The　transmission　error　is　an　important　factor　causing　nonlinear　vibration　of　cycloid　bevel　gear,　and　the　vibration　characteristics　of　gear　system　can　be　improved　by　prediction　and　calculation　of　the　dynamic　transmission　error　of　cycloid　bevel　gear.　The　dynamic　response　characteristics　of　cycloid　bevel　gear　were　discussed　under　a　range　of　operation　speeds　and　acting　torques.　A　new　approach　of　surface　integration　and　local　FEM　was　proposed　to　solve　the　dynamic　transmission　error.　And　then,　the　strong　nonlinear　vibration　characteristics　of　gear　system　were　analysed.　In　the　approach,　it　is　no　longer　necessary　to　consider　the　nonlinear　factors,　such　as　the　time-varied　stiffness　and　meshing　frequency　variation,　as　external　excitations.　However,　in　every　time　step　of　gear　meshing　the　dynamic　mesh　force　and　dynamic　transmission　error　were　calculated,　and　finally　the　nonlinear　vibration　characteristics　of　cycloid　bevel　gear　were　achieved.　The　approach　can　precisely　present　the　key　factors　of　the　gear　teeth,　including　the　tooth　geometry　and　tooth　contact　stress,　which　influence　the　dynamic　characteristics　of　cycloid　bevel　gear　significantly　and　provides　an　effective　method　for　the　analysis　of　complex　vibration　characteristics　of　cycloid　bevel　gear　transmission　system.