S-gear is a new type of gear with the advantages of small sliding coefficient, high meshing efficiency and large load-bearing capacity due to the concave-convex contact in a vicinity of the meshing start and end. In view of the excellent characteristics and potential value of S-gears, this paper deeply studies the designation and meshing characteristics of the S-gears. First, based on the relationship of S-shaped rack-cutter and machining motion, the tooth surface of the S-gears is generated. Second, by superimposing the surface of modified volume with the standard tooth surface, the modified tooth surface of S-gears is constructed. On this basis, using MATLAB programming, the coordinates of 3D grid node of modified S-gears are calculated. Third, loaded tooth contact analysis (LTCA) is used to study the meshing characteristics of the S-gears with longitudinal modifications and misalignment angle errors. Ultimately, one example is presented and the result shows that after tooth surface modification, the load distribution of S-gears is effectively improved and error sensitivity is greatly reduced. S-gear is a new type of gear which is different from involute gears and has great potential application prospect in large load-bearing field, which will be further studied in the future.