Abstract: In order to improve the obstacle-surmounting ability of the harvester,we propose to install a barrier boom on the harvester, and create a virtual prototype in solidworks. Kinematic model of the boom is established based on D-H method, and the theoretical obstacle-surmounting height of the harvesters is calculated. Dynamic simulation is carried out in the ADAMS environment, the kinematic parameters of the simulation are analyzed, and the theoretical result and simulation data are compared with the experimental data of the obstacle-surmounting test of harvester. The results show that lifting angle of the harvester is 13 degrees and obstacle-surmounting height is 693 mm when the bucket rod takes back. In another test, the lifting angle is 6.3 degrees and obstacle-surmounting height is 330 mm in the process of extending the bucket rod. The harvester of equipping working forearm can meet the requirements of the obstacle surmounting and our study provides a theoretical basis for the forest tracked harvesters working in the forest and crossing obstacles more effectively.