A　thermal　elastohydrodynamic　lubrication　model　is　combined　with　a　wear　model　under　mixed　lubrication　to　investigate　the　lubrication　performance　and　wear　characteristics　of　double-circular-arc　spiral　bevel　gears　for　nutation　drive.　Moreover,　the　effects　of　operating　conditions　on　the　characteristic　parameters　of　the　film　are　analysed　under　the　mixed　lubrication　point-contact　conditions.　Furthermore,　the　characteristics　of　gears　in　terms　of　friction　coefficient　and　wear　depth　are　discussed.　According　to　the　results,　the　performance　of　lubrication　and　wear　during　the　mutual　meshing　of　the　convex　tooth　surface　of　the　external　bevel　gear　and　the　concave　tooth　surface　of　the　inner　bevel　gear　is　better　than　that　during　the　mutual　meshing　of　the　other　pair　of　tooth　surfaces.　The　minimum　film　thickness　of　the　whole　meshing　process　occurs　near　the　inner　of　the　bevel　gear　due　to　the　joint　action　of　the　load　and　the　end　edge　effect.　Moreover,　an　increase　in　torque　at　a　certain　rotational　speed　is　favourable　to　the　lubrication　performance　of　the　meshing　process.　The　wear　depth　in　the　double-circular-arc　spiral　bevel　gears＇　meshing　process　is　heavily　influenced　by　the　roughness　of　the　tooth　surface.　©　2024　John　Wiley　&　Sons　Ltd.