A two-stage shaft hole assembly trajectory planning strategy was studied for the assembly operation task of circuit breaker shaft hole parts in dual arm robots. In order to improve the flexibility and accuracy of coordinated assembly operations with both arms, a FAIC control algorithm was proposed to achieve accurate force tracking. Firstly, a mechanical model of the contact state between the shaft and the hole is established, and the mechanism of shaft hole assembly is studied. Based on the force balance at the end of the two arms, a dual arm motion trajectory planning method for operating space shaft hole assembly is proposed. Based on impedance control, flexible shaft hole assembly is achieved, and a fuzzy controller is used to identify the optimal impedance control parameters online, improving the quality of assembly operations. The experimental results show that under the action of the dual arm collaborative shaft hole assembly strategy combined with the FAIC algorithm, the indirect contact force of the shaft hole is controlled within 3N, and the assembly efficiency is improved by 36-5%. In summary, the FAIC algorithm and assembly strategy proposed in this article effectively shorten the assembly time of magnetic components, improve assembly efficiency and accuracy in the assembly operation of dual arm collaborative circuit breakers.