Steering force is an important evaluation index in vehicle handling stability.The torque fluctuation is difficult to be elimi-nated due to the non-constant and speed characteristic of typical cross universal joint.Methods of reducing rotation speed and torque fluc-tuation are systematically presented in this paper,including phase angle optimization,space arrangement optimization and a new struc-ture of double-universal joint with spherical joint.Precise modelling and simulation calculation are carried out by using the ADAMS.The results have shown that the torque fluctuation can be significantly reduced or even eliminated by adopting the proposed methods.