In this paper there was made a virtual prototyping of a vehicle for servicing people with locomotor disabilities. This vehicle has as special components two differential transmissions that allow relatively easy optimization of the vehicle's dynamic behavior. In addition to kinematic performance, this vehicle has a high degree of maneuverability as an important feature. Mathematical models for dynamic vehicle analysis are developed. Virtual prototyping involved designing the component parts that compose the component subassemblies. The main subassemblies are bevel gear differential transmissions, spur gear transmissions, worm gear drives from the traction and steering systems, including the shafts and housings of these subassemblies, the frame, as well as the propulsion train, all of those components are then assembled. The virtual prototype made in Solid Works is used to dynamically simulate in ADAMS of the assembly when running on a required trajectory. This vehicle is completed as an experimental model, being in the conception and implementation phase of the propulsion and steering control system.