In this study, crank-locker kinematic equations were used to analyze the three-point hitch behavior when the dynamometer was connected to the work machine. The dynamometer was statically tested with a hydraulic actuator, and the accuracy of the three-way force and the moment was confirmed to be 96–99%. The calibrated dynamometer was put to the test on a real farm field, and data were collected using a data acquisition system. Using the transport pitch correction equation, the collected data can be transformed into more realistic data. International standards were used to determine the point of connection between the tractor, dynamometer, and implement. The results of this study made it possible to accurately measure force and moment, which will have an important role in future agricultural technologies such as autonomous agricultural operation.

Removal of agricultural pipes used in crop support and greenhouse agriculture is manpower-intensive. However, most agricultural workers are elderly. Therefore, auxiliary devices should be used to allow pipe removal with as little force as possible. In this study, the design parameters of an extraction device were optimized within constraints to minimize the force required to remove agricultural pipes. The optimization parameters are the length of each link and the initial link angle of the device. The driving force, according to the design parameters, was calculated by applying the theory of kinematics. An optimal design plan was derived using an optimization algorithm to minimize the force driving the device within the desired constraint. As a result of the optimization, it was confirmed that the force required to remove the pipe was reduced by 87.1% compared with the initial design value and was designed to suit the user’s convenience.