Truss type sprinkler cart is one of the main parts of traveller irrigation machine, which plays an important role in modern agricultural irrigation. However, the sprinkler cart may get overturned or broken in the fields because of its large spraying arm span, unreasonable span setting between wheels and/or excessive moisture of the fields. Thus, a parameterized dynamics simulation model was established for type JP75 sprinkler cart in the software ADAMS to improve its abilities of slopeclimbing and antioverturning. Qualitative performances of the sprinkler cart were analyzed based on the proposed model. The slope angle was taken as an evaluation index of slopeclimbing and antioverturning abilities. Several key factors affecting the climbing abilities greatly were optimized, such as attachment coefficient, wheel spacing and centroid height. The bisection method was firstly brought into the simulation of sprinkler cart to accelerate the algorithm convergence. Compared with the current machine, simulation results show that the optimized sprinkler cart improves its stability by increasing the slope angle with 21.48%. Moreover, a physical prototype was developed and a field test was conducted to confirm both the accuracy of the simulation and the validity of the methods adopted. Test results show that both the number of overturn and torsion extent of the cart were decreased greatly with the water distribution uniformity increased dramatically. The abilities of slopeclimbing and antioverturning of truss type sprinkler cart were improved significantly. This paper provides a new method for the design of truss type sprinkler cart.