Dragging is the most costly and time-consuming stage of the coffee harvest. Therefore, its mechanization is important. The objectives of this study were to design, build, and evaluate the dynamics of a coffeedragging device in a laboratory setting. The prototype consists of a dragging device with rods mounted on a metal plate and a chassis. Computer-aided design (CAD) software was used to generate a solid second-order tetrahedral mesh for use in finite element analyses of the device and its

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... s. It was possible to simulate and display the device's errors and failures and generate data on part deformities, Von Mises tension, and equivalent efforts. Equations based on the Denavit-Hartenberg theory were developed to describe the dragging device kinematics, and the results obtained with these equations were compared to those for the design developed using the software program. A preliminary drawing analysis identified a lever-type system as the best configuration for the device, based on its simple construction and its ability to balance the weight of the project parts. The safety factor achieved was greater than 28. Adjustment of the vibration amplitude of the rods is possible using the eccentric shaft of the connecting rod drive. Finite element analyses was used to analyze the connecting rod and predict the likely failure points.