The　influence　of　the　cone　vertex　error　and　tilt　error　on　the　tooth　contact　trace　of　double　circular-arc　spiral　bevel　gears　for　industrial　robot　joint　nutation　drive　has　been　studied　in　this　paper.　According　to　the　meshing　relationship　between　double　circular-arc　spiral　bevel　gear　and　crown　gear,　the　meshing　coordinate　systems　with　latent　error　parameters　of　cone　vertex　error　and　tilt　error　were　established,　and　the　tooth　profile　equations　of　external　and　internal　spiral　bevel　gears　were　deduced.　According　to　the　meshing　equation　and　coordinate　transformation,　the　contact　trace　equation　of　the　tooth　surface　was　established,　and　the　influence　of　different　latent　error　values　on　the　location　of　the　contact　trace　was　solved　and　analyzed.　The　finite　element　loading　contact　simulation　of　the　double　circular-arc　spiral　bevel　gears　with　different　latent　error　values　was　carried　out.　The　results　of　the　simulation　analysis　and　numerical　analysis　were　basically　consistent.　The　latent　errors　would　cause　noise　and　vibration　of　industrial　robot　joint　nutation　drive　and　affect　the　service　life　of　double　circular-arc　spiral　bevel　gears.　©　2019,　The　Brazilian　Society　of　Mechanical　Sciences　and　Engineering.