistance (kg/m2) implement (m) rotation density depth (m)
3
(m) (kg/m )
Pe α ϕ F i S Ww A, B and C
Engine power Angle of Angle of Dimensionless soil 1 for fine, 2 Speed (m/s) Machine Machine-
(hp) direction Periphery texture adjustment for medium width (m) specific
(deg.) (deg.) parameter and 3 for parameters
coarse
textured soils
w d R s d Wwi

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Implement Working depth Resistive force forward speed of tillage Working

width (m) (m) (N/unit/cm width/ the vehicle depth(m) width(m)
unit speed in (m/s) (usually 0.8m –
kmph) 1m)

163