Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)In vehicle dynamics studies, the tire behaviour plays an important role in planar motion of the vehicle. Therefore, a correct representation of tire is a necessity. This paper describes a mathematical model for wheelchair tire based on the Magic Formula model. This model is widely used to represent forces and moments between the tire and the ground; however some experimental parameters must be determined. The purpose of this work is to identify the tire parameters for the wheelchair tire model, implementing them in a dynamic model of the wheelchair. For this, we developed an experimental test rig to measure the tires parameters for the lateral dynamics of a wheelchair. This dynamic model was made using a multi-body software and the wheelchair behaviour was analysed and discussed according to the tire parameters. The result of this work is one step further towards the understanding of wheelchair dynamics.203332341Brazilian Federal Agency for Support and Evaluation of Graduate Education (CAPES)National Council for Scientific and Technological Development (CNPq)UNICAMPWriting Department/General Coordination of UNICAMPDAADALLTECSchaeffler BrasilCoordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)