According to the characteristics of high risk and low efficiency of manual maintenance of distribution network, a structural model of a new distribution network maintenance robot was proposed.Based on the structure of the robot, the joint dynamics model of the closed chain between the working robot and the working object was established, the system dynamics equations under different working modes were obtained, and the force position hybrid coordinated control system for the robot was designed.The dynamic distribution method of closed-loop internal force was proposed, and the simulation experiment and field operation verify that the force position hybrid coordination control can be used to effectively reduce the closed-loop internal force in the operation process of the robot, which shows that the robot can effectively realize the functions of power distribution maintenance such as stripping, trimming, wiring and so on.