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This paper presents an optimal design for gears considering gear transmission error, size and lubrication parameters and using Grey Relational Analysis Technique. For this purpose, a new approach has been utilized in order to calculate the transmission error in involute spur gears to get outputs in the shortest time with a high accuracy. In this model, a statically un-determined problem is considered between each engaged pair. In addition to this factor, a factor that defines a competitive parameter for size of gear sets has been considered as second parameter for optimization. This factor has a great effect on financial matters of gears production and design compactness. The third parameter for consideration is oil film thickness in contact points along the path of contact that has been calculated using experimental equations. Finally, to investigate the accuracy of this model, some competitive parameters have been defined and utilized.