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Rotary tiller commonly used effectively to process the soil before planting in a terrain area. The design of the blade in rotary tiller was a significant factor in achieving soil breakup and more efficient inversion evenmore soil-fertilizer mixing. The blades design for an unmanned tiller with omnidirectional movement was required intensive research. A prototype unmanned tiller was manufactured, and it has four screw wheel blade that required optimal design and high accuracy movement for soildoi:10.20961/mekanika.v19i1.40355 fatcat:myd2sxuthfcg3bk75fow5tbthq