A three-dimensional nonlinear dynamics model of the double helical gears with sixteen degree gears was established. The model takes the sliding friction, time-varying stiffness, gear backlashes as well as gear mesh errors into account. The dynamics equations of the system were established by Newton Second Law. The tooth meshing force and the tooth friction as well as the friction torque were calculated through numerical integration based on the meshing characteristics of the double helical gears. The friction coefficient was calculated by the model based on EHL. The effects of tooth friction on the dynamics behaviors of the system were studied. The results show that the sliding friction can increase the vibration in the perpendicular direction to the line of action but suppress the vibration in the line of action. The bifurcation of the system becomes blurred at the high meshing frequency and chaotic motion appears earlier as well as infirmly due to effect of tooth friction. The research will contribute to the further understanding of the effect of tooth friction on periodic vibration and nonlinear vibration of the double helical gear pairs, which will also provide a technical basis for the design of the double helical gear transmission.
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