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An all-terrain wheelchair is a lever propelled wheelchair which enables an individual to drive on all terrains easily as the driving mechanism is efficient, ergonomic and fast. It also increases the reach capabilities and social boundaries of disabled. The paper is divided into two parts. In the first part, a comparative study of push rim wheelchair and All-terrain Wheelchair (lever propelled) has been done. In the second part, Optimization of this All-terrain Wheelchair has been done. The comparison is done on various parameters such as peak velocity, average velocity, acceleration, retardation, stroke frequency, reduction in effort, mechanical efficiency, obstacle climbing ability, turning radius, the distance travelled per stroke, Pressure cuts and burns caused during propelling the chair. Biomechanical testing is also done considering the heart rate and oxygen consumption level.