•A fully coupled multi-domain multi-physics dynamic system is presented.•Three components of the loadings are explained and analyzed in detail.•The patterns of 3D transient loadings and dynamics are discussed with simulation results.•A design routine for the axial balancing mechanism of helical gear pumps is provided.•The pattern of wear seen from experiments can be replicated by the wear model. This paper presents a multi-domain dynamic simulation model for continuous-contact helical gear pumps, which is an unconventional hydraulic pump design that is capable of canceling its kinematic flowrate variation. In this model, the fluid dynamics (in its lumped-element representation) are fully coupled in a closed feedback loop with other physical domains, including critical tribological interfaces, 3D dynamic loadings on the solid parts, dynamics, and micro-vibrations of the rotors. The model is compared to the analytical derivation and experimental measurements to prove its validity. The model can be used to provide predictive simulations for existing designs, or as a tool to optimize the design to provide better hydrostatic balancing for future iterations of hydraulic pump designs.