diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index f24403f..f29b6ea 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -28,6 +28,7 @@ set(msg_files
   msg/MotorCmd.msg
   msg/SkillCall.msg
   msg/MetaKey.msg
+  msg/ArmMotionParams.msg
 )
 set(action_files
   action/MoveToPosition.action
@@ -37,6 +38,7 @@ set(action_files
   action/VisionGraspObject.action
   action/SlamMode.action
   action/Arm.action
+  action/DualArm.action
   action/CameraTakePhoto.action
   action/MoveHome.action
   action/MoveLeg.action
diff --git a/src/action/DualArm.action b/src/action/DualArm.action
new file mode 100644
index 0000000..ae938b9
--- /dev/null
+++ b/src/action/DualArm.action
@@ -0,0 +1,29 @@
+# DualArm.action 
+
+uint8 STATUS_PLANNING = 0   # 规划中
+uint8 STATUS_EXECUTING = 1  # 执行中
+uint8 STATUS_DONE = 2       # 完成
+
+uint8 ARM_LEFT = 0    # 左臂
+uint8 ARM_RIGHT = 1   # 右臂
+uint8 ARM_DUAL = 2    # 双臂
+
+uint8 arm_type                       # 运动臂类型 | ARM_LEFT/ARM_RIGHT/ARM_DUAL
+interfaces/ArmMotionParams[] arm_motion_params   # 每条手臂的运动参数
+float64 velocity_scaling             # 速度缩放因子  [0,1] 
+float64 acceleration_scaling         # 加速度缩放因子 [0,1] 
+float64 cartesian_step               # MOVEL步长 m [0,0.5] 
+
+---
+
+bool success                         # 执行是否成功
+string message                       # 结果描述
+float64 final_progress               # 最终进度  [0,1]
+
+---
+
+float64 progress                     # 实时进度  [0,1]
+uint8 status                         # 实时状态  STATUS_PLANNING/STATUS_EXECUTING/STATUS_DONE
+float64[] joints_left                # 左臂当前关节角（弧度）
+float64[] joints_right               # 右臂当前关节角（弧度）
+
diff --git a/src/msg/ArmMotionParams.msg b/src/msg/ArmMotionParams.msg
new file mode 100644
index 0000000..0096703
--- /dev/null
+++ b/src/msg/ArmMotionParams.msg
@@ -0,0 +1,13 @@
+# ArmMotionParams.msg - 单臂运动参数
+
+uint8 MOVEJ = 0
+uint8 MOVEL = 1
+
+uint8 ARM_LEFT = 0
+uint8 ARM_RIGHT = 1
+
+uint8 arm_id                  # 机械臂ID 0: 左臂, 1: 右臂
+uint8 motion_type             # 运动模式: MOVEJ / MOVEL
+geometry_msgs/Pose target_pose    # 笛卡尔目标位姿 (仅 MOVEL 使用)
+float64[] target_joints           # 目标关节角(rad) (仅 MOVEJ 使用)
+