Aiming at the problems of low automation degree and low efficiency of catenary operation vehicle in railway tunnel,a catenary dual-arm operation vehicle was developed,which could complete a series of operations such as reinforcing bar detection,drilling anchor,drawing test,hanging column installation and maintenance.The standard D-H method was used to build the kinematics model of the dual-manipulator system,and the forward and inverse kinematics were analyzed.The posture and position of the end-effector were deduced by homogeneous transformation,and then the accuracy of the model was proved by comparing the results of MATLAB simulation and mathematical calculation.Known the initial position of the dual-arm system and the end posture under working state,quintic polynomial interpolation was adopted to plan trajectory.Each joint displacement,velocity and acceleration curves of the dual-arm system were gotten.It provides reference for the further optimization of the dual-arm system.