Considering factors such as the backlash

time-variant mesh stiffness

eccentricity errors

shaft torsion and support stiffness

a dynamic model of the system was developed. The rigid body displacement in the kinetic equation was eliminated by using the force closure feature of the transmission configuration and the method of converting the torsional angular displacement equivalent of the shaft into a linear displacement. The dynamic equations were solved by Runge-Kutta numerical simulation method

and the load-sharing coefficients of the system were obtained. The influence of the torsional stiffness of transmission shaft on the load sharing performance was studied. Results showed that torsional stiffness of input shaft and output shaft had little influence on load sharing performance of each transmission stage of the system; the load sharing coefficients were sensitive to the torsional stiffness of the compound shaft and the spilt torque shafts. Once the compound shaft met the strength requirement and the torsional stiffness took a small value

rationally configuring the torsional stiffness of left-branch and right-branch spilt torque shafts can improve dynamic load sharing performance of system.