Abstract This article focuses on the changes in the contact pressure between the pantograph and the catenary caused by variations in the pan-head posture. Starting from the kinematics and dynamics of the pantograph and based on the theories of multibody dynamics and finite element analysis, the pantograph head model is validated, and a pantograph rigid-flexible coupling model considering the flexibility of the pantograph head is established. A coupling model between the pantograph model and the rigid contact catenary is established to extract the pantograph posture and dynamic performance data during operation. By finely considering and modeling the structural characteristic parameters of the pantograph, the influence of different pantograph head characteristic parameters on the dynamic performance of the catenary system is studied. This provides a research basis for understanding the degree of influence of different characteristic parameters on the catenary dynamics.