The　paper　describes　a　study　of　a　relative　screw　motion　of　a　pair　of　internal　and　external　spiral　bevel　gears　with　double　circular-arc　tooth　profile　in　a　nutation　drive　by　screw　theory　and　focuses　on　the　kinematic　modeling　for　the　nutation　drive.　According　to　the　instantaneous　screw　motion　theory,　the　meshing　function　of　the　nutation　drive　for　the　kinematic　modeling　is　developed　based　on　the　gear　meshing　theory　and　the　coordinate　system　transformation　between　a　crown　gear　and　an　internal　or　an　external　spiral　bevel　gear.　The　equations　for　the　tooth　profile　of　the　crown　gear,　internal　and　external　spiral　bevel　gears　are　further　obtained　based　on　the　standard　double　circular-arc　tooth　profile　and　equal　strength　principles.　Finally,　the　controllable　precision　three　dimension　modeling　method　for　the　tooth　profile　of　the　external　and　internal　spiral　bevel　gears　is　further　proposed.　©　2015　The　Authors.