Based on the research of worm gear pair and double roller enveloping hourglass worm without backlash, a new type of worm drive with end roller enveloping is proposed. Based on the principle of gear meshing, the coordinate system of end roller enveloping hourglass worm is established. The equations of worm gear meshing function, meshing equation, lubrication angle, self rotation angle, induced normal curvature and relative entrainment velocity are derived. Matlab is used to analyze the influence of its own parameters on the transmission performance. The results show that: The worm lubrication angle, relative entrainment speed and induced normal curvature can obtain good data, and the self rotation angle of worm gear needs to be optimized.