Abstract: A method was proposed to compensate for the twisted tooth surface based on the multi-axis synchronized additional motion of a flexible electronic gearbox for grinding helical gears by worm gear grinding machine with tooth surface crowning lead modified. Firstly, the mechanism of tooth surface distortion was analyzed, and the models of involute helical tooth surface and crowning lead modified tooth surface were established; Then, the inverse solution of tooth meshing and kinematics was utilized to obtain the motion of the machine’s master and slave axes (B-axis, C-axis, X-axis, Y-axis, and Z-axis) corresponding to the crowning lead modified surface and twisted tooth surface; Next, the lead modified tooth surface was simulated and the twisted tooth surfaces were simulated with under compensation, ideal compensation and over compensation; Finally, the compensation of the lead modified and twisted tooth surface was realized by applying additional motion to the master and slave axes. Compared with the traditional grinding wheel, the compensation of twisted tooth surface is more efficient and less costly by combining the kinematic inverse solution with the additional motion of the master and slave axes of the worm gear grinding machine. Through gear machining experiments, the tooth surface twist is effectively compensated and the tooth surface accuracy is improved. The research shows that this method can effectively compensate the tooth surface twist and improve the accuracy of worm wheel grinding tooth directional reshaping helical gears.