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Misalignment and gear modification were introduced to gear transmission coordinate system and tooth surface equations of the modified helical gears were established in the movable coordinate systems that were rigidly connected to the gears. The meshing equation was obtained by applying coordinate transformation matrix from the movable coordinate systems to the fixed coordinate system that was rigidly connected to the frame. The equation of meshing was presented to meet the condition of continuous tangency. The minimization of distance between tooth surfaces combined with deviation between unit normal vectors to tooth surfaces was performed to obtain the results of the equation of meshing by application of a constrained nonlinear optimization function in Matlab. The influence of the combination of the various modification style and misalignment on the contact path and transmission error was investigated. The presented results highlight that the modification pattern proposed can improve the tooth meshing condition and the adaptability to the misalignment. [ABSTRACT FROM AUTHOR]