Self-propelled hydraulically operated multi-utility platform for orchard management system (SOMS) was developed to increase the accessibility of pickers to fruit on trees and to carry out orchard management practices like spraying and pruning. The platform was designed for vertical reach of 6 m and load carrying capacity of 200 kg. Point manipulation programme was developed by Microsoft Excel add in and by trial and error, position of the standard components were decided to determine the centre of gravity of the machine. Standard components were placed over the chassis in such an arrangement that, the centre of gravity (CG) always remain over the chassis during entire operation of the platform from minimum to maximum height with designed load. Forces acting on the chassis were analyzed to find out weight transfer and impending stability in various terrain conditions, various bucket positions loads on the bucket. The prediction equation for the determination of horizontal center of gravity (Xcg) was verified with the true value collected by keeping the wheels of SOMS on individual electronics weighing balance. The average absolute variations between the predicted and measured values of Xcg were within 0.44 % and 3.53%.