The transmission of twin-worms can be set in crossed axes. Now there are few studies in literature. In this thesis, the mathematical models of different types of worm are set up using the coordinate transformation method. The contour method is applied to investigate the contact pattern of the twin-worms in crossed axes. The effects of different design parameters on the contact pattern are then studied. The finite element method is then used to study the contact stress and strain between the two worms. The results can also be used to verify the contact condition predicted by the contour method. The efficiency of the twin-worms drive set in crossed axes is also studied.