Abstract: A finite element model of rigid catenary considering overlap is developed. Pantograph is translated into lumped mass model and penalty function is utilized to describe the contact between them. Newmark numerical integration is used to solve the dynamics equations of the pantograph coupling system. The validity of the finite element model is verified according to railway standards. Through finite element model simulation, pantograph structure parameters are studied, as well as the influence of rigid catenary span length, suspension structure stiffness, lifting force and overlap on pantograph dynamic performance. Simulation results show that the rigid catenary span length, suspension structure stiffness and overlap have significant impacts on the pantograph current collection quality.