This paper proposes the computerized tooth pro®le generation of spur gears cut with shaper cutters. A complete geometrical mathematical model of a spur shaper cutter is proposed, including the protuberance, the involute region and semi-topping. The pro®les of standard or non-standard spur gears cut with the shaper cutter are obtained based on the theory of gearing. In addition, the effects of the cutter parameters on the generated tooth pro®le are investigated and illustrated with computer simulation, while the appropriate shaper cutter parameters corresponding to the required gear pro®le, are also determined using an optimization method. # 2000 Elsevier Science S.A. All rights reserved.