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Aiming to solve the problem of that the high-stalk grass harvester was prone to tipping when operating on the southern mountain slopes, an anti-tip warning system was designed. The system was mainly composed of a host computer, a controller and sensors. Through the joint monitoring of the inclination sensor and the pressure sensor, the anti-tip warning function was realized. The center of mass of the whole machine was tested. The horizontal distance between the center of mass of the whole machine and the drive wheel shaft was 944.5mm. The height of the center of mass was 1080.4mm. The distance between the center of mass and the longitudinal center plane was 27.9mm. The position of the center of mass was determined. The software RecurDyn was used to perform the dynamic simulation analysis of the whole machine under typical working conditions at a speed of 7.2km/h. The critical tipping angles for horizontal straight, turning and longitudinal up and down slopes were 24°, 11°, 33° and 31°. Under the turning conditions, the critical tipping lateral load transfer ratio was 0.49. A static tipping test was performed on the whole machine. The critical tipping angles for horizontal straight and longitudinal up and down slopes were 24.7°, 34.2° and 31.8°. Based on the size of the whole machine and the position of the center of mass, a scale model was built. A dynamic tipping test was performed under a fixed steering path. The test results showed that the critical tipping angle of steering was 14° and the critical tipping lateral load transfer ratio was 0.54. The research can provide theoretical support for high-stalk grass harvesters applied to operations under complex working conditions.