The paper proposes a bond graph model of dry dual clutch actuation system based on an electromechanical actuator. The model consists of two components: (i) dual clutch assembly and (ii) electromechanical actuator itself. Mathematical model equations are derived based on the developed bond graph model, and methods applied for modeling of nonlinear effects such as friction are explained. The model is validated against experimental results collected by developed full dual clutch transmission test rig indicating a good modeling accuracy. The model is based on physical principles and is therefore suitable for various simulation studies aimed at model-based analyses, component optimization, and control system design.