Abstract: This paper addresses the high risks,low efficiency,and inconsistent quality associated with manual coating removal during the maintenance of Ultra High Voltage (EHV) transmission lines.An integrated robotic system consisting of an unmanned aerial vehicle (UAV) and a robotic arm is proposed.The study establishes a multi-body coupled dynamics model for the UAV-manipulator system and a contact mechanics model based on Hertz contact theory and the Dahl friction model.Adaptive impedance control and disturbance rejection cooperative control strategies are designed,and an online grounding status assessment method based on multi-source information fusion is developed.Experimental results demonstrate that the system significantly outperforms traditional manual methods in terms of removal efficiency,grounding reliability,and anti-interference capability.The proposed system effectively enhances the safety,consistency,and intelligence level of maintenance operations,showing promising potential for engineering applications.