We present the design of the suspension and steering mechanisms of a selfpropelled sprayer. The aim is to obtain a design that diminishes the undesired movements of the boom in order to improve the spraying procedure. The behavior of the vehicle is evaluated by computational simulation. The dynamic analysis is carried out using the finite element code MECANO for non-linear mechanical analysis. In the present work, we show the responses of the vehicle to different maneuvers and typical soil profiles.