首先分析了两输出轴等速反转的条件;然后通过对传动系统的分析，基于键合图的基本原理建立了同轴双输出减速器的键合图模型，在模型中考虑了平均啮合刚度，转动惯量，阻尼等影响因素，根据键合图中的因果关系和功率流，推导出了键合图模型的状态方程;通过对系统进行动态特性仿真，获得了系统内部各变量随时间变化的规律，揭示了系统的传动性能和动态特性;对比不同参数下两输出轴转速的响应曲线，分析了各参数对系统动态特性的影响;最后建立了同轴双输出减速器的简化模型，进行了虚拟样机实验，并将实验结果和键合图计算结果进行了对比，发现利用键合图理论对该类减速器进行动态仿真是有效的．

In this paper,firstly,the conditions for two output shafts with opposite but uniform speed are analyzed.Secondly,a bond graph model of coaxial dual-output reducer is established on the basis of bond graph theory,in which such factors as average mesh stiffness,rotational inertia and damping are considered.Then,according to the causality and power flow in bond graph,the corresponding equation of state is derived,and a system simulation is conducted to discover the variations of system variables with time and to explore the transmission performance and dynamic characteristics of the system.Moreover,the influences of various parameters on system's dynamic charac- teristics are analyzed by comparing the response curves of output shaft speed at different parameters.Finally,a sim- plified model of coaxial dual-output reducer is established,a virtual prototype experiment is made,and the results are compared with those obtained by bond graph method.It is found that the bond graph theory is effective in the dynamic simulation of coaxial dual-output reducer.