To eliminate the gear backlash,a new inclined double-roller enveloping hourglass worm drive is proposed. The meshing performance is analyzed based on the meshing geometry of inclined double-roller enveloping hourglass worm drive. The physical prototype of inclined double-roller enveloping hourglass worm drive is machined. The transmission performance test of this prototype is carried out on the magnetic powder loading mechanical transmission performance test-bed. The research shows that the inclined double-roller enveloping hourglass worm drive has good meshing performance. The transmission efficiency of the test prototype is between 70. 5% ,75. 8%,the average oil temperature is below 50 ℃,the noise is between 70 ,100 d B,the oil is relatively low and the temperature rise is relatively small.