It is a preferred scheme to use the crawler chassis as an available chassis for agricultural machinery. There is ample space for optimization in applying this scheme in the hillside orchard environment. To further improve the adaptability of the crawler chassis under complex driving road conditions, the topographic and geomorphological characteristics of the hillside orchard were referred to to carry out the slope trafficability analysis of the crawler chassis. And based on the simulation results of the multi-body dynamics analysis software RecurDyn, the prototype was improved, and experimental verification was carried out. Firstly, the critical structural parameters that affected straight-line driving, overcoming obstacles of the tracked chassis were discussed through theoretical analysis based on the available chassis. Then, a virtual machine prototype was constructed to analyze the impact of critical parameters on trafficability. According to the simulation analysis results, a center of gravity adjustment system to improve the slope trafficability of the crawler chassis was proposed. Finally, the indoor soil tank test was carried out. The test results showed that on the test road with slope of 10°, the average maximum traction force of the improved prototype at yaw of 45° was 1926N, which was an increase of 14.03% compared with that before improvement. After the improvement, the maximum obstacle height of the prototype was 230mm, which was an increase of 27.78% compared with that before improvement. The maximum trench width of the prototype was 640mm,which was increased by 28% compared with that before improvement. The research result could provide a practical reference for improving the slope driving performance of the crawler chassis in hillside orchards.