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The meshing characteristic of asymmetric involute spur gear was studied, the equations of the geometric shape of the asymmetric gear for both sides were deduced, and the equations of contact ratio and the key points of contact were also obtained. Meanwhile, an involute slope modification method considering the effects of static transmission errors was proposed based on the meshing properties. The characteristic of the involute slope modification was analyzed by changing different modification parameters. The mesh stiffness and synthetic mesh stiffness of unmodified and modified asymmetric spur gears were investigated. Furthermore, the spectrums of synthetic mesh stiffness under different modification parameters were compared. Research results showed that the modification parameters influence the meshing performance of gear pairs, and the proposed modification method was feasible to improve the transmission performance of gear pairs with appropriate modification parameters.