Abstract: During the underground coal mine drilling process, the dynamic characteristics of the anchor drilling rig group are extremely complex due to the influence of multiple interacting forces, such as coal seam variations, drill bit friction, and body vibration. To further investigate these complex dynamic characteristics, this paper establishes a corresponding mathematical model based on the structure and motion characteristics of the anchor drilling rig group and conducts research on its vibration and mechanical properties. Through simulation experiments, the vibration and mechanical characteristics of the key components of the anchor drilling rig group were analyzed under three different operating conditions. The results indicate that the vibration frequency and amplitude change significantly under three scenarios: a larger leg inclination angle, a longer beam extension, and a smaller drilling angle. A resistance analysis of these three conditions revealed that changes in the beam do not alter the resistance at the same displacement; however, resistance changes when the floor undulates or the drilling angle varies. Due to the complexity of the operating conditions, the vibration and mechanical parameters of each component tend to be generally higher. A comparison between numerical calculations and simulation experiments verifies the validity of the mathematical model and provides a further exploration of the vibration and mechanical characteristics of the anchor drilling rig group during drilling.