Stress concentration and large displacements are usual problems in the components of the structure of agricultural machinery such harvesters coffee, and that finite element method (FEM) can be a tool to minimize its effects. The goal of this paper is to get results of stresses and displacements of a coffee harvester structure by using FEM for static simulation. The main parts of the coffee harvester analyzed were: engine frame, body right and left sides, front and rear end, main beam, coffee reservoir, wheels and fuel tank. Two different design concepts of a coffee harvester machine were analyzed (structure with rear wheels aligned and misaligned) and the results were compared. It was observed that the model with rear wheels misaligned showed maximum displacement lower than the model with rear wheels aligned. Although higher stress was found in the rear wheels misaligned, it was observed that average stresses for the misaligned wheels design were lower in most structural components analyzed. Based on FEM results, the coffee harvester machine with misaligned rear wheels was built and subjected to operational tests without showing any structural failure.