Dual-rotor Piston Engine (DRPE)is a new type of differential rotary engine.Compared with traditional engines,DRPE has many advantages.The complex valve systems can be omitted.Its structure is more compact.Its power density is higher,and so forth.By analyzing the working characteristics of DRPE,the mechanical structure characteristics of the Differential Velocity Drive Mechanism (DVDM)of the DRPE were figured out.Its kinetic parameters were defined.Then the mathematical models for the kineto-static analysis of the DVDMwere established by using vector mechanics methods.The mathematical models were calculated by Matlab.The mechanical characteristics of DRPE’s main components were obtained.In order to verify the rationality of the established mathematical models,the virtual prototype model of the DRPE-350 was established in the RecurDyn based on multi-body dynamics simulations.Comparing the simulation results with the calculation results,the value changing rules are almost the same.The changing processes are all four cycles.Impact positions are basically the same.It shows that the established dynamic theory model conforms to the actual situation.It is reasonable and can be trusted.It can be used as the theoretical foundation for the follow-up improvements of the DRPE.%针对双转子活塞发动机的工作特点，分析了其差速驱动组件的机构特性，定义了动力学参数，进而采用矢量力学方法对差速驱动组件的动态静力学进行数学建模。运用Matlab对所建理论模型进行数值计算，得出了主要部件的受力特征。为了验证所建数学模型的合理性，基于多体动力学仿真理论，在RecurDyn环境下建立了双转子活塞发动机的虚拟样机模型，仿真结果与理论计算结果相比较，相应的约束反力的数值变化规律基本一致，都呈现4个周期的变化过程，冲击位置也基本相同，表明建立的动力学理论模型基本符合实际情况，是可信的，可以用作双转子活塞发动机改进设计的理论基础。
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