The work aims to ensure that the end velocity, acceleration and jerk curves of the robot arm are smooth and continuous during production operations, and to avoid violent vibration of the robot arm during high-speed operation. In this work, a segmented velocity envelope trajectory planning method was proposed, which greatly simplified the determination of boundary conditions and computation compared with the traditional spline algorithm, and could realize the smooth and continuous velocity, acceleration and jerk curve of the end trajectory of the robot arm only given the running trajectory points and the desired running time, and could control the acceleration, jerk curve and overall motion period individually by adjusting the factor and segmentation time interval. On the two-armed parallel robot platform, the comparison experiments between this algorithm and the cubic spline algorithm and the comparison experiments of this algorithm with different values of adjustment factors were conducted in turn. In the first group of experiments, it was found that the arm was smoother and the resulting trajectory was smooth, but the vibration of the arm was higher with the cubic spline algorithm; in the second group of comparative experiments, it was found that the larger the adjustment factor was, the smoother the arm would be and the vibration would be reduced. Therefore, the method proposed in this work can effectively suppress the robot arm vibration and can make the robot run smoothly at high speed.