Collaborative Virtual Reality (VR) technology has a wide application background. An omni-directional wheelchair was used as an application object to discuss the technology of VR and so on. The kinematic relationship of the wheelchair was analyzed with combining the motion principle and arrangement of Mecanum wheel, alternate wheel, and conical wheel. The Virtual Reality Modeling Language (VRML) was used to make real-time customization and motion simulation based on the wheelchair 3D Pre/E model. The change of part color and the replacement of wheelchair components can be realized through the operation custom console. By using this method, the omni-directional movements such as longitudinal, lateral, and rotary motion can be emulated via the simulation panel. In this way, clients can participate in the design and get a wheelchair according to their individual requirements, which will give them a deeper and more impressive feeling about the wheelchair's special motion functions.