A novel twin-rotor piston engine (TRPE) mechanism with high volumetric output and power density was introduced. This new engine comprises an energy conversion system and a differential velocity drive mechanism (DVDM). Two special geared four-bar mechanisms, DVDM-1 and DVDM-2, were utilized and compared. Based on the closed loop vector method, a mathematical model for position, velocity, and acceleration of the two mechanisms was established. Numerical examples illustrate that the kinematic characteristics were presented. Expression of the displacement and compression ratio of the two engine mechanisms were derived and compared. It is concluded that both DVDM-1 and DVDM-2 adopted in the proposed TRPE with six vane pistons create thirty-six power strokes per revolution of the output shaft, and the summation of two angles covered by each rocker is always 2π/N as the output shaft rotates an angle of π/N. In DVDM-1, the span angle of a vane piston should be designed to be 10.2°, and the compression ratio should be equal to 10; in DVDM-2, the span angle of a vane piston should be designed to be 10.6°, and the compression ratio should be equal to 4.3.
