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In response to the shortage of self-propelled Panax notoginseng combine harvesters, poor overall passability, and weak driving stability, a tracked self-propelled Panax notoginseng combine harvester was designed and research on overall driving passability and stability under hilly and sticky soil conditions was conducted. Firstly, the walking system of the self-propelled Panax notoginseng combine harvester was designed. Secondly, by using the centroid intersection method, the centroid range of the entire machine for stable driving under various working conditions was obtained, and the overall layout plan was determined. Finally, simulation and field experiments were conducted on the self-propelled Panax notoginseng combine harvester under four operating conditions: straight, turning, climbing, and obstacle crossing. The simulation results showed that the combined harvester had good straight and unilateral braking steering performance, and met the design requirements for stable passage through longitudinal slopes of 20° and below, transverse slopes of 15° and below, 350mm field ridges, and 900mm trenches. The field test results showed that the straight deviation rate of the combine harvester was 3.79%, the minimum turning radius was 1480mm, and it can stably pass through longitudinal slopes of 20° and below, transverse slopes of 15° and below, 350mm field ridges, and 900mm trenches. The variation laws of its motion posture, pitch angle, and rolling angle curves were consistent with the simulation results, verifying the accuracy of the simulation results, which demonstrated that the combine harvester had good passability and can meet design requirements. The designed tracked self-propelled Panax notoginseng combine harvester had strong passability and can achieve stable driving in sticky soil and gentle slope sections, providing a theoretical basis and reference for the design and manufacturing of root and stem combine harvesters in hilly and mountainous areas.