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Thermal effect is a crucial factor leading to failure of gear system. However, the lack of comprehensive nonlinear dynamics model limits the further study of thermal effects. The constitutive relation of beam element considering steady-state temperature is reconstructed, and thermal node load is formulated. Considering the influences of thermal expansion and temperature on material properties, a more comprehensive dynamic model of gear-rotor-bearing system is established based on the finite element node method. Nonlinear friction, high-speed gyroscopic effect, thermal-related time-varying meshing stiffness (TVMS) and thermal backlash are included in the model. The effects of temperature and bearing type on the vibration response of gear system are analyzed. The results show that the system motion changes from period to chaos with the temperature increase in part of the speed range. The appropriate backlash could restrain the chaotic motion caused by temperature rise. Moreover, the temperature significantly increases the axial bearing force, and the appropriate bearing could reduce the axial displacement. This research can further understand the influence of temperature on the dynamic response of gear system and guide the design of gear system. [ABSTRACT FROM AUTHOR]