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According to the irregularities and complexities of farmland in rough terrains such as hill and mountain areas, a kind of agricultural driving chassis which can operate via four groups of tracked driving device with planetary structure (TDDPS) was designed. The device’s configuration characteristic, structural change and moving condition of running on the flat road, terrain adaptive locomotion in the field and overcoming the obstacles by turnover, and the passing principles of terrain adaptive locomotion or turnover were analyzed. The maximum height by terrain adaptive locomotion and the limit geometric height by turnover were calculated. The experiment proved that the chassis prototype had excellent off-road abilities, which can meet requirements for running and working in rough agricultural terrain.