Nyob rau hauv 1674, Danish astronomer Romer npaj rau thawj zaug kev siv lub epicycloid hniav profile nkhaus kom tau ib tug du khiav spline ncej. Spline shafts tuaj yeem ua lub luag haujlwm tseem ceeb thiab kev ua tau zoo hauv ib qho kev lag luam. Lawv raug tsim thiab ua tiav raws li cov hauv paus ntsiab lus thiab cov txheej txheem ua hauj lwm los xyuas kom lawv muaj peev xwm ua lub luag haujlwm tseem ceeb hauv kev tsim khoom.
Thaum lub sij hawm industrial revolution ntawm xyoo pua paub, spline ncej tshuab tau tsim los ntawm kev kub ceev, thiab txoj kev tshawb fawb zoo heev tau ua nyob rau hauv kev nplua zeb. Nyob rau hauv 1733 tus Fabkis txoj kev zauv ua Cami tau luam tawm cov kev cai lij choj ntawm cov ntaub ntawv hniav yas meshing; nyob rau hauv 1765 Swiss mathematician Euler npaj cov kev siv ntawm ib qho kev cuam tshuam cov hniav profile curve.
Cov iav tshuab iav thiab iav shaping tshuab uas nyob rau hauv xyoo pua 19th solved qhov teeb meem ntawm huab hwm coj ntau ntawm high-precision zog. Nyob rau hauv 1900, Ford Motor Co., Ltd. tau siv ntau lub zog rau cov iav haujlwm muag khoom kom tsim tau cov kev pabcuam helical ntawm cov iav haujlwm khawm. Txij ntawd rau, iav hobbing zog ua nrov. Cov tsim muaj kev lees paub txog kev tsim txiaj, thiab kev tsis sib haum xeeb los ua qhov feem ntau dav siv zog. .
Nyob rau hauv 1899, Lache yog thawj thawj coj los ua ib qho kev hloov kho iav. Kev hloov ntawm lub vias tsis tsuas yog tshem tawm cov hniav, tab sis kuj ua rau nws muaj peev xwm los nruab nrab ntawm qhov chaw nrug thiab nce qhov kev muaj peev xwm ntawm lub phom ntawm tus ncej.
Xyoo 1923, Tebchaws Asmeskas Tsiaj Tebchaws Tshaj Tawm yog thawj zaug uas qhia txog kev khov kho nrog cov khoom sib xyaws. Nyob rau xyoo 1955, Sunovykov tau tshawb nrhiav qhov kev tshawb fawb ntawm cov kab xo, thiab daim iav tau siv ntau lawm. Hom kab iav no muaj peev xwm thiab kev ua haujlwm siab, tab sis nws tsis yooj yim rau kev tsim khoom raws li cov cuab yeej rog, thiab nws yuav tsum muaj kev txhim kho ntxiv.
