For the disadvantages of high weight and high cost of the existing tracked stair-climbing wheelchairs, it is necessary to develop a new type of wheel-tracked manned stair-climbing vehicle. Firstly, the tracked transmission mechanism, wheeled switching mechanism, and wheelchair equipped with adjusting mechanism were designed, at the same time its motion control system was established. Then, the quantitative analysis and evaluation on the stability of the manned tracked vehicle climbing up and down the stairs were carried out, and the simulation analysis was carried out by using Matlab. On this basis, carry out up and down stars stability simulation and analysis, and experiment of climbing stairs process and moment measurement test. The experimental results showed that the designed vehicle can climb the house stairs at a speed of 0.12 m/s when the load was 75 kg.