通过对隧道凿岩机器人双三角钻臂运动规律的研究，引入平行坐标系将两后变幅缸对钻臂摆角与俯仰角的两输入两输出耦合系统转化为两个单输入单输出系统，得到了钻臂直线轨迹运动时，两后变幅缸的控制规律。从算法上解决了双三角钻臂轨迹控制的难点，为隧道凿岩机器人的高精度轨迹控制打下良好的理论基础。 Through the study of the movement law of double triangle drilling arm of tunneling drilling robot, the parallel coordinate system is introduced to convert the two input / output coupling system of two rear variable amplitude cylinders to the swing angle and pitch angle of the boom into two single input single output systems, The control law of the two rear variable amplitude cylinders was obtained when the straight trajectory of the boom was moved. The algorithm solves the difficulty of trajectory control of double triangle drilling arm and lays a good theoretical foundation for the high precision trajectory control of tunnel boring robot.