System-integrated double-shaft driving mechanism

System Integrated biaxial drive mechanism comprising a second grating assembly (1), a second output shaft (2), a second harmonic gear (3), a second input shaft (4), a first input shaft ( 5), the second stepping motor (6), a bevel gear (7), the first grating assembly (8), a first output shaft (9), (10), a first harmonic of the first housing gear (11), a first stepping motor (12), a second housing (13). The present invention employs an integrated cogeneration system and integrated design, two common drive assembly housing, effectively reducing the size, weight. Since the inter-shaft support cancellation, the system assembly and adjustment precision depends machining accuracy to ensure the structural member, such that simple assembly and adjustment, of the two axes perpendicular to facilitate and improve the overall rigidity and dynamic characteristics of the drive mechanism. Two orthogonal axes and intersecting, control law design facilitates and reduces the output inertia. Two degrees of freedom drive mechanism of the present invention can be used as general-purpose mechanism spacecraft.