The caster wheel of the wheelchair is simplified to a 2DoFs dynamic model. This model is derived using Lagrange equation and numerical solutions by ODE method. Meanwhile experimental setup is used to verify the theoretical results obtained in caster wheel mathematical models. According to Routh Criterion, this paper analyzzs the stability in the linearized dynamic model. The genetic algorithm is applied to optimization design of the caster wheel system. The reasonable parameters can be applied to the damping bearing to prevent its chimmg.%应用拉格朗日方程,建立轮椅车转向轮系统非线性动力学微分方程,运用ODE方法进行求解,并对此动力学模型线性化,进行稳定性分析；建立转向轮系统摆振试验台,对动力学模型进行实验验证,最后,应用基因遗传算法对转向轮系统参数进行优化设计,采用替换阻尼轴承的方法主动防范摆振.
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