Abstract: Crawler-Track chassis walking type is widely used in the field of agricultural machinery and equipment in Hilly and mountainous areas. However, the modeling method of flexible crawler is limited at present. Some modeling methods are mostly simplified analysis, and the simulation results are greatly different from the actual values, which can not provide effective research models for climbing, obstacle crossing and ditch crossing, walking vibration and other problems. On this premise, this paper proposes a flexible track modeling method based on the combination of multi rigid body elements for the rubber track commonly used in agricultural machinery equipment in hilly areas. With the help of Inventor software, the track unit structure with all features is drawn. With the help of RecurDyn software, the classification of flexible and rigid units is set, and then the kinematic pairs and elastic forces between units are selectively added, The pretension analysis is completed through the local surface contact calculation, and the complete modeling of the flexible rubber track is completed. The walking test is carried out in the hard road environment. The feasibility of the method is verified by comparing the simulation data with the measured results, It provides a reliable method and reference for the walking analysis and special parameter calibration of tracked agricultural robot and special equipment in the future.