The objective of this study was to investigate the optimal design on the tubular shaft and solid shaft for A-IMS of commercial vehicle. The tubular shaft and the solid shaft were designed by 6 stage processes and the results were analyzed by using a finite element analysis method. The coefficient of friction was set to Oil_Cold conditions as referred to the analysis library. It was found that the actual underfill phenomenon was not observed on the tubular shaft and solid shaft. The metal flow of the tubular shaft and solid shaft revealed that the folding phenomenon was not occurred, so there is no problem in actual production. Principal stress and load characteristics of tubular shaft were higher than those of solid shaft since the tubular shaft has many deformation from stage 1 to stage 3.