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.